A UWB system, a UWB anchor module, a UWB master control module and a vehicle

Abstract

The present invention discloses a UWB system, a UWB anchor module, a UWB master control module and a vehicle, including a UWB master control module and N UWB anchor modules. Each anchor module is installed at a corresponding position of the vehicle. Each anchor module is provided with at least two address line interfaces, and each address line interface is used to connect to the positive or negative pole of a storage battery arranged in the vehicle. Each anchor module is used to determine the address bits of each anchor module according to the address line interface voltage detected from the address line interface. The UWB master control module is electrically connected to each anchor module and is used to determine the arrangement positions of each anchor module in the vehicle according to the address bits in combination with a preset correspondence between the address bits and the arrangement positions of each UWB anchor module in the vehicle. The present invention adopts a physical connection method between the UWB anchor module and the storage battery in the vehicle to perform self-learning of the address bits of each UWB anchor module, and can more accurately and effectively determine the positions where the anchor modules are arranged on the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a UWB system, a UWB anchor module, a UWB main control module and a vehicle. Background Art

[0002] In the prior art, a Chinese patent application with publication number CN112104974A discloses an in-vehicle positioning system based on ultra-wideband, including an in-vehicle positioning component (also known as an anchor module) and a positioning device (also known as a UWB main control module) based on ultra-wideband. The in-vehicle positioning component includes a UWB module and multiple anchor antennas. By quickly and time-divisionally switching the output end of the UWB module to different anchor antennas, signal transmission and positioning are performed. The positioning device is connected to each in-vehicle positioning component, used to control the communication between the in-vehicle positioning component and the target tag, and to position the target tag according to the communication information between the in-vehicle positioning component and the target tag.

[0003] During the above calculation process, each in-vehicle positioning component needs to interact with the positioning device, and uniformly send the communication information between the in-vehicle positioning component and the target tag to the positioning device. When the positioning device processes this information, it needs to distinguish the identity of the in-vehicle positioning component that sends the information, that is, the left front in-vehicle positioning component, the right front in-vehicle positioning component, the left rear in-vehicle positioning component, and the right rear in-vehicle positioning component. Its calibration method is usually that each in-vehicle positioning component and the positioning device determine the orientation of the in-vehicle positioning component on the vehicle through Bluetooth communication, so as to determine the identity of each in-vehicle positioning component. For example, according to the Bluetooth signal between the positioning device and the in-vehicle positioning component, the positioning device determines that the signal is sent from the left front position of the vehicle, and determines that the in-vehicle positioning component is the left front in-vehicle positioning component.

[0004] The disadvantage of this calibration method is that in the case of low Bluetooth communication signal strength, or in the case of a large number of anchors installed on the vehicle, the accuracy of this calibration method is relatively low. For example, when calibrating each in-vehicle positioning component, when the Bluetooth communication signal strength between the left front in-vehicle positioning component and the positioning device is low, the positioning device cannot determine the orientation of the in-vehicle positioning component in the vehicle, that is, cannot identify the identity of the in-vehicle positioning component. Another example is that two or more in-vehicle positioning components are installed in a certain position of the vehicle. Then, even if the Bluetooth signal strength between these in-vehicle positioning components and the positioning device is good, but because the installation positions of these in-vehicle positioning components are relatively close, the positioning device is very likely unable to accurately identify the identities of these in-vehicle positioning components, and it is easy to have incorrect identification of identities. Summary of the Invention

[0005] Based on this, it is necessary to provide a UWB system, a UWB anchor module, a UWB main control module and a vehicle for the above technical problems to solve the calibration error problem that is likely to occur in the identity calibration of each anchor module in the prior art.

[0006] Based on the above purpose, a first technical solution of a UWB system includes:

[0007] A UWB main control module and N UWB anchor modules, N≥2. Each of the UWB anchor modules is installed in a moving vehicle, and each of the UWB anchor modules is provided with an address line interface. Each address line interface is used to connect to the positive or negative pole of a battery installed in the moving vehicle;

[0008] Each of the UWB anchor modules is used to determine the address bit of each UWB anchor module according to the address line interface voltage detected from the address line interface, and the address bits of each UWB anchor module are different from each other;

[0009] The UWB main control module is electrically connected to each of the UWB anchor modules respectively to obtain the address bits of each UWB anchor module;

[0010] The UWB main control module is used to determine the layout position of the UWB anchor module in the moving vehicle according to the address bit in combination with the preset correspondence between the address bit and the layout position of each UWB anchor module in the moving vehicle.

[0011] Preferably, 2. There are four UWB anchor modules, namely the first anchor module, the second anchor module, the third anchor module and the fourth anchor module. Each UWB anchor module is provided with a first address line interface and a second address line interface;

[0012] The first address line interface of the first anchor module is connected to the positive pole of the battery in the moving vehicle, and the second address line interface of the first anchor module is connected to the negative pole of the battery;

[0013] Both the first address line interface and the second address line interface of the second anchor module are connected to the positive pole of the battery;

[0014] The first address line interface of the third anchor module is connected to the negative pole of the battery, and the second address line interface of the third anchor module is connected to the positive pole of the battery;

[0015] Both the first address line interface and the second address line interface of the fourth anchor module are connected to the negative pole of the battery.

[0016] Preferably, the UWB main control module and each of the UWB anchor modules are communicatively connected by a CAN bus.

