Vehicle ranging method, device, vehicle-mounted terminal, vehicle and storage medium

Abstract

The present invention discloses a vehicle ranging method, device, vehicle-mounted terminal, vehicle and medium, wherein the vehicle includes at least one UWB communication module, and the method includes: controlling the UWB communication module to send a first ranging frame, and controlling the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein the first time of sending the first ranging frame is earlier than the second time of sending the second ranging frame, and the third time of sending the data frame is later than the second time, and the clock compensation value of the UWB communication module is determined according to the first time, the second time, the third time, the fourth time of receiving the second ranging frame, and the fifth time of receiving the data frame, and the ranging information of the UWB communication module is determined according to the clock compensation value, the first time, the second time, the fourth time, and the sixth time of the mobile terminal receiving the first ranging frame. On the basis of not increasing the hardware cost, the synchronization of data is effectively guaranteed, the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal is reduced, and the ranging accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle ranging method, device, vehicle-mounted terminal, vehicle and storage medium. Background Art

[0002] With the rapid development of vehicle technology, the intelligence of vehicles has gradually improved, and various personalized and diversified functional designs have emerged. The vehicle PEPS (Passive Entry Passive Start) system has become a highlight in smart cars. In related technologies, vehicle keyless entry and start control is performed based on the distance between the mobile terminal and the vehicle, but there are problems such as high ranging cost and low ranging accuracy. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first object of the present invention is to provide a vehicle ranging method, which can effectively ensure the synchronization of data without increasing the hardware cost, reduce the error caused by the clock synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] The third objective of the present invention is to provide a vehicle-mounted terminal.

[0006] A fourth object of the present invention is to provide a vehicle.

[0007] A fifth object of the present invention is to provide a vehicle distance measuring device.

[0008] To achieve the above-mentioned purpose, an embodiment of a first aspect of the present invention proposes a vehicle ranging method, wherein the vehicle includes at least one UWB communication module, and the method includes: controlling the UWB communication module to send a first ranging frame, and controlling the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time; determining a clock compensation value of the UWB communication module according to the first time, the second time, the third time, a fourth time of receiving the second ranging frame, and a fifth time of receiving the data frame; determining ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time, and a sixth time when the mobile terminal receives the first ranging frame.

[0009] According to the vehicle ranging method of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without additionally increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0010] In some embodiments of the present invention, the data frame includes timestamp information, and before determining the clock compensation value of the UWB communication module, the method further includes: parsing the timestamp information in the data frame to determine the second moment, the third moment and the sixth moment.

[0011] In some embodiments of the present invention, determining the clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame includes: determining a unit clock compensation value according to the second moment, the third moment, the fourth moment and the fifth moment; determining the clock compensation value of the UWB communication module according to the unit clock compensation value, the first moment and the fourth moment.

[0012] In some embodiments of the present invention, the unit clock compensation value is calculated by the following formula: Tpi=[(T5i-T4i)-(T3-T2)] / (T5i-T4i), wherein Tpi is the unit clock compensation value, T2 is the second moment, T3 is the third moment, T4i is the fourth moment, and T5i is the fifth moment.

[0013] In some embodiments of the present invention, the clock compensation value of the UWB communication module is calculated by the following formula: Tci=Tpi*(T4i-T1i), wherein Tci is the clock compensation value of the UWB communication module, Tpi is the unit clock compensation value, T4i is the fourth moment, and T1i is the first moment.

[0014] In some embodiments of the present invention, the ranging information of the UWB communication module is calculated by the following formula: Ri=C*[(T4i-T1i)-(T2-T6i)+Tci] / 2, wherein Ri is the ranging information of the UWB communication module, C is the electromagnetic wave transmission speed, Tci is the clock compensation value, T1i is the first moment, T2 is the second moment, T4i is the fourth moment, and T6i is the sixth moment.

[0015] In some embodiments of the present invention, after determining the ranging information of the UWB communication module, the method further includes: determining the relative position information between the mobile terminal and the vehicle according to the ranging information of the UWB communication module, so as to control the vehicle to perform a keyless start operation according to the relative position information.

[0016] To achieve the above-mentioned purpose, a second aspect of the present invention provides a computer-readable storage medium on which a vehicle distance measurement program is stored. When the vehicle distance measurement program is executed by a processor, the vehicle distance measurement method described in any of the above-mentioned embodiments is implemented.

