A working mode management method based on vehicle-mounted UWB positioning

Abstract

This invention provides a working mode management method based on vehicle-mounted UWB positioning, including a key terminal, an ECU installed on the vehicle, and N UWB anchor points. The method includes the following steps: S1, when the G-Sensor device on the key terminal detects key movement, the BLE on the key terminal is awakened and triggers the broadcast pairing content; when the key approaches the vehicle, the BLE of the ECU receives the connection request from the BLE on the key terminal and performs pairing; when pairing is successful, the ECU is awakened; S2, the ECU collects the voltage of the battery voltage divider through the ADC, calculates the battery voltage and key position through the ECU, and then notifies each UWB anchor point through the CAN network for configuration, thereby reducing the risk of further power depletion at the vehicle end. By using the orientation of the key terminal, the working state of each UWB anchor point can be dynamically adjusted according to different orientations, which improves positioning accuracy and reduces system power consumption.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and more specifically, to a working mode management method based on in-vehicle UWB positioning. Background Technology

[0002] UWB, or Ultra Wideband, is a carrier-free communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data, thus occupying a very wide frequency spectrum. UWB has extremely strong anti-interference capabilities, reducing positioning errors, and also has advantages such as insensitivity to channel fading, low transmitted signal power spectral density, low interception capability, low system complexity, and the ability to provide centimeter-level positioning accuracy.

[0003] BLE, short for Bluetooth Low Energy, also known as Bluetooth Standby, is a type of Bluetooth technology. Bluetooth is a short-range 2.4GHz wireless communication technology that enables data exchange between devices. BLE consists of software and hardware. The software part includes the BLE protocol stack, while the hardware part includes the wireless transceiver, modem, and baseband. The BLE protocol has evolved from the initial version 4.2 to the current version 5.2.

[0004] A G-sensor, or accelerometer, is a sensor that measures acceleration. When an object accelerates, forces acting on it, such as those from shaking, falling, rising, or falling, are converted into electrical signals by the G-sensor. Sensors typically provide an acceleration measurement range of ±2G to ±16G, connect to an MCU via I2C or SPI interfaces, and have a data accuracy of less than 16 bits.

[0005] ECU, also known as "vehicle computer" or "onboard computer," is one of the core electronic components of modern automobiles. It constantly monitors various input data (such as braking and gear shifting) and various operating states of the vehicle (acceleration, slippage, fuel consumption, etc.), and calculates the information sent by various sensors according to a pre-designed program. After processing, it sends the parameters to the relevant actuators to execute various predetermined control functions.

[0006] Traditional positioning technologies (such as BLE) determine the location of objects based on signal strength. However, signal strength is greatly affected by external factors, resulting in a significant error between the located object's position and its actual position, leading to low positioning accuracy. In contrast, UWB offers advantages such as strong penetration, low power consumption, high security, and high positioning accuracy, making it increasingly mainstream in the automotive positioning field.

[0007] UWB communication in automobiles typically involves five positioning devices (anchor points) UWB1-5. When the key (tag) approaches the car, each anchor point detects the key's position in real time and transmits this information to the main controller (ECU) via the CAN / LIN bus. The ECU then uses a triangulation algorithm to calculate the key's actual position. During the positioning process, because each anchor point is located at a different position on the vehicle and at varying distances from the key, anchor points at greater distances experience greater signal power attenuation and channel interference, resulting in larger positioning errors and ultimately increasing the key's positioning accuracy. Simultaneously, when the car is in a low-power state with the battery at a very low voltage, the UWB positioning function is not needed to conserve power. Therefore, managing the operating mode related to UWB positioning is a crucial issue. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a working mode management method based on vehicle-mounted UWB positioning, which automatically adjusts the working mode of UWB according to the vehicle-end voltage and the position status of the key end relative to the vehicle end, in order to address the shortcomings of the above-mentioned technical solutions.

[0009] This invention provides a working mode management method based on vehicle-mounted UWB positioning, including a key terminal, an ECU installed in the vehicle, and N UWB anchor points. The method includes the following steps:

[0010] S1. When the G-Sensor device at the key end detects key movement, the BLE at the key end is awakened and triggers the broadcast pairing content; when the key approaches the vehicle end, the BLE of the ECU receives the connection request from the BLE at the key end and performs pairing; when pairing is successful, the ECU is awakened.