[0017] Preferably, the structure of each UWB anchor module includes a microprocessor, a CAN transceiver, and a UWB antenna. The microprocessor is connected to the UWB antenna, and the microprocessor is used to collect the transmission information between the microprocessor and the target tag through the UWB antenna.

[0018] The microprocessor is connected to the CAN transceiver, and the microprocessor is used to send the arrangement position of the address bit of its own anchor module on the vehicle and the transmission information between its own anchor module and the target tag to the UWB master control module through the CAN transceiver.

[0019] Preferably, at least one address line interface for connecting the battery is provided in each UWB anchor module.

[0020] The above technical solution one has the following beneficial effects:

[0021] By leading out the address line interface through the UWB anchor module and connecting it to the positive and negative poles of the vehicle's battery, each UWB anchor module can use the self-learning address bit method to enable the UWB master control module to quickly and conveniently determine the positions of each anchor module arranged on the moving vehicle.

[0022] Compared with the wireless connection method (i.e., Bluetooth connection method) between the UWB anchor module and the UWB master control module in the existing system, the present invention adopts a physical connection method between the UWB anchor module and the vehicle's battery to learn the address bits of each UWB anchor module, and can more accurately and effectively determine the positions of the anchor modules arranged on the moving vehicle.

[0023] Based on the above purpose, a second technical solution of a UWB system includes:

[0024] A UWB master control module and N UWB anchor modules, N≥2. Each of the UWB anchor modules is installed in a moving vehicle. The UWB master control module is provided with N address line interfaces, and each address line interface is respectively connected to one of the UWB anchor modules to form N address line interface branches. A matching resistor with a resistance value different from that of other address line interface branches is provided on each address line interface branch;

[0025] Each of the UWB anchor modules respectively detects the current value flowing through the address line interface branch.

[0026] The UWB master control module is used to obtain the current values on each of the address line interface branches, and based on the current values on the address line interface branches, in combination with the preset correspondence between the current values and the layout positions of each of the UWB anchor modules on the moving vehicle, determine the layout positions of each of the UWB anchor modules on the moving vehicle.

[0027] Preferably, the number of the UWB anchor modules is four, namely a first anchor module, a second anchor module, a third anchor module, and a fourth anchor module. Four address line interfaces are provided on the UWB master control module. The first address line interface of the UWB master control module is connected to the address line interface of the first anchor module to form a first address line interface branch, and a first resistor is provided on this branch; the second address line interface of the UWB master control module is connected to the address line interface of the second anchor module to form a second address line interface branch, and a second resistor is provided on this branch;

[0028] The third address line interface of the UWB master control module is connected to the address line interface of the third anchor module to form a third address line interface branch, and a third resistor is provided in this branch; the fourth address line interface of the UWB master control module is connected to the address line interface of the fourth anchor module to form a fourth address line interface branch, and a fourth resistor is provided in this branch; the resistance values of the first resistor, the second resistor, the third resistor, and the fourth resistor are all different from each other.

[0029] Preferably, the first resistor, the second resistor, the third resistor, and the fourth resistor are all integrally provided in the UWB master control module.

[0030] Preferably, the UWB master control module and each of the UWB anchor modules are communicatively connected by a CAN bus.

[0031] Preferably, the structure of each of the UWB anchor modules includes a microprocessor, a CAN transceiver, and a UWB antenna. The microprocessor is connected to the UWB antenna, and the microprocessor is used to collect the transmission information with the target tag through the UWB antenna;

[0032] The microprocessor is connected to the CAN transceiver, and the microprocessor is used to send the current value on the address line interface branch of the UWB anchor module, the layout position of its own anchor module on the vehicle, and the transmission information between its own anchor module and the target tag to the UWB master control module through the CAN transceiver.

[0033] Preferably, the first resistor includes a resistor with a set resistance value, the second resistor includes two resistors with the set resistance value connected in series, the third resistor includes three resistors with the set resistance value connected in series, and the fourth resistor includes four resistors with the set resistance value connected in series.

[0034] The above technical solution two has the following beneficial effects:

[0035] The address line interface is led out by the UWB main control module and connected to the address line interfaces set in each anchor module, forming multiple address line interface branches. The matching resistors on each address line interface branch are different from each other. By detecting the current value on the address line interface branch, the arrangement positions of each anchor module on the moving vehicle can be determined quickly and conveniently.

[0036] Compared with the wireless connection method between the UWB anchor module and the UWB main control module in the existing system, the UWB system of the present invention adopts a physical connection method between the UWB anchor module and the UWB main control module to detect the current on the address line interface branch where each UWB anchor module is located, and can more accurately and effectively determine the position of the anchor module arranged on the moving vehicle.

[0037] Based on the above object, a technical solution of a vehicle includes:

[0038] It includes a vehicle body, and is characterized in that the vehicle body is provided with the above UWB system.

[0039] The above technical solution has the following beneficial effects:

[0040] The above UWB system is preferably applied in a vehicle, and can enable the vehicle to quickly and accurately locate the arrangement position of the anchor module.

[0041] Corresponding to the first technical solution of the above UWB system, a technical solution of a UWB anchor module and a UWB main control module is provided. Among them, the technical solution of the UWB anchor module includes:

[0042] The UWB anchor module is arranged in a moving vehicle, and the UWB anchor module is provided with an address line interface, and the address line interface is used to connect to the positive or negative pole of a battery arranged in the moving vehicle;

[0043] The UWB anchor module is used to determine the address bit of the UWB anchor module according to the detected address line interface voltage from the address line interface, and send the address bit of the UWB anchor module to the UWB main control module arranged in the moving vehicle.