[0017] According to the computer-readable storage medium of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without additionally increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0018] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle-mounted terminal, which includes a memory, a processor, and a vehicle ranging program stored in the memory and executable on the processor. When the processor executes the vehicle ranging program, the vehicle ranging method described in any of the above-mentioned embodiments is implemented.

[0019] According to the vehicle terminal of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0020] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle, comprising the vehicle-mounted terminal described in the above embodiment and at least one UWB communication module, wherein the vehicle-mounted terminal is connected to the UWB communication module.

[0021] According to the vehicle of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0022] To achieve the above-mentioned purpose, a fifth aspect of the present invention proposes a vehicle ranging device, wherein the vehicle includes at least one UWB communication module, and the device includes: a control module, used to control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time; a first determination module, used to determine a clock compensation value of the UWB communication module according to the first time, the second time, the third time, a fourth time of receiving the second ranging frame, and a fifth time of receiving the data frame; a second determination module, used to determine the ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time, and a sixth time when the mobile terminal receives the first ranging frame.

[0023] According to the vehicle ranging device of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without additionally increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 is a flow chart of a vehicle distance measurement method according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of a vehicle scene according to an embodiment of the present invention;

[0028] Figure 3 is a flow chart of a vehicle ranging method according to another embodiment of the present invention;

[0029] Figure 4 is a flow chart of a vehicle ranging method according to another embodiment of the present invention;

[0030] Figure 5 is a flow chart of a vehicle ranging method according to another embodiment of the present invention;

[0031] Figure 6 is a flow chart of a vehicle ranging method according to another embodiment of the present invention;

[0032] Figure 7 is a flow chart of a vehicle ranging method according to another embodiment of the present invention;

[0033] Figure 8 is a flow chart of a vehicle ranging method according to another embodiment of the present invention;

[0034] Fig. 9 is a structural block diagram of a vehicle-mounted terminal according to an embodiment of the present invention;

[0035] Fig.10 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0036] Fig.11 4 is a structural block diagram of a vehicle distance measuring device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] To clearly illustrate the vehicle ranging method, device, vehicle-mounted terminal, vehicle and storage medium of the embodiment of the present invention, the following is combined with Figure 1 The vehicle includes at least one UWB communication module, such as Figure 1 As shown, the vehicle ranging method of the embodiment of the present invention includes the following steps:

[0039] S11: Control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by the mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time;

[0040] S13: determining a clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame;

[0041] S15: Determine the ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time, and the sixth time when the mobile terminal receives the first ranging frame.

[0042] According to the vehicle ranging method of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without additionally increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0043] It can be understood that UWB (Ultra Wideband) technology has the advantages of high positioning accuracy, good security, and high transmission rate, so PEPS system control can be implemented based on UWB technology. When UWB technology is applied in the PEPS system, the vehicle and the mobile terminal conduct periodic UWB ranging sessions to determine the relative position information of the vehicle and the mobile terminal, wherein the carrier of the UWB ranging session is the UWB frame, and the UWB frame may include a SYNC field, an SFD field, a PHY field, and a PSDU field, wherein the SYNC field is used to measure the channel between transmission and reception and determine the phase position between transmission and reception, the SFD field is used to start and stop the stopwatch for distance measurement, the PHY field may include the length of the payload, and the PSDU field may include the actual transmitted data. Since the clock crystal of each UWB communication module may be different, and thus the clock of each UWB communication module runs at a different speed, that is, the clocks of multiple UWB communication modules are not synchronized, then over time, the clock deviation of each UWB communication module may become larger and larger, resulting in reduced UWB ranging accuracy and ranging information being inconsistent with the actual situation. Although the clock synchronization of multiple UWB communication modules can be guaranteed to a certain extent by adding additional synchronization engines, synchronizers and other equipment, it requires high hardware costs and is difficult to achieve.

[0044] In the vehicle ranging method of an embodiment of the present invention, the vehicle includes at least one UWB communication module, the mobile terminal includes a UWB communication module, and the vehicle and the mobile terminal perform a UWB ranging session based on the UWB communication module to determine the ranging information of each UWB communication module of the vehicle.

