Vehicle control method, device, digital key and control terminal based on UWB technology

Abstract

The present invention discloses a vehicle control method, device, digital key and control terminal based on UWB technology, the method comprising: obtaining vehicle information and UWB ID, and generating a key in combination with the vehicle information and UWB ID; searching and receiving UWB data broadcast by a vehicle terminal; after receiving the UWB data, decrypting and matching the UWB data using the key, and controlling the vehicle after completing the decryption and matching. The present invention realizes automatic unlocking and automatic locking functions and other control functions through UWB ranging, thereby realizing a keyless and sensorless controlled vehicle, while improving the timeliness and accuracy of unlocking and locking.

Description

Technical Field

[0001] The present invention relates to the field of UWB positioning technology, and in particular to a vehicle control method, device, digital key and control terminal based on UWB technology. Background Art

[0002] The existing principle of sensorless control vehicles is as follows: the terminal device on the electric vehicle (such as electric cars, motorcycles, etc.) is equipped with a Bluetooth module, and the Bluetooth module on the terminal broadcasts data in real time. When the owner brings the mobile phone close to the electric vehicle, the owner's mobile phone APP will automatically search for the signal strength of the electric vehicle's Bluetooth, and broadcast the RSSI data range through Bluetooth to determine the distance between the owner and the electric vehicle. When the distance is less than 3 meters, the APP will automatically send a command to unlock the electric vehicle, and the owner can start the vehicle and start riding. When the owner's trip ends, the vehicle is turned off, and the owner leaves the vehicle, the mobile phone APP detects that the Bluetooth RSSI data range exceeds 3 meters and automatically locks the vehicle.

[0003] However, since Bluetooth is a short-range transmission and cannot cross obstacles, and Bluetooth devices are generally installed at the lock of the electric vehicle seat barrel for easy power supply, the Bluetooth signal is interfered by the electric vehicle's vehicle signal or blocked by the human body, causing signal attenuation. In addition, due to the inconsistency of the antenna part standards of different series of Bluetooth mobile phone manufacturers, the actual distance deviation of obtaining the same RSSI value is 3 to 5 meters, which is a large error. For example, during driving, when waiting for traffic lights, Bluetooth is easily interfered by the electric vehicle's vehicle signal, resulting in inaccurate Bluetooth RSSI value and mistaken locking of the vehicle, or the owner leaves the vehicle 5 meters away after turning off the engine and fails to lock the vehicle in time, and the owner cannot automatically unlock and wait when he walks 3 meters into the vehicle. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle control method, device, digital key and control terminal based on UWB technology, aiming to improve the control effect on the vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle control method based on UWB technology, comprising:

[0006] Obtain vehicle information and UWB ID, and generate a key based on the vehicle information and UWB ID;

[0007] Search and receive UWB data broadcast by vehicle terminals;

[0008] After receiving the UWB data, the key is used to decrypt and match the UWB data, and the vehicle is controlled after the decryption and matching are completed.

[0009] In a second aspect, an embodiment of the present invention provides a vehicle control device based on UWB technology, including:

[0010] A key generation unit, used to obtain vehicle information and UWB ID, and generate a key in combination with the vehicle information and UWB ID;

[0011] A data receiving unit, used for searching and receiving UWB data broadcasted by a vehicle terminal;

[0012] The decryption and matching unit is used to decrypt and match the UWB data using the key after receiving the UWB data, and control the vehicle after completing the decryption and matching.

[0013] In a third aspect, an embodiment of the present invention provides a UWB digital key, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method based on UWB technology as described in the first aspect is implemented.

[0014] In a fourth aspect, an embodiment of the present invention provides a control terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method based on UWB technology as described in the first aspect is implemented.

[0015] The embodiment of the present invention provides a vehicle control method, device, digital key and control terminal based on UWB technology, the method comprising: obtaining vehicle information and UWB ID, and generating a key in combination with the vehicle information and UWB ID; searching and receiving UWB data broadcast by the vehicle terminal; after receiving the UWB data, using the key to decrypt and match the UWB data, and controlling the vehicle after completing the decryption and matching. The embodiment of the present invention realizes automatic unlocking and automatic locking functions and other control functions through UWB ranging, thereby realizing a keyless and sensorless controlled vehicle, while improving the timeliness and accuracy of unlocking and locking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of a flow chart of a vehicle control method based on UWB technology provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a sub-flow chart of a first example of a vehicle control method based on UWB technology provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of another sub-process of the first example of a vehicle control method based on UWB technology provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a sub-flow chart of a second example of a vehicle control method based on UWB technology provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of another sub-process of a second example of a vehicle control method based on UWB technology provided by an embodiment of the present invention;

[0022] Figure 6 A schematic block diagram of a vehicle control device based on UWB technology provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0026] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] See below Figure 1 , Figure 1 A schematic flow chart of a vehicle control method based on UWB technology provided in an embodiment of the present invention specifically includes: steps S101 to S103.