[0044] The technical solution of the UWB main control module includes:

[0045] The UWB master control module is arranged in the mobile vehicle. The UWB master control module is used for electrically connecting each UWB anchor module arranged in the mobile vehicle to obtain the address bits of each UWB anchor module; combining the preset corresponding relationship between the address bits and the arrangement positions of each UWB anchor module in the mobile vehicle, the arrangement positions of the UWB anchor modules in the mobile vehicle are determined.

[0046] Corresponding to the second technical solution of the UWB system above, a technical solution of a UWB anchor module and a UWB master control module is provided. Among them, the technical solution of the UWB anchor module includes:

[0047] The UWB anchor module is arranged in the mobile vehicle. The UWB anchor module is provided with an address line interface for connecting to the UWB master control module arranged in the mobile vehicle through the address line interface to form an address line interface branch. A matching resistor is arranged on the address line interface branch;

[0048] The UWB anchor module is used for detecting the current value flowing through the address line interface branch and sending the current value to the UWB master control module arranged in the mobile vehicle.

[0049] The technical solution of the UWB master control module includes:

[0050] The UWB master control module is arranged in the mobile vehicle. The UWB master control module is provided with an address line interface for connecting to each UWB anchor module arranged in the mobile vehicle through the address line interface to form an address line interface branch. A matching resistor is arranged on the address line interface branch;

[0051] The UWB master control module is used for receiving the current values of the address line interface branches sent by each UWB anchor module, and determining the arrangement positions of each UWB anchor module in the mobile vehicle according to the current values of the address line interface branches and combining the preset corresponding relationship between the current values and the arrangement positions of each UWB anchor module on the mobile vehicle. Description of the Drawings

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 It is a schematic diagram of the communication connection between the UWB master control module and each anchor module provided in Embodiment 1 of the system of the present invention;

[0054] Figure 2 It is a schematic diagram of the connection of each anchor point module provided in Embodiment 1 of the system of the present invention to the vehicle battery;

[0055] Figure 3 It is a specific structural diagram of each anchor point module provided in Embodiment 1 of the system of the present invention;

[0056] Figure 4 It is a schematic diagram of the connection structure of five anchor point modules arranged at different positions in the vehicle to the battery provided in Embodiment 2 of the system of the present invention;

[0057] Figure 5 It is a schematic diagram of a UWB system connection structure provided in Embodiment 3 of the system of the present invention;

[0058] Figure 6 It is a schematic diagram of the composition of the first resistor, the second resistor, the third resistor, and the fourth resistor integrated inside the UWB main control module provided in Embodiment 3 of the system of the present invention;

[0059] The label descriptions are as follows:

[0060] 01, UWB main control module; 02, UWB anchor point module, namely the first anchor point module, the second anchor point module, the third anchor point module, the fourth anchor point module, and the fifth anchor point module; 06, battery; 31, microprocessor; 32, UWB antenna; 33, CAN transceiver. Specific implementation manners

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0062] System Embodiment 1:

[0063] This embodiment proposes a UWB system. Taking the application background of being used in a mobile vehicle such as a vehicle as an example, as Figure 1 shown, the UWB system includes a UWB main control module 01 and four UWB anchor point modules 02. The four UWB anchor point modules 02 are respectively the first anchor point module 02, the second anchor point module 03, the third anchor point module 04, and the fourth anchor point module 05. Among them, the first anchor point module 02 is installed at the left front position of the vehicle, the second anchor point module 03 is installed at the right front position of the vehicle, the third anchor point module 04 is installed at the left rear position of the vehicle, and the fourth anchor point module 05 is installed at the right rear position of the vehicle.

[0064] Figure 1Among them, the communication interfaces of the UWB master control module 01 are respectively connected to the communication interfaces of four UWB anchor modules 02. The UWB master control module 01 is used to obtain the transmission information between each UWB anchor module 02 and the target tag according to the communication interface, and position the target tag relative to the current vehicle according to the transmission information.

[0065] In this embodiment, it is preferred to use a CAN bus for communication connection between the UWB master control module 01 and each UWB anchor module 02. CAN transceivers are integrated in both the UWB master control module 01 and each UWB anchor module 02. The CAN transceiver in the UWB master control module 01 leads out two output terminals CANH and CANL. The CAN transceivers in each UWB anchor module 02 also lead out two output terminals CANH and CANL. The output terminal CANH in each UWB anchor module 02 is connected to the output terminal CANH of the UWB master control module 01, and the output terminal CANL in each UWB anchor module 02 is connected to the output terminal CANL of the UWB master control module 01.

[0066] As Figure 2 shown, each anchor module is provided with two address line interfaces, namely the first address line interface L1 and the second address line interface L2. The first address line interface L1 of the first anchor module 02 is connected to the positive pole of the battery 06 (voltage is 12V) in the vehicle, and the second address line interface L2 of the first anchor module 02 is connected to the negative pole of the battery 06; the first address line interface L1 and the second address line interface L2 of the second anchor module 03 are both connected to the positive pole of the battery 06; the first address line interface L1 of the third anchor module 04 is connected to the negative pole of the battery 06, and the second address line interface L2 of the third anchor module 04 is connected to the positive pole of the battery 06; the first address line interface L1 and the second address line interface L2 of the fourth anchor module 05 are both connected to the negative pole of the battery 06.