[0045] Please combine Figure 2In some embodiments, the vehicle 1000 includes five UWB communication modules 100, which are respectively installed on the roof, the right front lamp housing, the left front lamp housing, the left rear lamp housing and the right rear lamp housing. Among them, four UWB communication modules 100 can be installed in the lamp housing, so that the anchor point can be protected without adding additional protective equipment, and the lamp housing can reduce the shielding of the signal relative to the vehicle body housing. In addition, the arrangement of the above five UWB communication modules 100 can increase the ranging distance, accurately reflect the shape of the vehicle 1000, and ensure that the number of UWB communication modules 100 can meet the data volume requirements for the subsequent calculation of the relative position information between the vehicle 1000 and the mobile terminal 200. For example, when the relative position information is calculated using the trilateral positioning algorithm, it can be satisfied that at least three UWB communication modules 100 and the mobile terminal 200 are kept within the line of sight, which meets the calculation requirements of the positioning algorithm. A UWB communication module 100 installed on the roof can be used as a main communication module of the vehicle body to control the actions of the UWB communication modules 100 installed at other locations. In some embodiments, the UWB communication module 100 of the vehicle 1000 is a multi-channel and / or single-channel UWB transceiver. The mobile terminal 200 includes but is not limited to a smart phone, a tablet computer or a wearable device.

[0046] In some embodiments, the mobile terminal further includes a motion sensor. Figure 3 When the motion state of the mobile terminal is determined to be motion through the motion sensor, the UWB communication module of the mobile terminal is awakened to conduct a UWB ranging session, and during the UWB ranging session, the motion state of the mobile terminal is continuously detected. If it is detected that the motion state of the mobile terminal switches from motion to stillness and the stillness lasts for more than 5 seconds, the UWB communication module of the mobile terminal is controlled to enter sleep mode, and wake up the next time the motion state of the mobile terminal is determined to be motion. In this way, the power consumption of the UWB communication module of the mobile terminal can be reduced and the battery life of the mobile terminal can be extended. Motion sensors include but are not limited to acceleration sensors, speed sensors, air pressure sensors, inertial measurement units, etc.

[0047] Furthermore, the vehicle can estimate the current distance between the mobile terminal and itself based on Bluetooth, and when the current distance is less than or equal to a preset distance threshold (for example, 10 meters), determine that the mobile terminal enters the receiving UWB signal range of the vehicle's UWB communication module, and then control each UWB communication module of the vehicle to send a first ranging frame to conduct a UWB ranging session with the mobile terminal.

[0048] The first ranging frame and the second ranging frame can be understood as UWB frames used for distance measurement. The first moment of sending the first ranging frame should be understood as the sending moment of the first ranging frame recorded by the UWB communication module's own clock of the vehicle. The sixth moment of receiving the first ranging frame should be understood as the receiving moment of the first ranging frame recorded by the UWB communication module's own clock of the mobile terminal. The second moment of sending the second ranging frame should be understood as the sending moment of the second ranging frame recorded by the UWB communication module's own clock of the mobile terminal. The fourth moment of receiving the second ranging frame should be understood as the receiving moment of the second ranging frame recorded by the UWB communication module's own clock of the vehicle.

[0049] The data frame can be understood as a UWB frame used to transmit timestamp information. The third time of sending the data frame should be understood as the sending time of the data frame recorded by the UWB communication module of the mobile terminal itself. The fifth time of receiving the data frame should be understood as the receiving time of the data frame recorded by the UWB communication module of the vehicle itself.

[0050] The clock compensation value of the UWB communication module may be understood as a value used to compensate for the clock deviation between the UWB communication module of the vehicle and the mobile terminal between the first moment to the fourth moment.

[0051] The distance measurement information of the UWB communication module may include the relative distance between the UWB communication module of the vehicle and the mobile terminal.

[0052] In an example, the five UWB communication modules of a vehicle can be recorded as anchor point 1, anchor point 2, anchor point 3, anchor point 4 and anchor point 5 respectively. Among them, anchor point 1 is the main communication module of the vehicle body, controlling the actions of the other four anchor points. Figure 4 At a certain moment, anchor point 1 commands each anchor point to send the first ranging frame. Since the clock of each anchor point is not synchronized, the first moment when anchor point 1 actually sends the first ranging frame is T11, the first moment when anchor point 2 actually sends the first ranging frame is T12, the first moment when anchor point 3 actually sends the first ranging frame is T13, the first moment when anchor point 4 actually sends the first ranging frame is T14, and the first moment when anchor point 5 actually sends the first ranging frame is T15. The first moment when each anchor point sends the first ranging frame can be determined by the clock of the corresponding anchor point itself.