[0028] S101, obtaining vehicle information and UWB ID, and generating a key in combination with the vehicle information and UWB ID;

[0029] S102, searching and receiving UWB data broadcast by the vehicle terminal;

[0030] S103: After receiving the UWB data, use the key to decrypt and match the UWB data, and control the vehicle after completing the decryption and matching.

[0031] In this embodiment, a key is first generated according to the UWB ID and the corresponding vehicle information, and then the UWB data broadcast by the vehicle terminal is searched, and the UWB data is received after the UWB data is searched. Then, the received UWB data is decrypted and matched with the generated key, and the vehicle can be controlled after the decryption and matching is successful.

[0032] This embodiment uses UWB ranging to achieve automatic unlocking and automatic locking functions and other control functions, thereby realizing a keyless and sensorless car, while improving the timeliness and accuracy of unlocking and locking. For example, UWB ranging can avoid driving troubles caused by false triggering of the car lock when waiting for traffic lights. At the same time, it can accurately unlock or lock the car according to the set distance when approaching or leaving the electric car, making it safer for car owners to use the car and providing a better experience. It should be noted that the vehicle control described in this embodiment can be controlled by a UWB digital key, or by a smart device control terminal such as a mobile phone. In addition, in addition to unlocking and locking the vehicle, this embodiment can also control the brightness of the vehicle's lights, how long it takes to turn off the lights after the vehicle is turned off, and other functions.

[0033] In one embodiment, the step S101 includes:

[0034] Encoding the vehicle information to obtain encoded data;

[0035] Sorting the coded data and the UWB ID to obtain an initial sequence;

[0036] Dividing the initial sequence into multiple arrays, and reordering each array to generate a corresponding intermediate sequence;

[0037] A bit addend is obtained in the intermediate sequence, and bit addends and bit inversion are performed on each bit of data in the intermediate sequence in turn to obtain a key for each bit of data.

[0038] When generating a key in this embodiment, the vehicle information is first encoded into coded data. The vehicle information may specifically be a vehicle brand, model, frame number, etc., and the vehicle brand may be specifically set as a 2-bit code (String type) (for example, different vehicle brands are encoded as 0x8201, 0x8202, 0x8203, etc.), the vehicle model is a 2-bit code, and the frame number is a 16-bit code (for example, YD1200DT, YD800DQT, AM500DQT, AM800DQT). Similarly, the UWB ID is 12-bit byte data, so after sorting the coded data and the UWB ID, 32-bit data can be obtained, and the 32-bit data is used to form the initial sequence. As shown in the following table:

[0039] Brand 2 Model 2 Vehicle license plate number 16 digits Vehicle UWBID 12 bits

[0040] Table 1

[0041] For the generated initial sequence, first divide it into multiple arrays, and then transform the initial sequence into an intermediate sequence by reordering. For example, for an initial sequence consisting of 32-bit data, divide the initial sequence into 4 arrays according to 8-bit groups, as shown in Table 2:

[0042] D1D2......D7D8 D9D10......D15D16 D17D18......D23D24 D25D26......D31D32

[0043] Table 2

[0044] For each of the arrays, the data in the array is reordered to transform the initial sequence into an intermediate sequence. The following shows the reordering method for the first and second groups of data. The reordering method for the third and fourth groups of data is the same as that for the first and second groups of data, and will not be repeated.

[0045] The first set of data before and after reordering is shown in Table 3 and Table 4 respectively:

[0046] D1 D2 D3 D4 D5 D6 D7 D8

[0047] Table 3

[0048] D8 D1 D7 D2 D6 D3 D5 D4

[0049] Table 4

[0050] The second set of data before and after re-sorting is shown in Table 5 and Table 6 respectively:

[0051] D9 D10 D11 D12 D13 D14 D15 D16

[0052] Table 5

[0053] D16 D9 D15 D10 D14 D11 D13 D12

[0054] Table 6

[0055] In a specific embodiment, dividing the initial sequence into multiple arrays and reordering each array to generate a corresponding intermediate sequence includes:

[0056] The internal authentication encryption agreement algorithm is used to swap the high and low bits of all the data in each array at least once, and the swapped sequence is used as the intermediate sequence. The internal authentication encryption agreement algorithm can not only encrypt the transmitted data to protect the user's privacy, but also make the transmitted data only 32 bits, saving resource occupation.

