Ultra wide band distance measurement method and device of vehicle, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses an ultra-wideband distance measurement method and device for a vehicle, electronic equipment and a storage medium, the vehicle comprises a micro-control unit and a Bluetooth chip which are connected with an ultra-wideband chip, and the method comprises the following steps: if ultra-wideband distance measurement is abnormal, controlling the micro-control unit and the Bluetooth chip to carry out interaction detection, determining an abnormal object and a non-abnormal object; performing reset operation on the abnormal object, and detecting whether the reset abnormal object is still in an abnormal state or not; and if yes, taking the non-abnormal object as a control main body of the ultra-wideband chip so as to carry out ultra-wideband ranging operation. According to the invention, the Bluetooth chip and the micro-control unit are respectively connected with the ultra-wideband chip, so that both the Bluetooth chip and the micro-control unit can be used as a control main body of the ultra-wideband chip, and normal operation of ultra-wideband distance measurement is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to an ultra-wideband ranging method, device, electronic device and storage medium for a vehicle. Background Art

[0002] Existing vehicles generally have Bluetooth ranging and UWB (Ultra Wideband) ranging methods. The accuracy of Bluetooth ranging is not high and can only perform rough positioning. UWB is a high-precision ranging technology that can achieve centimeter-level accuracy. Combining these two ranging methods and applying them to vehicles can enable vehicles to better locate surrounding objects.

[0003] MCU (Microcontroller Unit) is the main UWB chip and external anchor point to maintain communication with other ECUs (Electronic Control Units) in the vehicle. If the MCU fails, the UWB ranging function will fail and communication with other ECUs in the vehicle will be lost. Currently, there is no effective fault handling to ensure the normal operation of the ultra-wideband ranging function. Summary of the invention

[0004] In view of the above problems, the present application provides an ultra-wideband ranging method, device, electronic device and storage medium for a vehicle, and provides two control entities to control the ultra-wideband chip to ensure the normal operation of the ultra-wideband ranging.

[0005] According to one aspect of the present application, a vehicle ultra-wideband ranging method is provided, the vehicle comprising a micro control unit and a Bluetooth chip respectively connected to an ultra-wideband chip, the ultra-wideband ranging method comprising: if the ultra-wideband ranging is abnormal, controlling the micro control unit and the Bluetooth chip to perform interactive detection to determine an abnormal object and a non-abnormal object; resetting the abnormal object, and detecting whether the abnormal object after the reset is still in an abnormal state; if yes, using the non-abnormal object as a control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation.

[0006] In an optional manner, the abnormal object is the micro control unit, and the vehicle also includes an external anchor power supply and a LIN chip connected to the Bluetooth chip; the method of using the non-abnormal object as the control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation further includes: using the Bluetooth chip as the control subject of the ultra-wideband chip to control the ultra-wideband chip and the external anchor power supply to perform an ultra-wideband ranging operation, and reporting a fault through the LIN chip using a signal characterizing a fault of the micro control unit.

[0007] In an optional manner, the abnormal object is the Bluetooth chip, and the vehicle also includes an external anchor power supply and a CAN chip connected to the micro control unit; the method of using the non-abnormal object as the control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation further includes: using the micro control unit as the control subject of the ultra-wideband chip to control the ultra-wideband chip and the external anchor power supply to perform an ultra-wideband ranging operation, switching the communication mode with the external device from Bluetooth communication to ultra-wideband communication, and reporting a fault through the CAN chip using a signal characterizing a fault of the Bluetooth chip.

[0008] In an optional manner, the ultra-wideband ranging method also includes: in response to a Bluetooth signal of an external device, turning on the ranging function of the Bluetooth chip so that the Bluetooth chip measures the Bluetooth distance between the Bluetooth chip and the external device; if the Bluetooth distance is less than or equal to a preset first distance, turning off the ranging function of the Bluetooth chip, and controlling the microcontroller unit to turn on the power supply of the ultra-wideband chip and the external anchor power supply so that the ultra-wideband chip turns on the ultra-wideband ranging function to obtain a first ultra-wideband distance; wherein the first ultra-wideband distance is the ultra-wideband distance measured when the vehicle is in a locked state.

[0009] In an optional manner, the ultra-wideband ranging method also includes: if it is detected that the first ultra-wideband distance is less than or equal to a preset second distance, unlocking the vehicle and monitoring the second ultra-wideband distance measured by the ultra-wideband chip; wherein the preset first distance is greater than the preset second distance; the second ultra-wideband distance is the ultra-wideband distance measured when the vehicle is unlocked; if it is detected that the second ultra-wideband distance is greater than the preset second distance and less than the preset first distance, locking the vehicle, turning off the ultra-wideband ranging function, and turning on the ranging function of the Bluetooth chip; if it is detected that the second ultra-wideband distance is greater than the preset first distance, turning off the ultra-wideband ranging function and turning off the ranging function of the Bluetooth chip.

[0010] In an optional manner, the controlling the microcontroller unit and the Bluetooth chip to perform interactive detection further includes: controlling the microcontroller unit to send a first detection signal to the Bluetooth chip, and detecting whether the microcontroller unit receives a first response signal returned by the Bluetooth chip in response to the first detection signal, so as to determine whether the Bluetooth chip is an abnormal object; controlling the Bluetooth chip to send a second detection signal to the microcontroller unit, and detecting whether the Bluetooth chip receives a second response signal returned by the microcontroller unit in response to the second detection signal, so as to determine whether the microcontroller unit is the abnormal object.

[0011] In an optional manner, the resetting operation on the abnormal object and detecting whether the abnormal object is still in an abnormal state after the reset further includes: controlling the non-abnormal object to send a reset instruction to the abnormal object, so that the abnormal object performs a reset operation based on the reset instruction, and the reset abnormal object returns a response signal to the non-abnormal object in response to the detection signal sent by the non-abnormal object; if the non-abnormal object does not receive the response signal, it indicates that the reset abnormal object is still in an abnormal state.