[0053] Since each anchor point is arranged at a different position of the vehicle body and the distance relative to the mobile terminal is different, the sixth moment when the mobile terminal receives the first ranging frame sent by anchor point 1 is T61, the sixth moment when the mobile terminal receives the first ranging frame sent by anchor point 2 is T62, the sixth moment when the mobile terminal receives the first ranging frame sent by anchor point 3 is T63, the sixth moment when the mobile terminal receives the first ranging frame sent by anchor point 4 is T64, and the sixth moment when the mobile terminal receives the first ranging frame sent by anchor point 5 is T65. The sixth moment when the mobile terminal receives the first ranging frame can be determined by the clock of its own UWB communication module.

[0054] After receiving the first ranging frame, the mobile terminal delays for the first preset time, that is, sends a second ranging frame at the second time T2, and records the second time T2. The second time T2 can be obtained by delaying the first preset time based on any time among T61, T62, T63, T64, and T65, which is not limited here. Furthermore, the fourth time when anchor point 1 receives the second ranging frame is T41, the fourth time when anchor point 2 receives the second ranging frame is T42, the fourth time when anchor point 3 receives the second ranging frame is T43, the fourth time when anchor point 4 receives the second ranging frame is T44, and the fourth time when anchor point 5 receives the second ranging frame is T45. The fourth time when each anchor point receives the second ranging frame can be determined by the corresponding anchor point's own clock.

[0055] The mobile terminal delays the second preset time length after sending the second ranging frame, that is, sends a data frame at the third moment T3, and records the third moment T3. The third moment T3 can be obtained by delaying the second preset time length on the basis of the second moment T2. Furthermore, the fifth moment when anchor point 1 receives the data frame is T51, the fifth moment when anchor point 2 receives the data frame is T52, the fifth moment when anchor point 3 receives the data frame is T53, the fifth moment when anchor point 4 receives the data frame is T54, and the fifth moment when anchor point 5 receives the data frame is T55. The fifth moment when each anchor point receives the data frame can be determined by the corresponding anchor point's own clock.

[0056] Finally, each anchor point may determine a clock compensation value according to the data frame, the first time instant, the fourth time instant, and the fifth time instant, and determine ranging information according to the clock compensation value.

[0057] Please combine Figure 5 In some embodiments of the present invention, the data frame includes timestamp information. Before step S13, the method further includes:

[0058] S17: Parse the timestamp information in the data frame to determine the second time, the third time, and the sixth time.

[0059] In this way, the timestamp information of the mobile terminal can be accurately acquired, which facilitates the subsequent determination of the clock compensation value of the UWB communication module and the ranging information of the UWB communication module.

[0060] Specifically, the mobile terminal may add the timestamp information corresponding to the sixth moment of receiving the first ranging frame, the second moment of sending the second ranging frame, and the third moment of sending the data frame in the PSDU field of the data frame, so that when the vehicle receives the data frame sent by the mobile terminal, it can determine the second moment, the third moment, and the sixth moment by parsing the data frame. It can be understood that since the UWB protocol defines that the ranging frame cannot store the payload, and the ranging frame needs to follow the protocol, the sixth moment of receiving the first ranging frame and the second moment of sending the second ranging frame cannot be sent directly to the vehicle through the second ranging frame. Since the UWB protocol defines that the data frame can store the payload, the sixth moment of receiving the first ranging frame and the second moment of sending the second ranging frame can be sent to the vehicle through the data frame after sending the second ranging frame.

[0061] Please combine Figure 6 In some embodiments of the present invention, step S13 includes:

[0062] S131: determining a unit clock compensation value according to the second moment, the third moment, the fourth moment, and the fifth moment;

[0063] S133: Determine a clock compensation value of the UWB communication module according to the unit clock compensation value, the first time and the fourth time.

[0064] In this way, the clock deviation between the UWB communication module of the vehicle and the mobile terminal between the first moment to the fourth moment can be compensated more accurately based on the unit clock compensation value, thereby improving the ranging accuracy.

[0065] Specifically, the unit clock compensation value can be understood as a value used to compensate for the clock deviation between the UWB communication module of the vehicle and the mobile terminal within a unit time.

[0066] In some embodiments of the present invention, the unit clock compensation value is calculated by the following formula: Tpi=[(T5i-T4i)-(T3-T2)] / (T5i-T4i) Formula (1), wherein Tpi is the unit clock compensation value, T2 is the second moment, T3 is the third moment, T4i is the fourth moment, and T5i is the fifth moment.