[0067] Each UWB anchor module 02 is used to determine the address bit of its own anchor module by means of self-learning the address bit according to the set address line interface. Specifically, the voltage level of the battery 06 is 12V, the positive pole voltage is 12V, and the negative pole voltage is 0V. Therefore, according to the connection relationship between the battery 06 and the address line interfaces of each UWB anchor module 02, the voltage of the address line interfaces of each UWB anchor module 02 can be determined, the address bit of each anchor module can be determined, and the address bit is sent to the UWB master control module 01. Then, the UWB master control module 01 is used to determine the address bit used to represent the layout position on the vehicle according to the address bits of each anchor module and in combination with the unique corresponding relationship (pre-set in advance) between the address bit and the position of the anchor module in the vehicle.

[0068] According to Figure 2The connection relationship between the address line interfaces of each UWB anchor module 02 shown and the storage battery 06 can determine the voltage and address bits of the address line interfaces of each UWB anchor module 02 as shown in Table 1.

[0069] Table 1

[0070] Module Address line interface L1 Address line interface L2 Address bit First anchor module +12V 0V 10 Second anchor module +12V +12V 11 Third anchor module 0V +12V 01 Fourth anchor module 0V 0V 00

[0071] In Table 1, the voltages of the address line interfaces L1 and L2 of the first anchor module 02 are +12V and 0V respectively, corresponding to high level and low level, and the represented address bit is 10, indicating the anchor module installed at the left front position of the vehicle. Similarly, the voltages of the address line interfaces L1 and L2 of the second anchor module 03 are +12V and +12V respectively, corresponding to high level and high level, and the represented address bit is 11, indicating the anchor module installed at the right front position of the vehicle.

[0072] Similarly, the voltages of the address line interfaces L1 and L2 of the third anchor module 04 are 0V and +12V respectively, corresponding to low level and high level, and the represented address bit is 01, indicating the anchor module installed at the left rear position of the vehicle. Similarly, the voltages of the address line interfaces L1 and L2 of the fourth anchor module 05 are 0V and 0V respectively, corresponding to low level and low level, and the represented address bit is 00, indicating the anchor module installed at the right rear position of the vehicle.

[0073] After the UWB main control module 01 determines the layout positions of the anchor modules, the UWB main control module 01 can calibrate the position coordinates of each UWB anchor module 02 relative to the UWB main control module 01 by combining the known distances between each anchor module and the UWB main control module 01. After the calibration is completed, the relative position relationship between each UWB anchor module 02 and the UWB main control module 01 can be determined, and the UWB main control module 01 can calculate the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor module 02 and the target tag.

[0074] Figure 2 In, the communication interfaces L3 and L4 of each anchor module are the output terminals CANH and CANL respectively, used to connect the output terminals CANH and CANL of the UWB main control module 01; the interfaces L5 and L6 of each anchor module are the power supply positive interface and the power supply negative interface respectively, used to connect the power supply.

[0075] In this embodiment, all UWB anchor modules have the same structure and are integrated devices. The specific structure of the UWB anchor module 02 is as Figure 3As shown in the figure, it includes a microprocessor 31, a CAN transceiver 33, and a UWB antenna 32. The microprocessor 31 is connected to the UWB antenna 32, and the microprocessor 31 is used to collect the transmission information with the target tag through the UWB antenna 32. The microprocessor 31 is connected to the CAN transceiver 33, and the microprocessor 31 is used to send the address bits of its own anchor module and the transmission information between its own anchor module and the target tag to the UWB master control module 01 through the CAN transceiver 33.

[0076] In this embodiment, the UWB system includes four anchor modules installed on the vehicle. As other implementation manners, three anchor modules can also be set. When matching address bits for each anchor module, as long as three are randomly selected from 10, 11, 00, and 01 to respectively represent the positions of the corresponding anchor modules arranged on the vehicle.

[0077] The advantages of the UWB system of the present invention are as follows:

[0078] (1) By leading out the address line interfaces (L1, L2) from the UWB anchor module 02 and connecting them to the positive and negative poles of the vehicle battery, each UWB anchor module 02 can use the self-learning address bit method to enable the UWB master control module 01 to quickly and conveniently determine the positions of each anchor module arranged on the vehicle.

[0079] (2) Compared with the wireless connection method (i.e., the Bluetooth connection method) between the UWB anchor module 02 and the UWB master control module 01 in the existing system, the present invention adopts the physical connection method between the UWB anchor module 02 and the vehicle battery to perform the self-learning of the address bits of each UWB anchor module 02, and can more accurately and effectively determine the positions of each anchor module arranged on the vehicle.

[0080] System Embodiment 2:

[0081] This embodiment proposes a UWB system. The difference from the UWB system in Embodiment 1 is that the number of anchor modules in Embodiment 1 is 4, and two different address bits need to be matched for each UWB anchor module 02. Therefore, each UWB anchor module 02 leads out two address line interfaces (L1, L2).

[0082] In this embodiment, the number of anchor modules installed in the vehicle is N, 5 ≤ N ≤ 8, and three different address bits need to be matched for each UWB anchor module 02 to represent different positions of the anchor module arranged on the vehicle. Therefore, each UWB anchor module 02 leads out three address line interfaces (L1, L2, L7) for connecting the positive and negative poles of the vehicle battery 06.

