A method and related device for guiding a vehicle based on UWB

Abstract

The application provides a UWB-based vehicle searching guidance method and related device, a UWB module receives a UWB signal sent by a UWB anchor point configured on a vehicle, and a first relative distance parameter is obtained according to the UWB signal; when the first relative distance parameter is in a first distance range, direction information of the vehicle is determined in combination with UWB signals sent by multiple UWB anchor points; when the first relative distance parameter is in a second distance range, relative position information is determined in combination with UWB signals sent by multiple UWB anchor points, wherein a maximum distance parameter in the second distance range is smaller than a minimum distance parameter in the first distance range; and vehicle searching guidance information is output based on the direction information or the relative position information. The UWB technology with strong penetration and good anti-multipath reflection effect is used for vehicle searching guidance, the positioning accuracy is high in the application scene of a parking lot with shielding, the robustness is good, and the effectiveness of the vehicle searching guidance is ensured.

Description

[Technical Field]

[0001] This application relates to the field of communication technology, and in particular to a vehicle-finding guidance method and related apparatus based on UWB. [Background Technology]

[0002] With the development of technology, high-precision positioning has been widely used in smart factories, smart homes, emergency rescue, and other scenarios. Outdoors, the Global Navigation Satellite System (GNSS) can provide all-weather, wide-area coverage positioning, velocity measurement, and timing services, meeting the needs of most outdoor positioning applications. However, in indoor location service applications, GNSS systems suffer from low signal power and poor penetration, resulting in lower positioning accuracy and robustness in parking lot scenarios.

[0003] It is important to note that the techniques described in this section are not necessarily those previously conceived or adopted. Unless otherwise specified, no technique described in this section should be assumed to be prior art simply because it is included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to be recognized in any prior art. [Summary of the Invention]

[0004] This application provides a UWB-based vehicle location guidance method and related device, which can at least solve the problem of low positioning accuracy and robustness of GNSS positioning schemes provided in related technologies in parking lot application scenarios.

[0005] To address the aforementioned technical problems, this application provides a UWB-based vehicle location guidance method for use in a smart key. The smart key is equipped with a UWB module. The UWB-based vehicle location guidance method includes: receiving UWB signals transmitted from UWB anchor points configured on the vehicle via the UWB module, and obtaining a first relative distance parameter between itself and the vehicle based on the UWB signals; when the first relative distance parameter is within a preset first distance range, determining the vehicle's orientation information by combining the UWB signals transmitted from multiple UWB anchor points; when the first relative distance parameter is within a preset second distance range, determining the relative position information between itself and the vehicle by combining the UWB signals transmitted from multiple UWB anchor points; wherein the maximum distance parameter in the second distance range is less than the minimum distance parameter in the first distance range; and outputting vehicle location guidance information based on the vehicle's orientation information or the relative position information.

[0006] The second aspect of the present application provides a UWB-based vehicle searching guiding device applied to a smart key, wherein the smart key is configured with a UWB module, and the UWB-based vehicle searching guiding device comprises: an acquisition module configured to receive a UWB signal transmitted by a UWB anchor point arranged on a vehicle based on the UWB module, and acquire a first relative distance parameter between the vehicle and the UWB-based vehicle searching guiding device based on the UWB signal; a first determination module configured to determine direction information of the vehicle when the first relative distance parameter is within a preset first distance range based on the UWB signals transmitted by multiple UWB anchor points; a second determination module configured to determine relative position information between the vehicle and the UWB-based vehicle searching guiding device when the first relative distance parameter is within a preset second distance range based on the UWB signals transmitted by multiple UWB anchor points; wherein a maximum distance parameter in the second distance range is less than a minimum distance parameter in the first distance range; and an output module configured to output vehicle searching guiding information based on the direction information of the vehicle or the relative position information.

[0007] The third aspect of the present application provides a smart key, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, each step of the UWB-based vehicle searching guiding method provided in the first aspect of the present application is implemented.