[0067] In this way, the time intervals of their respective clocks are used for calculation, avoiding direct subtraction of the clock information of the UWB communication modules of the mobile terminal and the vehicle, effectively solving the clock deviation caused by the unsynchronized clocks of the UWB communication modules of the mobile terminal and the vehicle, and improving the ranging accuracy.

[0068] Specifically, i is the serial number of the UWB communication module of the vehicle, and each UWB communication module has a different serial number. In formula (1), (T5i-T4i) is the time interval between the same UWB communication module of the vehicle receiving the data frame and receiving the second ranging frame, and (T3-T2) is the time interval between the mobile terminal sending the data frame and sending the second ranging frame. It can be understood that if the clocks of the mobile terminal and the UWB communication module of the vehicle are synchronized, then (T5i-T4i) is equal to (T3-T2).

[0069] Please continue to combine Figure 4 For example, based on the above formula (1), the unit clock compensation value Tp1 of anchor point 1 is: Tp1 = [(T51-T41)-(T3-T2)] / (T51-T41), the unit clock compensation value Tp2 of anchor point 2 is: Tp2 = [(T52-T42)-(T3-T2)] / (T52-T42), the unit clock compensation value Tp3 of anchor point 3, the unit clock compensation value Tp4 of anchor point 4, and the unit clock compensation value Tp5 of anchor point 5 can also be obtained in the same way. To avoid redundancy, they are not listed here one by one.

[0070] In some embodiments of the present invention, the clock compensation value of the UWB communication module is calculated by the following formula: Tci=Tpi*(T4i-T1i) Formula (2), wherein Tci is the clock compensation value of the UWB communication module, Tpi is the unit clock compensation value, T4i is the fourth moment, and T1i is the first moment.

[0071] In this way, the clock deviation between the UWB communication module of the vehicle and the mobile terminal between the first moment to the fourth moment can be compensated more accurately based on the unit clock compensation value, thereby improving the ranging accuracy.

[0072] Please continue to combine Figure 4 For example, based on the above formula (2), the clock compensation value Tc1 of anchor point 1 is: Tc1=Tp1*(T41-T11), the clock compensation value Tc2 of anchor point 2 is: Tc2=Tp2*(T42-T12), the clock compensation value Tc3 of anchor point 3, the clock compensation value Tc4 of anchor point 4, and the clock compensation value Tc5 of anchor point 5 can be obtained similarly. To avoid redundancy, they are not listed here one by one.

[0073] In some embodiments of the present invention, the ranging information of the UWB communication module is calculated by the following formula: Ri = C*[(T4i-T1i)-(T2-T6i)+Tci] / 2 Formula (3), wherein Ri is the ranging information of the UWB communication module, C is the electromagnetic wave transmission speed, Tci is the clock compensation value, T1i is the first moment, T2 is the second moment, T4i is the fourth moment, and T6i is the sixth moment.

[0074] In this way, the time intervals of their respective clocks are used for calculation, avoiding direct subtraction of the clock information of the UWB communication modules of the mobile terminal and the vehicle, effectively solving the clock deviation caused by the unsynchronized clocks of the UWB communication modules of the mobile terminal and the vehicle, and improving the ranging accuracy.

[0075] Specifically, in the above formula (3), [(T4i-T1i)-(T2-T6i)+Tci] / 2 can be understood as the flight time of the ranging frame between the mobile terminal and the UWB communication module of the vehicle. Therefore, the above formula (3) can be used to calculate the relative distance between the mobile terminal and the UWB communication module of the vehicle based on the flight time of the ranging frame and the electromagnetic wave transmission speed, that is, the ranging information of the UWB communication module.

[0076] Please continue to combine Figure 4 For example, based on the above formula (3), the ranging information R1 of anchor point 1 is: R1=C*[(T41-T11)-(T2-T61)+Tc1] / 2, the ranging information R2 of anchor point 2 is: R2=C*[(T42-T12)-(T2-T62)+Tc2] / 2, the ranging information R3 of anchor point 3, the ranging information R4 of anchor point 4, and the ranging information R5 of anchor point 5 can be obtained similarly. To avoid redundancy, they are not listed here one by one.

[0077] Please combine Figure 7 In some embodiments of the present invention, after step S15, the method further includes:

[0078] S19: Determine the relative position information between the mobile terminal and the vehicle according to the ranging information of the UWB communication module, so as to control the vehicle to perform a keyless start operation according to the relative position information.