[0011] S2. The ECU collects the voltage of the battery voltage divider via ADC, calculates the battery voltage, and compares it with a preset threshold. If the battery voltage is less than the threshold, the vehicle is in a low-power state, and the ECU notifies the UWB anchor point to enter sleep mode via the CAN network; the BLE antenna is turned off, and the ECU notifies the key terminal to turn off the UWB positioning function via the BLE. If the battery voltage is greater than the threshold, the ECU notifies the UWB anchor point to enter working mode; the BLE antenna is turned on, and the ECU notifies the key terminal to turn on the UWB positioning function via the BLE.

[0012] S3. The key end sends a positioning request to each UWB anchor point via UWB, and calculates the current position of the key end relative to each UWB anchor point according to the TOF algorithm. The calculated result is sent to the ECU via the CAN network. The ECU calculates the distance and orientation of the key end using the triangulation algorithm, and adjusts the working mode of each UWB anchor point according to the calculation result, and sends it to each UWB anchor point via the CAN network.

[0013] In the vehicle-mounted UWB positioning-based working mode management method described in this invention, the UWB anchor points at the vehicle end include UWB1 anchor point, UWB2 anchor point, UWB3 anchor point, UWB4 anchor point, and UWB5 anchor point set at the center, front left, front right, rear right, and rear left of the vehicle.

[0014] In the working mode management method based on vehicle UWB positioning described in this invention, the orientation of the key end includes orientation 1, orientation 2, orientation 3 and orientation 4.

[0015] In the working mode management method based on vehicle-mounted UWB positioning described in this invention, the UWB working modes include at least: working mode, standby mode, and power-off mode.

[0016] In the vehicle-mounted UWB positioning-based working mode management method described in this invention, when the key sends positioning requests to each anchor point from UWB1 to UWB5 via UWB, each anchor point from UWB1 to UWB5 calculates the current position of the key relative to each anchor point from UWB1 to UWB5 according to the TOF algorithm, and sends it to the ECU via the CAN network. The ECU then calculates the distance and orientation of the key.

[0017] In the working mode management method based on vehicle UWB positioning described in this invention, when the key end is located at position 1, the UWB1 anchor point, UWB2 anchor point and UWB3 anchor point are in working mode, and the UWB4 anchor point and UWB5 anchor point are in power-off mode. At this time, the ECU notifies the UWB4 anchor point and UWB5 anchor point to enter standby mode in real time according to the position of the key end.

[0018] In the vehicle-mounted UWB positioning-based working mode management method described in this invention, when the key end is located at position 2, the UWB1 anchor point, UWB2 anchor point and UWB5 anchor point are in working mode, and the UWB3 anchor point and UWB4 anchor point are in power-off mode. At this time, the ECU notifies the UWB3 anchor point and UWB4 anchor point to enter standby mode in real time according to the position of the key end.

[0019] In the working mode management method based on vehicle UWB positioning described in this invention, when the key end is located at position 3, the UWB1 anchor point, UWB4 anchor point and UWB5 anchor point are in working mode, and the UWB2 anchor point and UWB3 anchor point are in power-off mode. At this time, the ECU notifies the UWB2 anchor point and UWB3 anchor point to enter standby mode in real time according to the position of the key end.

[0020] In the working mode management method based on vehicle UWB positioning described in this invention, when the key end is located at position 4, the UWB1 anchor point, UWB3 anchor point and UWB4 anchor point are in working mode, and the UWB2 anchor point and UWB5 anchor point are in power-off mode. At this time, the ECU notifies the UWB2 anchor point and UWB5 anchor point to enter standby mode in real time according to the position of the key end.

[0021] According to another aspect of the present invention, a computer device is also provided, the computer device comprising:

[0022] One or more processors;

[0023] Storage device for storing one or more programs.

[0024] When the one or more programs are executed by the one or more processors, the one or more processors implement the working mode management method based on vehicle UWB positioning as described in any embodiment of the present invention.

[0025] The working mode management method based on vehicle UWB positioning of the present invention calculates the battery voltage and key position through the ECU, and then notifies each UWB anchor point to configure it through the CAN network. This reduces the risk of further power loss at the vehicle end. By using the orientation of the key end, the working status of each UWB anchor point can be dynamically adjusted according to different orientations, which improves positioning accuracy and reduces system power consumption. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating a working mode management method based on vehicle-mounted UWB positioning according to the present invention.