[0008] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, each step of the UWB-based vehicle searching guiding method provided in the first aspect of the present application is implemented.

[0009] As can be seen from the above, according to the UWB-based vehicle searching guiding method and related device provided by the present application, a UWB signal transmitted by a UWB anchor point arranged on a vehicle is received based on a UWB module, and a first relative distance parameter between the vehicle and the UWB-based vehicle searching guiding device is acquired based on the UWB signal; when the first relative distance parameter is within a preset first distance range, direction information of the vehicle is determined based on UWB signals transmitted by multiple UWB anchor points; when the first relative distance parameter is within a preset second distance range, relative position information between the vehicle and the UWB-based vehicle searching guiding device is determined based on UWB signals transmitted by multiple UWB anchor points, wherein a maximum distance parameter in the second distance range is less than a minimum distance parameter in the first distance range; and vehicle searching guiding information is output based on the direction information of the vehicle or the relative position information. The UWB technology with strong penetration and good anti-multipath reflection effect is used for vehicle searching guiding in the present application, and the positioning accuracy is high and the robustness is good in the application scene of a parking lot with shielding, thereby ensuring the effectiveness of vehicle searching guiding.

[0010] It is to be understood that the description of the technology in this section is not intended to identify key or essential features of the application, and that it is not intended to limit the scope of the application as written in the claims. Other aspects of the application will become readily apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0011] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain exemplary implementations of the application. The drawings illustrated herein are for illustrative purposes only and are not intended to limit the scope of the claims. In all the drawings, like reference numerals refer to like parts throughout the several views.

[0012] Figure 1 A basic flowchart of a UWB-based car searching and guiding method provided for a first embodiment of the application is shown in FIG. 1.

[0013] Figure 2 A detailed flowchart of a UWB-based car searching and guiding method provided for a second embodiment of the application is shown in FIG. 2.

[0014] Figure 3 A program module schematic diagram of a UWB-based car searching and guiding device provided for a third embodiment of the application is shown in FIG. 3.

[0015] Figure 4 A hardware structure schematic diagram of an intelligent key provided for a fourth embodiment of the application is shown in FIG. 4. DETAILED DESCRIPTION

[0016] In order to make the objectives, features, and advantages of the application more apparent and easy to understand, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

[0017] It should be noted that in the description of the embodiments of the application, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0018] To solve the problem of low positioning accuracy and robustness of the GNSS positioning scheme provided in the related art in the parking lot application scenario, the first embodiment of the present application provides a UWB-based car searching and guiding method applied to a smart key, the smart key being configured with a UWB module. Since the UWB (Ultra-Wideband) module does not use a carrier but uses pulses for communication, the entire system works in a digital manner, and it has significant advantages in volume, power consumption, weight, and multi-path interference resistance compared with other positioning systems.

[0019] As Figure 1 The basic flowchart of the UWB-based car searching and guiding method provided in the present embodiment includes the following steps:

[0020] Step 101, receiving, by the UWB module, a UWB signal sent by a UWB anchor point configured on a vehicle, and obtaining a first relative distance parameter between itself and the vehicle according to the UWB signal.

[0021] Specifically, in actual application, the smart key is carried by the vehicle owner, and multiple UWB anchor points can be configured at different positions of the vehicle. For an ordinary sedan, five UWB anchor points can be configured, four of which are installed at the front left, front right, rear left, and rear right positions of the vehicle, and the remaining one is installed at the top of the vehicle. Of course, if the vehicle is large, one more UWB anchor point can be added to each of the left and right sides and the top of the vehicle. In addition, to achieve more comprehensive positioning functions, one UWB anchor point can also be set inside the vehicle to achieve in-vehicle enhanced positioning, etc.