[0079] In this way, the accuracy of the relative position information between the mobile terminal and the vehicle is guaranteed, the positioning accuracy of the mobile terminal is improved, and it is convenient to control the vehicle according to the relative position information to perform keyless start operations more accurately, which is beneficial to improving the intelligence level of the vehicle and improving the user experience.

[0080] Specifically, the vehicle may include at least three UWB communication modules. After determining the distance information between each UWB communication module of the vehicle and the mobile terminal, the coordinate point of the mobile terminal relative to the vehicle can be determined by a three-sided positioning algorithm, and then the relative position information of the mobile terminal and the vehicle can be determined more accurately based on the coordinate point of the mobile terminal and the coordinate point of the vehicle. The relative position information may include the relative distance between the mobile terminal and the vehicle.

[0081] The keyless start operation may include a welcome operation, an unlocking operation, and a start operation.

[0082] Please combine Figure 8In some embodiments, the welcome area corresponding to the welcome operation, the unlocking area corresponding to the unlocking operation, and the starting area corresponding to the starting operation are predetermined. When the mobile terminal is determined to have entered the welcome area according to the relative position information, the vehicle can be controlled to perform the welcome operation, for example, the welcome light flashes, and the relative position information is continuously monitored; when the mobile terminal is determined to have entered the unlocking area according to the relative position information, the vehicle can be controlled to stop the welcome operation and perform the unlocking operation, for example, turn off the welcome light and unlock the door lock, and continuously monitor the relative position information; when the mobile terminal is determined to have entered the starting area according to the relative position information, the vehicle can be controlled to perform the starting operation, for example, start the engine, so that the user can enter and start the vehicle without having to operate the mobile terminal. In addition, there is no need to take out the car key and there is no risk of the car key being lost or stolen, which greatly improves the user experience.

[0083] In one example, when the relative distance between the mobile terminal and the vehicle is determined to be less than or equal to 5 meters and greater than 2 meters according to the relative position information, the mobile terminal can be determined to be in the welcome area; when the relative distance between the mobile terminal and the vehicle is determined to be less than or equal to 2 meters and greater than 0.5 meters according to the relative position information, the mobile terminal can be determined to be in the unlocking area; when the relative distance between the mobile terminal and the vehicle is determined to be less than or equal to 0.5 meters according to the relative position information, the mobile terminal can be determined to be in the starting area. In this way, the area where the user is located can be accurately and quickly determined, so as to reasonably control the vehicle to perform the corresponding keyless start operation, thereby improving the intelligence of the vehicle.

[0084] It should be noted that the specific numerical values ​​mentioned above are only used as examples to illustrate the implementation of the present invention in detail, and should not be understood as limiting the present invention. In other examples or implementations or embodiments, other numerical values ​​can be selected according to the present invention, and are not specifically limited here.

[0085] In order to implement the above embodiments, the embodiments of the present invention further provide a computer-readable storage medium on which a vehicle distance measurement program is stored. When the vehicle distance measurement program is executed by a processor, the vehicle distance measurement method of any of the above embodiments is implemented.

[0086] According to the computer-readable storage medium of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without additionally increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0087] For example, when the vehicle distance measurement program is executed by the processor, the following steps of the vehicle distance measurement method are implemented:

[0088] S11: Control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by the mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time;

[0089] S13: determining a clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame;

[0090] S15: Determine the ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time, and the sixth time when the mobile terminal receives the first ranging frame.

[0091] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle ranging method are also applicable to the computer-readable medium of the embodiments of the present invention, and will not be elaborated here in detail to avoid redundancy.

[0092] In order to implement the above embodiment, the embodiment of the present invention further proposes a vehicle-mounted terminal. Fig. 9 is a structural block diagram of a vehicle-mounted terminal according to an embodiment of the present invention. Fig. 9 As shown, the vehicle terminal 300 includes a memory 302, a processor 304, and a vehicle distance measurement program 306 stored in the memory 302 and executable on the processor 304. When the processor 304 executes the vehicle distance measurement program 306, the vehicle distance measurement method of any of the above embodiments can be implemented.

[0093] According to the vehicle terminal 300 of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0094] For example, when the vehicle distance measurement program 306 is executed by the processor 304, the following steps of the vehicle distance measurement method are implemented:

[0095] S11: Control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by the mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time;

[0096] S13: determining a clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame;

[0097] S15: Determine the ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time, and the sixth time when the mobile terminal receives the first ranging frame.

[0098] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle ranging method are also applicable to the vehicle-mounted terminal 300 of the embodiment of the present invention, and will not be elaborated in detail here to avoid redundancy.