[0027] Figure 2 This is a schematic diagram of UWB orientation in a working mode management method based on vehicle-mounted UWB positioning according to the present invention;

[0028] Figure 3 This invention relates to a working mode management method based on vehicle-mounted UWB positioning, which includes a working mode table for UWB1-5 anchor points according to different key orientations.

[0029] Figure 4This is a schematic diagram of the coordinates of the UWB1-5 anchor points in the working mode management method based on vehicle-mounted UWB positioning of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] like Figure 1-4 As shown, a working mode management method based on vehicle-mounted UWB positioning is provided, including a key terminal, an ECU set in the vehicle, and N UWB anchor points. The method includes the following steps:

[0033] S1. When the G-Sensor device on the key end detects key movement, the BLE on the key end is awakened and triggers the broadcast pairing content; when the key is close to the vehicle end, the BLE of the ECU receives the connection request from the BLE on the key end and performs pairing; when pairing is successful, the ECU is awakened.

[0034] S2. The ECU collects the voltage of the battery voltage divider through the ADC, converts it to obtain the battery voltage, and compares the obtained battery voltage with the ECU's preset threshold. If the battery voltage is less than the threshold, the vehicle is in a low-power state, and the ECU notifies the UWB anchor point to enter sleep mode through the CAN network; the BLE antenna is turned off, and the ECU notifies the key terminal to turn off the UWB positioning function through the BLE. If the battery voltage is greater than the threshold, the ECU notifies the UWB anchor point to enter working mode; the BLE antenna is turned on, and the ECU notifies the key terminal to turn on the UWB positioning function through the BLE.

[0035] S3. The key end sends a positioning request to each UWB anchor point via UWB and calculates the current position of the key end relative to each UWB anchor point according to the TOF algorithm. The calculated result is sent to the ECU via the CAN network. The ECU calculates the distance and orientation of the key end using the triangulation algorithm. At the same time, it adjusts the working mode of each UWB anchor point according to the calculation result and sends it to each UWB anchor point via the CAN network.

[0036] The key terminal incorporates three functionalities: UWB, BLE, and G-Sensor. UWB is used to communicate with various UWB anchor points on the vehicle to determine distance; BLE is responsible for communication with the ECU to determine UWB power, channel, and other configuration parameters; and the G-sensor detects key vibrations and notifies the BLE to broadcast.

[0037] Specifically, this embodiment uses five anchor points: UWB1, UWB2, UWB3, UWB4, and UWB5. On one hand, each UWB anchor point communicates with the key's UWB to determine the key's distance. On the other hand, it communicates with the ECU via the CAN network to transmit distance data and configuration mode information. After agreeing on the UWB channel and parameters, the ECU synchronizes these parameters to UWB1-5 anchor points via the CAN network, and each UWB anchor point operates according to the parameters.

[0038] The ECU collects the battery voltage via ADC; it receives data from the UWB at the key end and determines the accurate distance to the key using a triangulation algorithm or other algorithms; it pairs with the key's BLE and constrains the configuration parameters of the UWB; in this embodiment, the ECU calculates the battery voltage and key position, and then notifies each UWB anchor point via the CAN network for configuration.

[0039] Once the vehicle and key are successfully paired, the ECU will collect the battery voltage through the ADC, convert it to obtain the battery voltage, and compare the obtained battery voltage with the ECU's preset threshold. If the battery voltage is less than the threshold, it means that the vehicle is currently in a low-power state. In order to reduce the occurrence of further power loss, the UWB positioning function needs to be turned off. The preset threshold is 9V.

[0040] The ECU mainly includes components such as ADC, BLE, MCU, CAN Transceiver, and CON connector. The BLE in the ECU is primarily used to pair with the BLE at the key end and agree on UWB configuration parameters. The MCU communicates with UWB1, UWB2, UWB3, UWB4, and UWB5 anchor points via the CAN network, receiving distance information from each anchor point and performing triangulation calculations. Based on the calculation results, it adjusts the operating modes of each anchor point and sends data via the CAN network to them. The ECU obtains the key's location coordinates, and dynamically adjusts the working modes of the UWB1, UWB2, UWB3, UWB4, and UWB5 anchor points when the current area changes.