[0022] It should be noted that the smart key is associated with the vehicle belonging to the vehicle owner. When the UWB module on the smart key is in an awake state, if a UWB signal is received, the UWB signal is authenticated to obtain the UWB signal sent by the UWB anchor point configured on the vehicle belonging to the vehicle owner, and then the real-time distance between the smart key and the vehicle is obtained based on the signal.

[0023] In some embodiments of the present embodiment, the smart key is also configured with a BLE (Bluetooth Low Energy) module. Accordingly, before the step of receiving, by the UWB module, a UWB signal sent by a UWB anchor point configured on a vehicle, the method further includes the steps of: receiving, by the BLE module, a Bluetooth signal sent by a Bluetooth module configured on the vehicle; determining a second relative distance parameter between itself and the vehicle based on the Bluetooth signal; when the second relative distance parameter is less than a preset distance threshold, controlling the UWB module to enter an awake state; wherein the distance threshold is greater than the maximum distance parameter in the first distance range.

[0024] Specifically, in actual application, if the UWB module of the smart key is always in the wake-up state, the power consumption of the smart key will be large, affecting the endurance of the smart key. The signal sensing distance of the UWB module is limited, and unnecessary power consumption will be generated when it is in the wake-up state in the non-sensing distance. The embodiment considers that when the owner is relatively far away from the vehicle, the UWB module of the smart key carried by the owner is not in the effective sensing range of the UWB anchor point of the vehicle, so the embodiment can first determine whether the distance between the person and the vehicle reaches the effective sensing distance of the UWB module through the Bluetooth signal ranging of the BLE module on the smart key, and if so, the UWB module on the smart key is further triggered to enter the wake-up state. Since the power consumption of the BLE module is low, the power consumption of the smart key when performing ranging operation can be effectively reduced, and the endurance of the smart key can be improved. It should be noted that the distance threshold of the embodiment can be a distance value greater than 20 meters, for example, 30 meters.

[0025] Step 102, when the first relative distance parameter is in a preset first distance range, the direction information of the vehicle is determined in combination with the UWB signals sent by the plurality of UWB anchor points.

[0026] Specifically, the first distance range of the embodiment can be a value interval less than 20 meters and greater than or equal to 10 meters, that is, the smart key only performs distance monitoring in a distance interval greater than 20 meters. When it is determined that the relative distance between the smart key and the vehicle is in a distance interval less than 20 meters and greater than 10 meters, the smart key determines the direction of the vehicle through the UWB signal sent by the UWB anchor point to provide real-time vehicle direction guidance to the owner. It should be noted that when the relative distance between the smart key and the vehicle is in a distance interval greater than 20 meters, the signal transceiving frequency of the UWB module is a first frequency, and when the relative distance between the smart key and the vehicle is in a distance interval less than or equal to 20 meters, the signal transceiving frequency of the UWB module is a second frequency, the first frequency is less than the second frequency. Thus, the power consumption of the smart key can be reduced in a long-distance scenario, and the positioning accuracy can be improved in a short-distance scenario.

[0027] Step 103, when the first relative distance parameter is in a preset second distance range, the relative position information between itself and the vehicle is determined in combination with the UWB signals sent by the plurality of UWB anchor points.

[0028] Specifically, the maximum distance parameter in the second distance range is less than or equal to the minimum distance parameter in the first distance range, for example, the first distance range is a value interval less than 20 meters and greater than or equal to 10 meters, and then the second distance range can be a value interval less than 10 meters. In this embodiment, when the vehicle owner further approaches the vehicle according to the vehicle direction guide and the relative distance with the vehicle is close, the relative position of the smart key and the vehicle is obtained in real time by the UWB signal sent by the UWB anchor point, and the relative position can provide more accurate car searching guide for the vehicle owner.

[0029] In some embodiments of the present embodiment, the step of determining the relative position information between the smart key and the vehicle based on the UWB signals sent by the plurality of UWB anchor points includes: obtaining a TOF distance parameter between the smart key and each UWB anchor point; estimating preliminary position information based on the plurality of TOF distance parameters; and determining the relative position information between the smart key and the vehicle based on the preliminary position information.