[0099] Please combine Fig.10 In order to implement the above embodiment, the embodiment of the present invention further proposes a vehicle 1000 , which includes the vehicle-mounted terminal 300 of the above embodiment and at least one UWB communication module 100 , and the vehicle-mounted terminal 300 is connected to the UWB communication module 100 .

[0100] According to the vehicle 1000 of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, thereby effectively ensuring the synchronization of data without additionally increasing the hardware cost, reducing the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improving the ranging accuracy.

[0101] Specifically, vehicle 1000 includes but is not limited to a pure electric vehicle, a hybrid electric vehicle, an extended-range electric vehicle, a fuel vehicle, and the like.

[0102] It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle ranging method are also applicable to the vehicle 1000 of the embodiment of the present invention, and will not be elaborated here in detail to avoid redundancy.

[0103] In order to implement the above embodiments, the embodiments of the present invention further provide a vehicle distance measuring device, which can implement the vehicle distance measuring method of any of the above embodiments. Fig.11FIG. 1 is a block diagram of a vehicle distance measuring device according to an embodiment of the present invention. The vehicle includes at least one UWB communication module, such as Fig.11 As shown, the vehicle ranging device 400 proposed by the present invention includes a control module 402, a first determination module 404 and a second determination module 406. The control module 402 is used to control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein the first time of sending the first ranging frame is earlier than the second time of sending the second ranging frame, and the third time of sending the data frame is later than the second time. The first determination module 404 is used to determine the clock compensation value of the UWB communication module according to the first time, the second time, the third time, the fourth time of receiving the second ranging frame, and the fifth time of receiving the data frame. The second determination module 406 is used to determine the ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time and the sixth time when the mobile terminal receives the first ranging frame.

[0104] According to the vehicle ranging device 400 of the embodiment of the present invention, the clock compensation value of the UWB communication module is determined according to the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the third moment of sending the data frame, the fourth moment of receiving the second ranging frame, and the fifth moment of receiving the data frame, and then the ranging information of the UWB communication module is determined according to the clock compensation value, the first moment of sending the first ranging frame, the second moment of sending the second ranging frame, the fourth moment of receiving the second ranging frame, and the sixth moment when the mobile terminal receives the first ranging frame, so as to effectively ensure the synchronization of data without additionally increasing the hardware cost, reduce the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal, and improve the ranging accuracy.

[0105] In some embodiments of the present invention, the data frame includes timestamp information, and the vehicle distance measuring device 400 further includes a parsing module, which is used to parse the timestamp information in the data frame to determine the second moment, the third moment, and the sixth moment.

[0106] In some embodiments of the present invention, the first determination module 404 includes a first determination unit and a second determination unit. The first determination unit is used to determine the unit clock compensation value according to the second moment, the third moment, the fourth moment, and the fifth moment. The second determination unit is used to determine the clock compensation value of the UWB communication module according to the unit clock compensation value, the first moment, and the fourth moment.

[0107] In some embodiments of the present invention, the unit clock compensation value is calculated by the following formula: Tpi=[(T5i-T4i)-(T3-T2)] / (T5i-T4i), wherein Tpi is the unit clock compensation value, T2 is the second moment, T3 is the third moment, T4i is the fourth moment, and T5i is the fifth moment.

[0108] In some embodiments of the present invention, the clock compensation value of the UWB communication module is calculated by the following formula: Tci=Tpi*(T4i-T1i), wherein Tci is the clock compensation value of the UWB communication module, Tpi is the unit clock compensation value, T4i is the fourth moment, and T1i is the first moment.

[0109] In some embodiments of the present invention, the ranging information of the UWB communication module is calculated by the following formula: Ri=C*[(T4i-T1i)-(T2-T6i)+Tci] / 2, wherein Ri is the ranging information of the UWB communication module, C is the electromagnetic wave transmission speed, Tci is the clock compensation value, T1i is the first moment, T2 is the second moment, T4i is the fourth moment, and T6i is the sixth moment.

[0110] In some embodiments of the present invention, the vehicle distance measuring device 400 further includes a third determination module. The third determination module is used to determine the relative position information between the mobile terminal and the vehicle according to the distance measurement information of the UWB communication module, so as to control the vehicle to perform a keyless start operation according to the relative position information.

[0111] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle distance measurement method are also applicable to the vehicle distance measurement device 400 of the embodiment of the present invention, and will not be elaborated here in detail to avoid redundancy.