[0057] Then, for the obtained intermediate sequence, the bit addend is obtained from it, as shown in the following formula:

[0058] Data(Acc)=D21+D22+D23+D24+D25+D26+......D32

[0059] It should be noted here that when the vehicle is controlled by a UWB digital key, the sum of the 12-bit data of the UWBID can be used as the bit addend. When the vehicle is controlled by a smart terminal such as a mobile phone, the sum of the mobile phone number (for example, if the mobile phone number is 11 digits, 0 can be added in front of the mobile phone number, etc.) can be used as the bit addend.

[0060] After the bit addend is obtained, each bit of the data in the intermediate sequence is added bit by bit and inverted bit by bit to obtain the key for each bit of the data.

[0061] In a specific embodiment, the step of obtaining a bit addend in the intermediate sequence, and sequentially adding and inverting each bit of data in the intermediate sequence bit by bit to obtain a key for each bit of data includes:

[0062] Performing cumulative sum calculation on each bit of data in the UWB ID, and setting the cumulative sum calculation result as the bit addend;

[0063] Each bit of data is summed with the bit addend, and the summation result is inverted to obtain a key corresponding to each bit of data.

[0064] For example, if the first bit of the middle sequence D8 = 0x24, and the bit addend is Data (Acc) = 0x5A, then the sum is: 0x24 + 0x5A = 0x7E, and the sum result 0x7E is inverted: 0x81, so the encrypted data corresponding to the first bit is 0x81. The other bits are deduced in the same way to get a 32-bit key, where the key includes data such as car brand, car model, frame number and UWB ID.

[0065] In specific application scenarios, when the vehicle is controlled by the UWB TAG key (UWB digital key), such as Figure 2 As shown, step S101 may include processing the acquired vehicle information and UWB ID through a tool such as a PC to generate a key, and then writing the key to the UWB TAG key. Figure 3 As shown, the steps S102 and S103 may include: the vehicle terminal broadcasts UWB data at regular intervals, the UWB TAG key searches for UWB data at regular intervals, receives the searched UWB data, decrypts and matches it, and determines whether it is an authorized ID (i.e., performs authentication determination on it). The vehicle is then locked or unlocked through UWB ranging.

[0066] In another specific application scenario, when the vehicle is controlled by a smart terminal device such as a mobile phone, Figure 4 As shown, first download the electric vehicle control APP and register with your mobile phone number, fill in your mobile phone number, receive a text message verification code, and fill in personal information to complete the registration. Then bind the vehicle terminal, and fill in the device IMEI number according to the prompts (the purchased electric vehicle will contain a terminal positioning device, which has a unique IMEI code). At this time, the APP automatically sends a command (Bluetooth or SMS) to the terminal positioning device to start the device and store the encrypted vehicle information. Then, after activation, the terminal positioning device will report its own device information to the cloud platform through the network, and the terminal positioning device will often be online in standby mode, ready to receive unlocking and other related instructions issued by the cloud platform. The cloud platform will authorize and bind with one or more IMEI number terminal positioning devices based on the user's mobile phone number. After authorization, this mobile phone can control the relevant settings of the electric vehicle through the APP, such as the brightness of the lights, how long to turn off the lights after the vehicle is turned off, and unlocking and locking functions. As shown Figure 5As shown, when the owner approaches the electric vehicle with the mobile phone APP, after receiving the broadcast data, the car brand, car model, device IMEI number, and UWB ID number are obtained by inverse operation according to the encryption algorithm, and the vehicle information is determined to be completely consistent with the vehicle information stored in the local key. When the authentication judgment is passed, it is authorized. At this time, the APP determines the distance between the owner and the electric vehicle based on the mobile phone UWB and the terminal positioning device UWB communication. If the distance is less than or equal to 1 meter, the APP sends an unlock command to the terminal positioning device; when the owner leaves the electric vehicle with the mobile phone APP, the APP determines the distance between the owner and the electric vehicle based on the mobile phone UWB and the terminal positioning device UWB communication, and sends a lock command to the terminal positioning device when the distance is greater than 1 meter. After receiving the lock or unlock command, the terminal positioning device sends instructions through the serial port to control the electric vehicle controller to lock or unlock, and feedbacks the successful lock or unlock information layer by layer, for example, the electric vehicle controller executes the command successfully--> vehicle terminal--> cloud platform--> cloud platform synchronizes to the APP, and the APP prompts the user through voice "the car is locked" and "the car is unlocked", thereby realizing the electric vehicle sensorless control car.