[0030] Specifically, in the present embodiment, the calculation formula when estimating the preliminary position information can be expressed as follows:

[0031]

[0032] where (x i , y i ) represents the coordinate information of the i-th UWB anchor point, d i is the TOF distance parameter of the i-th UWB anchor point, and (x, y) represents the preliminary position information. The above formula is linearized in the present embodiment, and then the least square method is used to obtain the estimated preliminary position information:

[0033] In some embodiments of the present embodiment, the step of determining the relative position information between the smart key and the vehicle based on the preliminary position information includes: obtaining a weight coefficient corresponding to each UWB anchor point; and determining the relative position information between the smart key and the vehicle based on the plurality of weight coefficients and the preliminary position information.

[0034] It should be noted that in the present embodiment, the specific implementation mode for obtaining the weight coefficient corresponding to each UWB anchor point includes but is not limited to the following three modes:

[0035] Mode one, the array composed of the received signal strength and the TOF distance of the UWB signal sent by each UWB anchor point is matched with a preset correlation curve, where the correlation curve represents the corresponding relationship between the reference distance and the reference received signal strength; and the weight coefficient is assigned according to the fitting degree of the array corresponding to each UWB anchor point and the correlation curve.

[0036] Specifically, generally, in the case of line-of-sight error, received signal strength indication (RSSI) is equal to the difference between the transmission power and the path loss. In an open environment, a "distance-RSSI" correlation curve can be roughly set, and then the "distance" and "RSSI" of the actual received signal are matched with the curve, and if the fitting degree is poor, a lower weight can be assigned accordingly.

[0037] In the second way, the channel impulse response characteristics are obtained based on the UWB signals transmitted by the UWB anchors, and the corresponding weight coefficients are assigned according to the corresponding channel impulse response characteristics of the UWB anchors.

[0038] Specifically, by analyzing the characteristics of the channel impulse response (CIR) signals under different conditions, it can be determined whether a non-line-of-sight error has occurred, and if a non-line-of-sight error has occurred, a lower weight is assigned.

[0039] In the third way, the estimated distance parameters between the smart key and the UWB anchors are calculated based on the preliminary position information, the distance residuals are calculated based on the estimated distance parameters and the corresponding TOF distance parameters, and the corresponding weight coefficients are assigned according to the corresponding distance residuals of the UWB anchors.

[0040] Specifically, the distance from the current position of the smart key to each anchor can be estimated based on the preliminary position estimation, and the residual is obtained by subtracting the initially received TOF distance, and the residual calculation formula is represented as: Res = |D i -d i |, wherein D i is the estimated distance from the preliminary position to each anchor, and d i is the received TOF distance. If Res is larger, a lower weight is assigned.

[0041] It should be understood that in addition to the single-factor-based weight assignment methods mentioned in the above three ways, the embodiment can also use a multi-factor-based weight assignment method, that is, the fitting degree, the channel impulse response characteristics, and the distance residual are combined to assign the weight.

[0042] In some embodiments of the embodiment, the step of determining the relative position information between the smart key and the vehicle based on the plurality of weight coefficients and the preliminary position information includes: inputting the plurality of weight coefficients and the preliminary position information into a preset weighted iteration equation to calculate the first relative position information between the smart key and the vehicle; and performing Kalman filtering on the first relative position information to obtain the second relative position information.

[0043] Specifically, the iteration equation of the embodiment can be represented as follows:

[0044]

[0045] The Kalman filtering formula of the embodiment can be expressed as follows:

[0046]

[0047] In actual application, the smaller the observation noise R is, the worse the filtering effect is; and the too large observation noise R will lead to poor tracking performance of the filtering result and the filtering result deviating from the actual motion state. The observation noise R is associated with the weight obtained by the foregoing calculation, and different weights are set at each step to balance the effectiveness of filtering and good tracking performance.