[0083] For example, 5 anchor modules are set at different positions in the vehicle, such as Figure 4As shown in the figure, each anchor module is provided with three address line interfaces, namely the first address line interface L1, the second address line interface L2, and the third address line interface L7. The first address line interface L1 of the first anchor module 02 is connected to the positive electrode of the battery 06 in the vehicle, and the second address line interface L2 and the third address line interface L7 are connected to the negative electrode of the battery 06.

[0084] The first address line interface L1 and the second address line interface L2 of the second anchor module 03 are both connected to the positive electrode of the battery 06, and the third address line interface L7 is connected to the negative electrode of the battery 06. The first address line interface L1 and the third address line interface L7 of the third anchor module 04 are connected to the negative electrode of the battery 06, and the second address line interface L2 is connected to the positive electrode of the battery 06. The first address line interface L1, the second address line interface L2, and the third address line interface L7 of the fourth anchor module 05 are all connected to the negative electrode of the battery 06. The first address line interface L1, the second address line interface L2, and the third address line interface L7 of the fifth anchor module 07 are all connected to the positive electrode of the battery 06. The voltage and address bits of the address line interfaces of each anchor module are shown in Table 2.

[0085] Table 2

[0086]

[0087] In Table 2, five address bits 100, 110, 010, 000, 111 are selected to represent the different installation positions of the first anchor module 02, the second anchor module 03, the third anchor module 04, the fourth anchor module 05, and the fifth anchor module 07 in the vehicle in sequence. However, this address bit allocation method is not unique. As another method, five of 100, 110, 010, 000, 111, 001, 011, 101 can be arbitrarily selected as the address bits used to match the five anchor modules. When the address bit used to match a certain anchor module is uniquely determined, the connection relationship between the address line interface of the corresponding anchor module and the positive and negative electrodes of the battery 06 is also determined accordingly. For example, if the address bit used to match the fifth anchor module 07 is 101, then the first address line interface L1 and the third address line interface L7 of the fifth anchor module 07 are both connected to the positive electrode of the battery 06, and the second address line interface L2 of the fifth anchor module 07 is connected to the negative electrode of the battery 06.

[0088] As other embodiments, when the number of anchor modules set in the vehicle is N > 8, then correspondingly, more than three address bits (for example, k bits, k > 3) need to be matched for each UWB anchor module 02 to represent different positions of the anchor modules arranged on the vehicle. Therefore, each UWB anchor module 02 leads out more than three address line interfaces (for example, k interfaces) for connecting the positive and negative electrodes of the vehicle battery 06. And the number of address line interfaces led out by each UWB anchor module 02 is the same as the number of bits of the matched address bits.

[0089] System Embodiment 3:

[0090] This embodiment proposes a UWB system. The difference from the UWB system in Embodiment 1 is that the UWB system in this embodiment does not need to connect the positive and negative electrodes of the vehicle battery to the address line interfaces of each anchor module, but leads out four address line interfaces (P1 to P4) on the UWB main control module 01, and each address line interface (P1 to P4) is used to connect an address line interface L1 set in an anchor module.

[0091] As Figure 5 shown, the first address line interface P1 of the UWB main control module 01 is connected to the address line interface L1 of the first anchor module 02 to form a first address line interface branch, and a first resistor is provided on this branch. The first resistor is integrally provided in the UWB main control module 01. Similarly, the second address line interface P2 of the UWB main control module 01 is connected to the address line interface L1 of the second anchor module 03 to form a second address line interface branch, and a second resistor is provided on this branch. The second resistor is integrally provided in the UWB main control module 01.

[0092] Similarly, the third address line interface P3 of the UWB main control module 01 is connected to the address line interface L1 of the third anchor module 04 to form a third address line interface branch, and a third resistor is provided in this branch, and the third resistor is integrally provided in the UWB main control module 01. Similarly, the fourth address line interface P4 of the UWB main control module 01 is connected to the address line interface L1 of the fourth anchor module 05 to form a fourth address line interface branch, and a fourth resistor is provided in this branch. The fourth resistor is integrally provided in the UWB main control module 01.

[0093] In this embodiment, the resistance values of the first resistor, the second resistor, the third resistor, and the fourth resistor are all different from each other, that is, the resistance values set on the address line interface branches between each anchor module and the UWB main control module 01 are all different from each other, and this is used to distinguish each anchor module set at different positions on the vehicle. It is equivalent to that there is a one-to-one mapping relationship between the resistance value size and the position of each anchor module on the vehicle.

[0094] A way to set the first resistor, the second resistor, the third resistor, and the fourth resistor is asFigure 6 As shown, the first resistor R1 includes a resistor with a resistance value of 15 KΩ, the second resistor R2 includes two resistors with a resistance value of 15 KΩ each connected in series, the third resistor R3 includes three resistors with a resistance value of 15 KΩ each connected in series, and the fourth resistor R4 includes four resistors with a resistance value of 15 KΩ each connected in series.

[0095] In the above UWB system, the calibration principle of the arrangement positions of each anchor module is as follows:

[0096] The UWB main control module 01 sends the same voltage signal to the four anchor modules respectively through the first address line interface P1, the second address line interface P2, the third address line interface P3, and the fourth address line interface P4. Each anchor module receives the voltage signal through its own address line interface L1, detects the current magnitude of the voltage signal, and sends the detected current value to the UWB main control module 01.