[0067] In one embodiment, the step S102 includes:

[0068] An encryption algorithm is used to receive the UWB data broadcast by the vehicle terminal.

[0069] In this embodiment, when UWB data is transmitted, an encryption algorithm may be used to encrypt the UWB data to ensure that the transmission process is safe and reliable. The process of processing the UWB data using the encryption algorithm may refer to the specific steps of generating the key, that is, firstly encoding the UWB data to obtain the corresponding array sequence, then reordering it, and then encrypting it by obtaining the bit addend, adding bit by bit, and negating the process.

[0070] In one embodiment, the step S103 includes:

[0071] Using the key to perform an inversion operation on the UWB data to obtain inverted data;

[0072] Select and remove the UWB ID in the inverted data, and re-sort the remaining data;

[0073] The reordered data is used as the original data corresponding to the vehicle information to complete the decryption match.

[0074] In this embodiment, when decrypting and matching UWB data, it is first inverted using a key, and then the UWB ID is determined based on the key. After the UWB ID is deleted, the remaining data is the original data corresponding to the vehicle information, or the encoded data corresponding to the vehicle information.

[0075] In one embodiment, the step S103 further includes:

[0076] Determine whether the distance to the vehicle terminal is within a preset range based on the UWB ID and UWB data;

[0077] If the distance is within the preset range, the vehicle is unlocked;

[0078] If the distance exceeds the preset range, the vehicle will be locked.

[0079] In this embodiment, after the decryption matching is completed, the vehicle can be controlled. For example, the distance between the owner and the electric vehicle is determined based on the communication between the mobile phone UWB and the vehicle terminal UWB. If the distance is less than or equal to 1 meter (preset range), the APP sends an unlock command to the vehicle terminal; when the owner leaves the electric vehicle with the mobile phone APP, the APP determines the distance between the owner and the electric vehicle based on the communication between the mobile phone UWB and the vehicle terminal UWB, and sends a lock command to the vehicle terminal when the distance is greater than 1 meter (preset range).

[0080] Figure 6 A schematic block diagram of a vehicle control device 600 based on UWB technology provided in an embodiment of the present invention, the device 600 includes:

[0081] The key generation unit 601 is used to obtain vehicle information and UWB ID, and generate a key in combination with the vehicle information and UWB ID;

[0082] The data receiving unit 602 is used to search for and receive UWB data broadcast by the vehicle terminal;

[0083] The decryption and matching unit 603 is used to decrypt and match the UWB data using the key after receiving the UWB data, and control the vehicle after completing the decryption and matching.

[0084] In one embodiment, the key generation unit 601 includes:

[0085] An information encoding unit, used for encoding the vehicle information to obtain encoded data;

[0086] A first sorting unit, configured to sort the coded data and the UWB ID to obtain an initial sequence;

[0087] A second sorting unit is used to divide the initial sequence into multiple arrays, and re-sort each array to generate a corresponding intermediate sequence;

[0088] The sequence processing unit is used to obtain a bit addend in the intermediate sequence, and perform bit-by-bit addend and bit-by-bit inversion processing on each bit of data in the intermediate sequence in turn to obtain a key for each bit of data.

[0089] In one embodiment, the data receiving unit 602 includes:

[0090] The encryption receiving unit is used to receive the UWB data broadcasted by the vehicle terminal using an encryption algorithm.

[0091] In one embodiment, the decryption matching unit 603 includes:

[0092] A negation operation unit, used for performing a negation operation on the UWB data using the key to obtain negated data;

[0093] A data selection unit, used to select and remove the UWB ID in the inverted data, and re-sort the remaining data;

[0094] The data setting unit is used to use the re-ordered data as the original data corresponding to the vehicle information to complete the decryption matching.

[0095] In one embodiment, the first sorting unit includes:

[0096] The array swap unit is used to use an internal authentication encryption agreement algorithm to swap the high and low bits of all data in each array at least once, and use the swapped sequence as the intermediate sequence.

[0097] In one embodiment, the sequence processing unit includes:

[0098] An accumulation and calculation unit, used for accumulating and calculating each bit of data in the UWB ID, and setting the accumulation and calculation result as a bit addend;

[0099] The addition processing unit is used to perform addition processing on each bit of data and the bit addend, and perform inversion processing on the addition processing result to obtain a key corresponding to each bit of data.