[0041] The ECU acquires the battery voltage via an ADC. Because the MCU's ADC allows an input range of up to 3.3V, VBAT must be divided by resistors before entering the MCU for acquisition. When VBAT is 9V, the calculated input voltage at the MCU pin is 0.82V. Once the MCU acquires 0.82V, it knows the battery voltage is 9V. The formula for calculating the MCU pin input voltage is: VBAT * R2 / (R1 + R2). In this solution, R1 is 10MΩ and R2 is 1MΩ.

[0042] Explanation of the triangulation algorithm in this scheme:

[0043] The coordinates of the UWB1-5 anchor points inside the car are known. Let UWB1 be (x1, y1), UWB2 be (x2, y2), UWB3 be (x3, y3), UWB4 be (x4, y4), and UWB5 be (x5, y5). To calculate the UWB coordinates (Xo, Yo) of the smart key, taking region 1 as an example, the coordinates of the smart key can be calculated using the three circular equations of UWB1-3 to obtain the unique intersection point (Xo, Yo), where D11, D12, and D13 are the distances (radii of the circles) measured by UWB1-3.

[0044] (x0-x1) 2 +(y0-y1) 2 =D11 2

[0045] (x0-x2) 2 +(y0-y2) 2 =D12 2

[0046] (x0-x3) 2 +(y0-y3) 2 =D13 2

[0047] In one embodiment, the UWB anchor points at the vehicle end include UWB1 anchor points, UWB2 anchor points, UWB3 anchor points, UWB4 anchor points, and UWB5 anchor points located at the center of the vehicle, the front left, the front right, the rear right, and the rear left.

[0048] In one embodiment, the orientation of the key end includes orientation 1, orientation 2, orientation 3 and orientation 4.

[0049] In one embodiment, the UWB operating mode includes at least: operating mode, standby mode, and power-off mode.

[0050] In one embodiment, when the key sends a positioning request to each anchor point from UWB1 to UWB5 via UWB, each anchor point from UWB1 to UWB5 calculates the current position of the key end relative to each anchor point from UWB1 to UWB5 according to the TOF algorithm, and sends it to the ECU via the CAN network. The ECU then calculates the distance and orientation of the key end.

[0051] In one embodiment, when the key end is in orientation 1, UWB1, UWB2, and UWB3 anchor points are in working mode, while UWB4 and UWB5 anchor points are in power-off mode. At this time, the ECU notifies UWB4 and UWB5 anchor points to enter standby mode in real time based on the orientation of the key end. This aims to ensure positioning accuracy while reducing system power consumption.

[0052] In one embodiment, when the key end is in position 2, UWB1 anchor point, UWB2 anchor point and UWB5 anchor point are in working mode, and UWB3 anchor point and UWB4 anchor point are in power-off mode. At this time, the ECU notifies UWB3 anchor point and UWB4 anchor point to enter standby mode in real time according to the position of the key end.

[0053] In one embodiment, when the key end is in position 3, the UWB1 anchor point, UWB4 anchor point and UWB5 anchor point are in working mode, and the UWB2 anchor point and UWB3 anchor point are in power-off mode. At this time, the ECU notifies the UWB2 anchor point and UWB3 anchor point to enter standby mode in real time according to the position of the key end.

[0054] In one embodiment, when the key end is located at position 4, the UWB1 anchor point, UWB3 anchor point and UWB4 anchor point are in working mode, and the UWB2 anchor point and UWB5 anchor point are in power-off mode. At this time, the ECU notifies the UWB2 anchor point and UWB5 anchor point to enter standby mode in real time according to the position of the key end.

[0055] In another aspect of this embodiment, a computer device is also provided, the computer device comprising:

[0056] One or more processors;

[0057] Storage device for storing one or more programs.

[0058] When one or more programs are executed by one or more processors, the one or more processors implement the working mode management method based on vehicle UWB positioning as provided in any embodiment of the present invention.

[0059] The beneficial effects of the working mode management method based on vehicle-mounted UWB positioning provided by the embodiments of the present invention are at least as follows:

[0060] 1. Compared to traditional automotive UWB positioning solutions, this solution can reduce the risk of UWB leakage.

[0061] 2. This solution improves positioning accuracy and reduces system power consumption by dynamically adjusting the working status of UWB anchor points without affecting UWB positioning.

[0062] 3. In addition to CAN communication, the ECU and each UWB anchor point in this solution also support low-cost LIN communication.