[0097] The UWB main control module 01 is used to calculate the equivalent internal resistance of each address line interface branch according to the ratio of voltage to current, judge the resistance difference ΔR between the equivalent internal resistance and the first resistor, the second resistor, the third resistor, and the fourth resistor respectively, compare the magnitudes of the four differences ΔR, determine the resistor corresponding to the smallest difference ΔR, and determine the position of the current anchor module on the vehicle by referring to the mapping relationship (i.e., the corresponding relationship) between the resistance value on the address line interface branch and the positions of each anchor module on the vehicle, so as to realize the position calibration of each anchor module.

[0098] After the calibration is completed, the relative position relationship between each UWB anchor module 02 and the UWB main control module 01 can be determined. The UWB main control module 01 can calculate the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor module 02 and the target tag.

[0099] In this embodiment, each anchor module is provided with an address line interface L1, and the interface L2 can be reserved for future use.

[0100] The advantages of the UWB system of the present invention are as follows:

[0101] (1) By leading out the address line interfaces (P1~P4) from the UWB main control module 01 and connecting them to the address line interface L1 set in each anchor module, a plurality of address line interface branches are formed. The matching resistors on each address line interface branch are different from each other. By detecting the equivalent internal resistance to determine the matching resistor, the arrangement position of its own anchor module on the vehicle can be determined quickly and conveniently.

[0102] (2) Compared with the wireless connection method (i.e., Bluetooth connection method) between the UWB anchor module 02 and the UWB master control module 01 in the existing system, the vehicle UWB system in this embodiment adopts a physical connection method between the UWB anchor module 02 and the UWB master control module 01 to perform self-learning of the matching resistance of each UWB anchor module 02, and can more accurately and effectively determine the position where the anchor module is arranged on the vehicle.

[0103] System Embodiment 4:

[0104] This embodiment proposes a UWB system. The difference from the UWB system in Embodiment 3 is that the number of anchor modules set on the vehicle in this system is n, n = 3, 5, 6..., and the UWB master control module 01 leads out n address line interfaces (P1, P2,..., Pn). Each address line interface (P1, P2,..., Pn) of the UWB master control module 01 is respectively used to connect to the address line interface L1 set in the corresponding anchor module to form a corresponding address line interface branch. A matching resistor Ri with a resistance value that is different from that of other branches is set on this branch, and the resistance value of the resistor is matched through a mapping relationship in which the resistance value size has a one-to-one correspondence with the position of the anchor module on the vehicle.

[0105] System Embodiment 5:

[0106] This embodiment proposes a UWB system. The difference from the UWB system in Embodiment 3 is that in Embodiment 3, the second resistor, the third resistor, and the fourth resistor are all composed of multiple resistors with the same resistance value connected in series. In this system, the first resistor, the second resistor, the third resistor, and the fourth resistor are all separate resistors, but the resistance values of each resistor are different. For example, the resistance value of the first resistor is 6 kΩ, the resistance value of the second resistor is 10 kΩ, the resistance value of the third resistor is 15 kΩ, and the resistance value of the fourth resistor is 33 kΩ.

[0107] System Embodiment 6:

[0108] This embodiment proposes a UWB system. The difference from the UWB system in Embodiment 3 is that the calibration principle of the arrangement position of each anchor module in this system is as follows:

[0109] The UWB master control module 01 respectively sends the same voltage signal to four anchor modules through the first address line interface P1, the second address line interface P2, the third address line interface P3, and the fourth address line interface P4. Each anchor module receives the voltage signal through its own address line interface L1, detects the magnitude of the current caused by the voltage signal, and sends the detected current value to the UWB master control module 01.

[0110] The UWB master control module 01 is used to determine the layout positions of each UWB anchor module 02 on the vehicle according to the magnitude of the current, in combination with the preset correspondence between the current value and the layout positions of each UWB anchor module 02 on the vehicle.

[0111] It can be understood that since the mapping relationship between the resistance value and the positions of each anchor module on the vehicle is known, the preset current value can be calculated based on the ratio of the transmitted voltage signal to each resistor, so that the correspondence between the preset current value and the layout positions of each UWB anchor module 02 on the vehicle can be obtained.

[0112] Vehicle embodiment:

[0113] This embodiment provides a vehicle, including a vehicle body and a UWB system as described in any one of Embodiments 1-6 of the upper system, which can enable the vehicle to quickly and accurately locate the layout positions of the anchor modules.

[0114] Anchor module embodiment 1:

[0115] This embodiment provides a UWB anchor module 02, which is arranged in a moving vehicle. The UWB anchor module 02 is provided with address line interfaces (L1, L2), and the address line interfaces (L1, L2) are used to connect to the positive or negative pole of the battery arranged in the moving vehicle.

[0116] The UWB anchor module 02 is used to detect the address line interface voltage from the address line interfaces (L1, L2) to determine the address bit of the UWB anchor module 02, and send the address bit of the UWB anchor module 02 to the UWB master control module 01 arranged in the moving vehicle.

[0117] The UWB anchor module proposed in this embodiment is the UWB anchor module 02 in System Embodiment 1. The UWB anchor module 02 has been clearly and completely introduced in System Embodiment 1. For specific content, refer to the relevant records in System Embodiment 1, and this embodiment will not be elaborated here.