[0048] Step 104, outputting the car searching guide information based on the direction information or the relative position information of the vehicle.

[0049] Specifically, when the relative distance between the smart key and the vehicle is within the first distance range, the embodiment outputs the direction guide information based on the direction information of the vehicle to the vehicle owner in real time, and when the vehicle owner continues to approach the vehicle based on the direction guide information so that the relative distance between the smart key and the vehicle is within the second distance range, the position guide information is further outputted based on the relative position information of the smart key and the vehicle to guide the vehicle owner to the vehicle position.

[0050] It should be noted that after the step of outputting the car searching guide information based on the direction information or the relative position information of the vehicle, the step further includes: when the first relative distance parameter is within a preset third distance range, starting a passive entry and passive start (PEPS) function. The maximum distance parameter in the third distance range of the embodiment is smaller than the minimum distance parameter in the second distance range, and in actual application, the third distance range can be a distance interval less than one meter.

[0051] In addition, the smart key of the embodiment can also be configured with a near field communication (NFC) module to cope with extreme situations such as smart key power consumption. At the same time, the UWB anchor point can be reused to realize living body detection and foot kicking trunk functions based on CIR analysis.

[0052] Compared with the related art, the UWB-based vehicle searching guidance method provided by the embodiment receives a UWB signal transmitted by a UWB anchor point arranged on a vehicle based on a UWB module, and acquires a first relative distance parameter between the UWB module and the vehicle based on the UWB signal; when the first relative distance parameter is within a preset first distance range, direction information of the vehicle is determined based on UWB signals transmitted by multiple UWB anchor points; when the first relative distance parameter is within a preset second distance range, relative position information between the UWB module and the vehicle is determined based on UWB signals transmitted by multiple UWB anchor points, wherein a maximum distance parameter in the second distance range is smaller than a minimum distance parameter in the first distance range; and vehicle searching guidance information is output based on the direction information or the relative position information of the vehicle. The UWB technology with strong penetration and good anti-multipath reflection effect is used for vehicle searching guidance, the positioning accuracy is high in the application scenario of a parking lot with shielding, the robustness is good, and the effectiveness of the vehicle searching guidance is ensured.

[0053] In order to better understand the present application, a refined UWB-based vehicle searching guidance method is further provided by the second embodiment of the present application, which is applied to a smart key, the smart key is configured with a UWB module and a BLE module, Figure 2 A flowchart of the refined UWB-based vehicle searching guidance method provided by the embodiment is shown in the figure, the UWB-based vehicle searching guidance method comprises the following steps:

[0054] Step 201, receiving a Bluetooth signal transmitted by a Bluetooth module arranged on a vehicle based on a BLE module, and determining a preliminary estimated relative distance parameter between the BLE module and the vehicle based on the Bluetooth signal.

[0055] Step 202, when the preliminary estimated relative distance parameter is smaller than a preset distance threshold, controlling the UWB module to enter a wake-up state.

[0056] Step 203, receiving a UWB signal transmitted by a UWB anchor point arranged on the vehicle based on the UWB module, and acquiring a first relative distance parameter between the UWB module and the vehicle based on the UWB signal.

[0057] Step 204, when the first relative distance parameter is within a preset first distance range, determining direction information of the vehicle based on UWB signals transmitted by multiple UWB anchor points, and outputting vehicle searching guidance information based on the direction information of the vehicle.

[0058] Step 205, when the first relative distance parameter is within a preset second distance range, acquiring a TOF distance parameter between the UWB module and each UWB anchor point, and estimating preliminary position information based on multiple TOF distance parameters.

[0059] Step 206, matching an array composed of a received signal strength corresponding to a UWB signal transmitted by each UWB anchor point and a TOF distance with a preset correlation curve.

[0060] Step 207, obtaining channel impulse response features based on the UWB signals sent by each UWB anchor point.