[0100] In one embodiment, the decryption matching unit 603 further includes:

[0101] A distance determination unit, used to determine whether the distance to the vehicle terminal is within a preset range based on the UWB ID and the UWB data;

[0102] An unlocking control unit, used to unlock the vehicle if the distance is within a preset range;

[0103] The locking control unit is used to lock the vehicle if the distance exceeds a preset range.

[0104] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0105] An embodiment of the present invention provides a UWB digital key, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle control method based on UWB technology as described above is implemented.

[0106] An embodiment of the present invention provides a control terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method based on UWB technology as described above when executing the computer program.

[0107] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0108] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A vehicle control method based on UWB technology, It is characterized in that include: Obtain vehicle information and UWB ID, and generate a key based on the vehicle information and UWB ID; Search and receive UWB data broadcast by vehicle terminals; After receiving the UWB data, decrypt and match the UWB data using the key, and control the vehicle after completing the decryption and matching; The obtaining of vehicle information and UWB ID, and generating a key in combination with the vehicle information and UWB ID, includes: Encoding the vehicle information to obtain encoded data; Sorting the coded data and the UWB ID to obtain an initial sequence; Dividing the initial sequence into multiple arrays, and reordering each array to generate a corresponding intermediate sequence; Obtaining a bit addend in the intermediate sequence, and sequentially performing bit-by-bit addend and bit-by-bit inversion processing on each bit of data in the intermediate sequence to obtain a key for each bit of data; The step of obtaining a bit addend in the intermediate sequence, and sequentially adding and inverting each bit of data in the intermediate sequence bit by bit to obtain a key for each bit of data includes: Performing cumulative sum calculation on each bit of data in the UWB ID, and setting the cumulative sum calculation result as the bit addend; Each bit of data is summed with the bit addend, and the summation result is inverted to obtain a key corresponding to each bit of data.

2. The vehicle control method based on UWB technology according to claim 1, It is characterized in that The searching and receiving of UWB data broadcasted by the vehicle terminal includes: An encryption algorithm is used to receive the UWB data broadcast by the vehicle terminal.

3. The vehicle control method based on UWB technology according to claim 2, It is characterized in that After receiving the UWB data, using the key to decrypt and match the UWB data, and controlling the vehicle after completing the decryption and matching, includes: Using the key to perform an inversion operation on the UWB data to obtain inverted data; Select and remove the UWB ID in the inverted data, and re-sort the remaining data; The reordered data is used as the original data corresponding to the vehicle information to complete the decryption match.

4. The vehicle control method based on UWB technology according to claim 1, It is characterized in that The step of dividing the initial sequence into a plurality of arrays and reordering each array to generate a corresponding intermediate sequence includes: An internal authentication and encryption agreement algorithm is used to swap the high and low bits of all data in each array at least once, and the swapped sequence is used as the intermediate sequence.

5. The vehicle control method based on UWB technology according to claim 1, It is characterized in that After receiving the UWB data, using the key to decrypt and match the UWB data, and controlling the vehicle after completing the decryption and matching, further includes: Determine whether the distance to the vehicle terminal is within a preset range based on the UWB ID and UWB data; If the distance is within the preset range, the vehicle is unlocked; If the distance exceeds the preset range, the vehicle will be locked.

6. A vehicle control device based on UWB technology, It is characterized in that include: A key generation unit, used to obtain vehicle information and UWB ID, and generate a key in combination with the vehicle information and UWB ID; A data receiving unit, used for searching and receiving UWB data broadcasted by a vehicle terminal; A decryption and matching unit, configured to decrypt and match the UWB data using the key after receiving the UWB data, and control the vehicle after completing the decryption and matching; The key generation unit comprises: An information encoding unit, used for encoding the vehicle information to obtain encoded data; A first sorting unit, configured to sort the coded data and the UWB ID to obtain an initial sequence; A second sorting unit is used to divide the initial sequence into multiple arrays, and re-sort each array to generate a corresponding intermediate sequence; A sequence processing unit, used for obtaining a bit addend in the intermediate sequence, and performing bit addend and bit inversion processing on each bit of data in the intermediate sequence in turn, to obtain a key for each bit of data; The sequence processing unit comprises: An accumulation and calculation unit, used for accumulating and calculating each bit of data in the UWB ID, and setting the accumulation and calculation result as a bit addend; The addition processing unit is used to perform addition processing on each bit of data and the bit addend, and perform inversion processing on the addition processing result to obtain a key corresponding to each bit of data.

7. A UWB digital key, It is characterized in that The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method based on UWB technology as claimed in any one of claims 1 to 5 when executing the computer program.

8. A control terminal, It is characterized in that The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method based on UWB technology as claimed in any one of claims 1 to 5 when executing the computer program.

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