[0118] Master control module embodiment 1:

[0119] This embodiment provides a UWB master control module 01, which is arranged in a moving vehicle. The UWB master control module 01 is used to electrically connect to each UWB anchor module 02 arranged in the moving vehicle to obtain the address bits of each UWB anchor module 02; in combination with the preset correspondence between the address bits and the layout positions of each UWB anchor module 02 in the moving vehicle, determine the layout positions of the UWB anchor modules 02 in the moving vehicle.

[0120] The UWB master control module 01 proposed in this embodiment is the UWB master control module 01 in System Embodiment 1. The UWB master control module 01 has been clearly and completely introduced in System Embodiment 1. For specific content, refer to the relevant records in System Embodiment 1, and details will not be repeated in this embodiment.

[0121] Anchor Module Embodiment 2:

[0122] This embodiment proposes a UWB anchor module 02. The UWB anchor module 02 is arranged in a mobile vehicle. The UWB anchor module 02 is provided with an address line interface L1 for connecting to the UWB master control module 01 arranged in the mobile vehicle through the address line interface L1 to form an address line interface branch. A matching resistor is arranged on the address line interface branch.

[0123] Moreover, the UWB anchor module 02 is used to detect the current value flowing through the address line interface branch and send the current value to the UWB master control module 01 arranged in the mobile vehicle.

[0124] The UWB anchor module 02 proposed in this embodiment is the UWB anchor module 02 in System Embodiment 3. The UWB anchor module 02 has been clearly and completely introduced in System Embodiment 3. For specific content, refer to the relevant records in System Embodiment 3, and details will not be repeated in this embodiment.

[0125] Master Control Module Embodiment 2:

[0126] This embodiment proposes a UWB master control module 01. The UWB master control module 01 is arranged in a mobile vehicle. The UWB master control module 01 is provided with address line interfaces (P1 - P4) for connecting to each UWB anchor module 02 arranged in the mobile vehicle through the address line interfaces (P1 - P4) to form an address line interface branch. A matching resistor is arranged on the address line interface branch;

[0127] The UWB master control module 01 is used to receive the current values on the address line interface branches sent by each UWB anchor module 02, and determine the arrangement positions of each UWB anchor module 02 on the mobile vehicle according to the current values on the address line interface branches and in combination with the preset correspondence between the current values and the arrangement positions of each UWB anchor module 02 on the mobile vehicle.

[0128] The UWB master control module 01 proposed in this embodiment is the UWB master control module 01 in System Embodiment 3. The UWB master control module 01 has been clearly and completely introduced in System Embodiment 3. For specific content, refer to the relevant records in System Embodiment 3, and details will not be repeated in this embodiment.

[0129] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A UWB system, characterized in that, Including: A UWB main control module and N UWB anchor modules, where N≥2. Each of the UWB anchor modules is installed in a mobile vehicle, and each of the UWB anchor modules is provided with two address line interfaces. Each address line interface is used to connect to the positive or negative pole of a battery installed in the mobile vehicle; a physical connection is used between the UWB anchor module and the battery; Each of the UWB anchor modules is used to determine the address bits of each of the UWB anchor modules according to the address line interface voltage detected from the address line interface. The address bits of each of the UWB anchor modules are different from each other to perform self-learning of the address bits of each of the UWB anchor modules; The UWB main control module is electrically connected to each of the UWB anchor modules respectively to obtain the address bits of each of the UWB anchor modules; a physical connection is used between the UWB anchor module and the UWB main control module; The UWB main control module is used to determine the layout position of the UWB anchor module in the mobile vehicle according to the address bits in combination with a preset correspondence between the address bits and the layout positions of each of the UWB anchor modules in the mobile vehicle; the UWB main control module calculates the positioning position of the target tag relative to the current vehicle according to the transmission information between each of the UWB anchor modules and the target tag.

2. The UWB system according to claim 1, wherein There are four UWB anchor modules, namely the first anchor module, the second anchor module, the third anchor module, and the fourth anchor module. Each of the UWB anchor modules is provided with a first address line interface and a second address line interface; The first address line interface of the first anchor module is connected to the positive pole of the battery in the mobile vehicle, and the second address line interface of the first anchor module is connected to the negative pole of the battery; Both the first address line interface and the second address line interface of the second anchor module are connected to the positive pole of the battery; The first address line interface of the third anchor module is connected to the negative pole of the battery, and the second address line interface of the third anchor module is connected to the positive pole of the battery; Both the first address line interface and the second address line interface of the fourth anchor module are connected to the negative pole of the battery.

3. The UWB system according to claim 1 or 2, characterized in that, A CAN bus is used for communication connection between the UWB main control module and each of the UWB anchor modules.

4. The UWB system according to claim 1 or 2, characterized in that, The structure of each of the UWB anchor modules includes a microprocessor, a CAN transceiver, and a UWB antenna. The microprocessor is connected to the UWB antenna, and the microprocessor is used to collect the transmission information with the target tag through the UWB antenna; The microprocessor is connected to the CAN transceiver, and the microprocessor is used to send the address bits of the UWB anchor module and the transmission information between the UWB anchor module and the target tag to the UWB main control module through the CAN transceiver.

5. The UWB system according to claim 1, characterized in that, At least one address line interface for connecting the battery is provided in each of the UWB anchor modules.