[0061] Step 208, calculating an estimated distance parameter between the vehicle and each UWB anchor point based on the preliminary position information, and calculating a distance residual based on the estimated distance parameter and the corresponding TOF distance parameter.

[0062] Step 209, assigning a weight coefficient to each UWB anchor point based on the fitting degree of the corresponding array and the correlation curve, the channel impulse response features, and the distance residual.

[0063] Step 210, determining the relative position information between the vehicle and the user based on the plurality of weight coefficients and the preliminary position information, and outputting the car-searching guide information based on the relative position information.

[0064] It should be understood that the size of the serial number of each step in the embodiment does not mean the order of execution of the steps. The execution order of each step should be determined by its function and inherent logic, and should not constitute the only limitation on the implementation process of the embodiment of the present application.

[0065] Figure 3 A UWB-based car-searching guide device is provided for the third embodiment of the present application. The UWB-based car-searching guide device is applied to a smart key, and the smart key is configured with a UWB module. As shown in the figure, the UWB-based car-searching guide device mainly includes: Figure 3

[0066] The acquisition module 301 is configured to receive the UWB signals sent by the UWB anchor points configured on the vehicle based on the UWB module, and obtain a first relative distance parameter between the vehicle and the user based on the UWB signals.

[0067] The first determination module 302 is configured to determine the direction information of the vehicle based on the UWB signals sent by the plurality of UWB anchor points when the first relative distance parameter is within a preset first distance range.

[0068] The second determination module 303 is configured to determine the relative position information between the vehicle and the user based on the UWB signals sent by the plurality of UWB anchor points when the first relative distance parameter is within a preset second distance range. The maximum distance parameter in the second distance range is smaller than the minimum distance parameter in the first distance range.

[0069] The output module 304 is configured to output the car-searching guide information based on the direction information of the vehicle or the relative position information.

[0070] ​In an optional implementation of the embodiment, the smart key is further configured with a BLE module; and the UWB-based vehicle searching and guiding device further comprises a wake-up module configured to: receive a Bluetooth signal sent by a Bluetooth module arranged on the vehicle based on the BLE module; determine a second relative distance parameter between the smart key and the vehicle based on the Bluetooth signal; and control the UWB module to enter a wake-up state when the second relative distance parameter is less than a preset distance threshold, wherein the distance threshold is greater than a maximum distance parameter in the first distance range.

[0071] In an optional implementation of the embodiment, the second determining module is specifically configured to: obtain TOF distance parameters between the smart key and the UWB anchors; estimate preliminary position information based on the TOF distance parameters; and determine the relative position information between the smart key and the vehicle based on the preliminary position information.

[0072] In an optional implementation of the embodiment, when the second determining module performs the function of determining the relative position information between the smart key and the vehicle based on the preliminary position information, the second determining module obtains weight coefficients corresponding to the UWB anchors; and determines the relative position information between the smart key and the vehicle in combination with the weight coefficients and the preliminary position information.

[0073] In an optional implementation of the embodiment, when the second determining module performs the function of obtaining the weight coefficients corresponding to the UWB anchors, the second determining module is specifically configured to: match an array composed of a TOF distance and a received signal strength of a UWB signal corresponding to each UWB anchor with a preset correlation curve; wherein the correlation curve represents a corresponding relationship between a reference distance and a reference received signal strength; and assign a corresponding weight coefficient based on a fitting degree of the array corresponding to each UWB anchor and the correlation curve.

[0074] In another optional implementation of the embodiment, when the second determining module performs the function of obtaining the weight coefficients corresponding to the UWB anchors, the second determining module is specifically configured to: obtain channel impulse response features based on the UWB signals sent by the UWB anchors; and assign corresponding weight coefficients based on the channel impulse response features corresponding to the UWB anchors.

[0075] In still another optional implementation of the embodiment, when the second determining module performs the function of obtaining the weight coefficients corresponding to the UWB anchors, the second determining module is specifically configured to: calculate estimated distance parameters between the smart key and the UWB anchors based on the preliminary position information; calculate distance residuals based on the estimated distance parameters and corresponding TOF distance parameters; and assign corresponding weight coefficients based on the distance residuals corresponding to the UWB anchors.