[0112] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0117] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0118] It should be pointed out that the technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle ranging method, characterized in that: The vehicle includes at least one UWB communication module, and the method includes: Control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time; Determine a clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, a fourth moment of receiving the second ranging frame, and a fifth moment of receiving the data frame; Determine the ranging information of the UWB communication module according to the clock compensation value, the first time, the second time, the fourth time, and a sixth time when the mobile terminal receives the first ranging frame; The determining the clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, a fourth moment of receiving the second ranging frame, and a fifth moment of receiving the data frame includes: Determine a unit clock compensation value according to the second moment, the third moment, the fourth moment, and the fifth moment; A clock compensation value of the UWB communication module is determined according to the unit clock compensation value, the first time and the fourth time.

2. The vehicle distance measurement method according to claim 1, characterized in that: The data frame includes timestamp information. Before determining the clock compensation value of the UWB communication module, the method further includes: The timestamp information in the data frame is parsed to determine the second time, the third time and the sixth time.

3. The vehicle distance measurement method according to claim 1, characterized in that: The unit clock compensation value is calculated by the following formula: Tpi=[(T5i-T4i)-(T3-T2)] / (T5i-T4i), Among them, Tpi is the unit clock compensation value of the i-th UWB communication module, T2 is the second moment, T3 is the third moment, T4i is the fourth moment of the i-th UWB communication module, and T5i is the fifth moment of the i-th UWB communication module.

4. The vehicle distance measurement method according to claim 3, characterized in that: The clock compensation value of the UWB communication module is calculated by the following formula: Tci=Tpi*(T4i-T1i), Among them, Tci is the clock compensation value of the i-th UWB communication module, Tpi is the unit clock compensation value of the i-th UWB communication module, T4i is the fourth moment of the i-th UWB communication module, and T1i is the first moment of the i-th UWB communication module.

5. The vehicle distance measurement method according to claim 4, characterized in that: The ranging information of the UWB communication module is calculated by the following formula: Ri=C*[(T4i-T1i)-(T2-T6i)+Tci] / 2, Among them, Ri is the ranging information of the UWB communication module of the i-th UWB communication module, C is the electromagnetic wave transmission speed, Tci is the clock compensation value of the i-th UWB communication module, T1i is the first moment of the i-th UWB communication module, T2 is the second moment, T4i is the fourth moment of the i-th UWB communication module, and T6i is the sixth moment of the i-th UWB communication module.

6. The vehicle distance measurement method according to any one of claims 1 to 5, characterized in that: After determining the ranging information of the UWB communication module, the method further includes: The relative position information between the mobile terminal and the vehicle is determined according to the ranging information of the UWB communication module, so as to control the vehicle to perform a keyless start operation according to the relative position information.

7. A computer-readable storage medium, characterized in that: A vehicle distance measurement program is stored thereon, and when the vehicle distance measurement program is executed by a processor, the vehicle distance measurement method according to any one of claims 1 to 6 is implemented.

8. A vehicle-mounted terminal, characterized in that: The invention comprises a memory, a processor and a vehicle distance measurement program stored in the memory and executable on the processor. When the processor executes the vehicle distance measurement program, the vehicle distance measurement method according to any one of claims 1 to 6 is implemented.

9. A vehicle, characterized in that: It comprises the vehicle-mounted terminal as claimed in claim 8 and at least one UWB communication module, wherein the vehicle-mounted terminal is connected to the UWB communication module.

10. A vehicle distance measuring device, characterized in that: The vehicle includes at least one UWB communication module, and the device includes: A control module, used to control the UWB communication module to send a first ranging frame, and control the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein a first time of sending the first ranging frame is earlier than a second time of sending the second ranging frame, and a third time of sending the data frame is later than the second time; A first determination module, configured to determine a clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, a fourth moment of receiving the second ranging frame, and a fifth moment of receiving the data frame; A second determining module, configured to determine the ranging information of the UWB communication module according to the clock compensation value, the first moment, the second moment, the fourth moment, and a sixth moment when the mobile terminal receives the first ranging frame; The determining the clock compensation value of the UWB communication module according to the first moment, the second moment, the third moment, a fourth moment of receiving the second ranging frame, and a fifth moment of receiving the data frame includes: Determine a unit clock compensation value according to the second moment, the third moment, the fourth moment, and the fifth moment; A clock compensation value of the UWB communication module is determined according to the unit clock compensation value, the first time and the fourth time.

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