6. A UWB system, characterized in that, Including: A UWB master control module and N UWB anchor modules, where N≥2, and each of the UWB anchor modules is installed in a mobile vehicle. The UWB master control module is provided with N address line interfaces, and each of the address line interfaces is respectively connected to one of the UWB anchor modules to form N address line interface branches. A matching resistor with a resistance value different from that of the other address line interface branches is provided on each of the address line interfaces to perform self-learning of the matching resistors of each of the UWB anchor modules; a physical connection is used between the UWB anchor module and the UWB master control module; Each of the UWB anchor modules respectively detects the current value flowing through the address line interface branch; The UWB master control module is used to obtain the current values on each of the address line interface branches, and determine the layout positions of each of the UWB anchor modules on the mobile vehicle according to the current values on the address line interface branches and in combination with the preset corresponding relationship between the current values and the layout positions of each of the UWB anchor modules on the mobile vehicle; the UWB master control module calculates the positioning position of the target tag relative to the current vehicle according to the transmission information between each of the UWB anchor modules and the target tag.

7. The UWB system according to claim 6, characterized in that, The number of the UWB anchor modules is four, namely a first anchor module, a second anchor module, a third anchor module, and a fourth anchor module. The UWB master control module is provided with four address line interfaces. The first address line interface of the UWB master control module is connected to the address line interface of the first anchor module to form a first address line interface branch, and a first resistor is provided on this branch; the second address line interface of the UWB master control module is connected to the address line interface of the second anchor module to form a second address line interface branch, and a second resistor is provided on this branch; The third address line interface of the UWB master control module is connected to the address line interface of the third anchor module to form a third address line interface branch, and a third resistor is provided in this branch; the fourth address line interface of the UWB master control module is connected to the address line interface of the fourth anchor module to form a fourth address line interface branch, and a fourth resistor is provided in this branch; the resistance values of the first resistor, the second resistor, the third resistor, and the fourth resistor are all different from each other.

8. The UWB system according to claim 7, characterized in that, The first resistor, the second resistor, the third resistor, and the fourth resistor are all integrally provided in the UWB master control module.

9. The UWB system according to claim 6 or 7, characterized in that, A CAN bus is used for communication connection between the UWB master control module and each of the UWB anchor modules.

10. The UWB system according to claim 6 or 7, characterized in that, The structure of each of the UWB anchor modules includes a microprocessor, a CAN transceiver, and a UWB antenna. The microprocessor is connected to the UWB antenna, and the microprocessor is used to collect the transmission information with the target tag through the UWB antenna; The microprocessor is connected to the CAN transceiver, and the microprocessor is used to send the current value on the address line interface branch and the transmission information between this UWB anchor module and the target tag to the UWB master control module through the CAN transceiver.

11. The UWB system according to claim 6, wherein The first resistor includes a resistor with a set resistance value. The second resistor includes two resistors with the set resistance value connected in series. The third resistor includes three resistors with the set resistance value connected in series. The fourth resistor includes four resistors with the set resistance value connected in series.

12. A vehicle, comprising a vehicle body, characterized in that, The vehicle body is provided with the UWB system according to any one of claims 1-11.

13. A UWB anchor module, characterized in that, The UWB anchor module is arranged in the mobile vehicle. The UWB anchor module is provided with an address line interface, and the address line interface is used to connect to the positive or negative pole of the battery arranged in the mobile vehicle. A physical connection is adopted between the UWB anchor module and the battery to perform self-learning of the address bits of each UWB anchor module. The UWB anchor module is used to determine the address bit of the UWB anchor module according to the detected address line interface voltage from the address line interface, and send the address bit of the UWB anchor module to the UWB main control module arranged in the mobile vehicle. The UWB main control module calculates the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor module and the target tag.

14. A UWB main control module, characterized in that, The UWB main control module is arranged in the mobile vehicle. The UWB main control module is used to electrically connect to each UWB anchor module arranged in the mobile vehicle to obtain the address bits of each UWB anchor module. Combining the preset correspondence relationship between the address bits and the arrangement positions of each UWB anchor module in the mobile vehicle, the arrangement position of the UWB anchor module in the mobile vehicle is determined. A physical connection is adopted between the UWB anchor module and the UWB main control module to perform self-learning of the address bits of each UWB anchor module. The UWB main control module calculates the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor module and the target tag.

15. A UWB anchor module, characterized in that, The UWB anchor module is arranged in the mobile vehicle. The UWB anchor module is provided with an address line interface, which is used to connect to the UWB main control module arranged in the mobile vehicle through the address line interface to form an address line interface branch. A matching resistor is arranged on the address line interface branch to perform self-learning of the matching resistors of each UWB anchor module. The UWB anchor module is used to detect the current value flowing through the address line interface branch and send the current value to the UWB main control module arranged in the mobile vehicle. The UWB main control module calculates the positioning position of the target tag relative to the current vehicle according to the transmission information between each UWB anchor module and the target tag.

16. A UWB main control module, characterized in that, The UWB main control module is arranged in the mobile vehicle. The UWB main control module is provided with an address line interface, which is used to connect to each UWB anchor module arranged in the mobile vehicle through the address line interface to form an address line interface branch. A matching resistor is arranged on the address line interface branch to perform self-learning of the matching resistors of each UWB anchor module. The UWB master control module is used to receive the current values on the address line interfaces sent by each of the UWB anchor modules, and determine the layout positions of each of the UWB anchor modules on the moving vehicle according to the current values on the address line interfaces and in combination with the preset correspondence between the current values and the layout positions of each of the UWB anchor modules on the moving vehicle; the UWB master control module calculates the positioning position of the target tag relative to the current vehicle according to the transmission information between each of the UWB anchor modules and the target tag.

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