[0076] It should be noted that the UWB-based vehicle searching guiding method in the first and second embodiments can be implemented based on the UWB-based vehicle searching guiding device provided in the embodiment. For the convenience and brevity of description, the specific working process of the UWB-based vehicle searching guiding device described in the embodiment can be referred to the corresponding process in the foregoing method embodiments, which will not be described here.

[0077] Compared with the related art, the UWB-based vehicle searching guiding device provided in the embodiment receives the UWB signal transmitted by the UWB anchor point arranged on the vehicle based on the UWB module, and obtains the first relative distance parameter between itself and the vehicle based on the UWB signal. When the first relative distance parameter is in a preset first distance range, the direction information of the vehicle is determined in combination with the UWB signals transmitted by the plurality of UWB anchor points. When the first relative distance parameter is in a preset second distance range, the relative position information between itself and the vehicle is determined in combination with the UWB signals transmitted by the plurality of UWB anchor points, wherein the maximum distance parameter in the second distance range is smaller than the minimum distance parameter in the first distance range. The vehicle searching guiding information is output based on the direction information or the relative position information of the vehicle. The UWB technology with strong penetration and good anti-multipath reflection effect is adopted for vehicle searching guiding, the positioning accuracy is high in the application scene of the parking lot with shielding, the robustness is good, and the effectiveness of the vehicle searching guiding is ensured.

[0078] Please refer to Figure 4 , Figure 4 A smart key is provided in the fourth embodiment of the present application. The smart key can be used to implement the UWB-based vehicle searching guiding method in the foregoing embodiments. As shown in Figure 4 The smart key mainly includes:

[0079] The memory 401, the processor 402, the bus 403, and the computer program stored in the memory 401 and executable on the processor 402 are connected through the bus 403. When the processor 402 executes the computer program, the UWB-based vehicle searching guiding method in the foregoing embodiments is implemented. The number of processors can be one or more.

[0080] The memory 401 can be a high-speed random access memory (RAM, Random Access Memory) memory, or a non-volatile memory such as a disk memory. The memory 401 is used to store executable program codes, and the processor 402 is coupled with the memory 401.

[0081] Further, the embodiments of the present application also provide a computer readable storage medium, which can be arranged in the smart key in the above-mentioned embodiments, and the computer readable storage medium can be the memory in the above-mentioned embodiments. Figure 4

[0082] The computer readable storage medium stores a computer program, and the program is executed by the processor to implement the UWB-based vehicle searching and guiding method in the above-mentioned embodiments. Further, the computer readable storage medium can also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0083] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be indirect coupling or communication connection through some interfaces, apparatuses or modules, and can be electrical, mechanical or other forms.

[0084] The modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, that is, can be located in one place, or can be distributed to a plurality of network modules. According to actual needs, some or all of the modules can be selected to achieve the purpose of the present embodiment.

[0085] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can be physically present alone, or two or more modules can be integrated in one module. The above integrated module can be realized in the form of hardware or in the form of a software functional module.

[0086] ​The integrated module, if implemented in the form of a software function module and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application, essentially or in part, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a readable storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods in the embodiments of the present application. The aforementioned readable storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, and various other media that can store program codes.