[0063] 4. Before the car is started, as long as the key and the car are within a certain communication distance, UWB can locate the key's position in real time.

[0064] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0065] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0066] Therefore, the above description is only a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for managing working mode based on vehicle-mounted UWB positioning, comprising a key end, an ECU and N UWB anchor points arranged at a vehicle end, characterized in that, The method includes the following steps: S1, when the G-Sensor device at the key end detects key movement, the BLE at the key end is awakened and triggers the broadcast pairing content; when the key approaches the vehicle end, the BLE of the ECU receives the connection request from the BLE at the key end and performs pairing; when pairing is successful, the ECU is awakened. S2, the ECU collects the voltage of the battery voltage divider via ADC, calculates the battery voltage, and compares it with a preset threshold. If the battery voltage is less than the threshold, the vehicle is in a low-power state, and the ECU notifies the UWB anchor point to enter sleep mode via the CAN network; the BLE antenna is turned off, and the ECU notifies the key terminal to turn off the UWB positioning function via the BLE. If the battery voltage is greater than the threshold, the ECU notifies the UWB anchor point to enter working mode; the BLE antenna is turned on, and the ECU notifies the key terminal to turn on the UWB positioning function via the BLE. S3, the key end sends a positioning request to each UWB anchor point via UWB, and calculates the current position of the key end relative to each UWB anchor point according to the TOF algorithm. The calculated result is sent to the ECU via the CAN network. The ECU calculates the distance and orientation of the key end using the triangulation algorithm, and adjusts the working mode of each UWB anchor point according to the calculation result, and sends it to each UWB anchor point via the CAN network.

2. The working mode management method based on vehicle-mounted UWB positioning according to claim 1, characterized in that, The UWB anchor points at the vehicle end include UWB1 anchor points, UWB2 anchor points, UWB3 anchor points, UWB4 anchor points, and UWB5 anchor points located at the center of the vehicle, the front left, the front right, the rear right, and the rear left.

3. The working mode management method based on vehicle-mounted UWB positioning according to claim 2, characterized in that, The orientation of the key end includes orientation 1, orientation 2, orientation 3 and orientation 4.

4. The working mode management method based on vehicle-mounted UWB positioning according to claim 3, characterized in that, The UWB working modes include at least: working mode, standby mode, and power-off mode.

5. The working mode management method based on vehicle-mounted UWB positioning according to claim 2, characterized in that, When the key sends a positioning request to each anchor point from UWB1 to UWB5 via UWB, each anchor point from UWB1 to UWB5 calculates the current position of the key relative to each anchor point from UWB1 to UWB5 according to the TOF algorithm, and sends it to the ECU via the CAN network. The ECU then calculates the distance and orientation of the key.

6. The working mode management method based on vehicle-mounted UWB positioning according to claim 4, characterized in that, When the key end is in position 1, the UWB1 anchor point, UWB2 anchor point and UWB3 anchor point are in working mode, and the UWB4 anchor point and UWB5 anchor point are in power-off mode. At this time, the ECU notifies the UWB1 anchor point and UWB2 anchor point to enter standby mode in real time according to the position of the key end.

7. The working mode management method based on vehicle-mounted UWB positioning according to claim 6, characterized in that, When the key end is in position 2, the UWB1 anchor point, UWB2 anchor point and UWB5 anchor point are in working mode, and the UWB3 anchor point and UWB4 anchor point are in power-off mode. At this time, the ECU notifies the UWB3 anchor point and UWB4 anchor point to enter standby mode in real time according to the position of the key end.

8. The working mode management method based on vehicle-mounted UWB positioning according to claim 7, characterized in that, When the key end is in position 3, the UWB1, UWB4 and UWB5 anchor points are in working mode, and the UWB2 and UWB3 anchor points are in power-off mode. At this time, the ECU notifies the UWB2 and UWB3 anchor points to enter standby mode in real time according to the position of the key end.

9. The working mode management method based on vehicle-mounted UWB positioning according to claim 8, characterized in that, When the key end is in position 4, the UWB1, UWB3 and UWB4 anchor points are in working mode, and the UWB2 and UWB5 anchor points are in power-off mode. At this time, the ECU notifies the UWB2 and UWB5 anchor points to enter standby mode in real time according to the position of the key end.

10. A computer device, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the working mode management method based on vehicle UWB positioning as described in any one of claims 1 to 9.

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