[0087] It should be noted that, for the foregoing method embodiments, in order to facilitate description, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the order of the described actions, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0088] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0089] The above is the description of the UWB-based vehicle searching and guiding method and related device provided by the present application. For those skilled in the art, according to the idea of the embodiments of the present application, there will be changes in specific implementation manners and application ranges. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A UWB-based vehicle location guidance method, applied to a smart key, wherein the smart key is equipped with a UWB module, characterized in that, include: The UWB module receives UWB signals from UWB anchor points configured on the vehicle and obtains its first relative distance parameter with respect to the vehicle based on the UWB signals. When the first relative distance parameter is within a preset first distance range, the vehicle's direction information is determined by combining the UWB signals sent by the multiple UWB anchor points. When the first relative distance parameter is within a preset second distance range, the relative position information between itself and the vehicle is determined by combining the UWB signals sent by the multiple UWB anchor points; wherein, the maximum distance parameter in the second distance range is less than the minimum distance parameter in the first distance range; Based on the vehicle's direction information or relative position information, vehicle-finding guidance information is output.

2. The vehicle location guidance method according to claim 1, characterized in that, The smart key is also equipped with a BLE module; before the step of receiving UWB signals sent by UWB anchors configured on the vehicle based on the UWB module, the method further includes: The BLE module receives Bluetooth signals sent by the Bluetooth module configured on the vehicle. Determine a second relative distance parameter between yourself and the vehicle based on the Bluetooth signal; When the second relative distance parameter is less than a preset distance threshold, the UWB module is controlled to enter a wake-up state; wherein the distance threshold is greater than the maximum distance parameter in the first distance range.

3. The vehicle location guidance method according to claim 1, characterized in that, The step of determining the relative position information between itself and the vehicle by combining the UWB signals sent by multiple UWB anchor points includes: Obtain the TOF distance parameters between itself and each of the UWB anchor points; Preliminary location information is estimated based on multiple TOF distance parameters; The relative position information between itself and the vehicle is determined based on the preliminary position information.

4. The vehicle location guidance method according to claim 3, characterized in that, The step of determining the relative position information between itself and the vehicle based on the preliminary position information includes: Obtain the corresponding weight coefficients for each of the UWB anchor points; The relative position information between itself and the vehicle is determined by combining multiple weighting coefficients and the preliminary position information.

5. The vehicle location guidance method according to claim 4, characterized in that, The step of obtaining the corresponding weight coefficients for each of the UWB anchor points includes: An array consisting of the received signal strength of the UWB signal transmitted corresponding to each UWB anchor point and the TOF distance is matched with a preset correlation curve; wherein, the correlation curve represents the correspondence between the reference distance and the reference received signal strength; Based on the fit between the array corresponding to each UWB anchor point and the relevant curve, assign corresponding weight coefficients.

6. The vehicle location guidance method according to claim 4, characterized in that, The step of obtaining the corresponding weight coefficients for each of the UWB anchor points includes: Channel impulse response characteristics are obtained based on the UWB signals transmitted from each of the aforementioned UWB anchor points; Assign corresponding weight coefficients based on the channel impulse response characteristics of each UWB anchor point.

7. The vehicle location guidance method according to claim 4, characterized in that, The step of obtaining the corresponding weight coefficients for each of the UWB anchor points includes: Calculate the estimated distance parameters between itself and each of the UWB anchor points based on the preliminary location information; The distance residual is calculated based on each of the estimated distance parameters and the corresponding TOF distance parameters; Assign corresponding weighting coefficients based on the distance residuals of each UWB anchor point.

8. A UWB-based vehicle location guidance device, applied to a smart key, wherein the smart key is equipped with a UWB module, characterized in that, include: The acquisition module is used to receive UWB signals sent by UWB anchor points configured on the vehicle based on the UWB module, and to obtain the first relative distance parameter between itself and the vehicle based on the UWB signals. The first determining module is used to determine the vehicle's direction information by combining the UWB signals sent by the multiple UWB anchor points when the first relative distance parameter is within a preset first distance range. The second determining module is used to determine its relative position information with respect to the vehicle by combining the UWB signals sent by the multiple UWB anchor points when the first relative distance parameter is within a preset second distance range; wherein the maximum distance parameter in the second distance range is less than the minimum distance parameter in the first distance range. The output module is used to output vehicle-finding guidance information based on the vehicle's direction information or relative position information.

9. A smart key, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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