[0012] According to another aspect of the present application, an ultra-wideband ranging device for a vehicle is provided, the vehicle comprising a micro control unit and a Bluetooth chip respectively connected to an ultra-wideband chip, the ultra-wideband ranging device comprising: an interaction detection module, for controlling the micro control unit and the Bluetooth chip to perform interaction detection if the ultra-wideband ranging is abnormal, so as to determine an abnormal object and a non-abnormal object; a reset detection module, for resetting the abnormal object and detecting whether the abnormal object is still in an abnormal state after the reset; and an ultra-wideband ranging module, for taking the non-abnormal object as the control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation if the ultra-wideband ranging is abnormal.

[0013] According to one aspect of the present application, an electronic device is provided, including: a controller; and a memory for storing one or more programs, which, when executed by the controller, executes the above-mentioned ultra-wideband ranging method.

[0014] According to one aspect of the present application, a computer-readable storage medium is further provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned ultra-wideband ranging method.

[0015] According to one aspect of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above-mentioned ultra-wideband ranging method.

[0016] This application establishes a connection relationship between the Bluetooth chip and the microcontroller unit and the ultra-wideband chip, so that both the Bluetooth chip and the microcontroller unit can be used as the control subject of the ultra-wideband chip. The microcontroller unit and the Bluetooth chip are controlled to perform interactive detection to reset the abnormal object, and if it is detected that the abnormal object is still in an abnormal state after the reset, the non-abnormal object is used as the control subject of the ultra-wideband chip to perform ultra-wideband ranging operations to ensure the normal operation of ultra-wideband ranging.

[0017] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a flowchart of an ultra-wideband ranging method for a vehicle shown in an exemplary embodiment of the present application.

[0020] Figure 2 is based on Figure 1 The exemplary embodiment shown is a schematic flow chart of another ultra-wideband ranging method for a vehicle.

[0021] Figure 3 It is a schematic diagram of the internal structure of a vehicle-side digital key shown in an exemplary embodiment of the present application.

[0022] Figure 4 is based on Figure 1 The exemplary embodiment shown is a schematic flow chart of another ultra-wideband ranging method for a vehicle.

[0023] Figure 5 is based on Figure 1 The exemplary embodiment shown is a schematic flow chart of another ultra-wideband ranging method for a vehicle.

[0024] Figure 6 It is a schematic diagram of an application scenario of the ultra-wideband ranging method for a vehicle of the present application.

[0025] Figure 7 It is a schematic structural diagram of an ultra-wideband ranging device for a vehicle shown in an exemplary embodiment of the present application.

[0026] Figure 8 It is a structural diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0027] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0028] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0029] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0030] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0031] Currently, MCU is generally used as the main UWB chip and external anchor point to maintain communication with other ECUs in the vehicle. If the MCU fails, the UWB ranging function will fail and communication with other ECUs in the vehicle will be lost. Currently, there is no effective fault handling to ensure the normal operation of the ultra-wideband ranging function.

[0032] To this end, one aspect of the present application provides an ultra-wideband ranging method for a vehicle. Figure 1 , Figure 1 This is a flow chart of an ultra-wideband ranging method for a vehicle shown in an exemplary embodiment of the present application. The vehicle includes a micro control unit and a Bluetooth chip respectively connected to an ultra-wideband chip, and the ultra-wideband ranging method includes at least S110 to S130, which are described in detail as follows:

[0033] S110: If the ultra-wideband ranging is abnormal, the micro control unit and the Bluetooth chip are controlled to perform interactive detection to determine abnormal objects and non-abnormal objects.

[0034] In this embodiment, both the microcontroller unit and the Bluetooth chip can be used as the control body of the ultra-wideband chip, wherein the microcontroller unit preferentially controls the power supply of the ultra-wideband chip. The microcontroller unit and the Bluetooth chip communicate via a serial port, and the microcontroller unit and the Bluetooth chip are connected to the ultra-wideband chip via an SPI interface, respectively. The CAN chip is connected to the microcontroller unit, and the LIN chip is connected to the Bluetooth chip. This connection method can realize the logical description of the complementary functions and abnormal handling of the microcontroller unit and the Bluetooth chip, thereby improving reliability and convenience.

[0035] If the ultra-wideband ranging is abnormal, it may be that the control subject of the current ultra-wideband chip is abnormal. By controlling the micro-control unit and the Bluetooth chip to perform interactive detection, the abnormal object and the non-abnormal object can be quickly determined. Either party is used as the main inspector, and a corresponding detection signal is sent to the inspected party to determine whether the inspected party is abnormal, thereby completing the two-way detection. Exemplarily, the micro-control unit is controlled to send a first detection signal to the Bluetooth chip, and detect whether the micro-control unit receives a first response signal returned by the Bluetooth chip in response to the first detection signal to determine whether the Bluetooth chip is an abnormal object; the Bluetooth chip is controlled to send a second detection signal to the micro-control unit, and detect whether the Bluetooth chip receives a second response signal returned by the micro-control unit in response to the second detection signal to determine whether the micro-control unit is an abnormal object.

[0036] The first detection signal and the second detection signal are both signals for detecting whether the inspected party is abnormal, and the first response signal and the second response signal are signals fed back by the inspected party in response to the detection signal. If the inspected party is normal, the inspected party receives the corresponding detection signal and will respond to the corresponding detection signal to feed back the corresponding response signal to the main inspector; if the inspected party is abnormal, the inspected party will not generate and feed back the corresponding response signal even if it receives the corresponding detection signal.

[0037] S120: Reset the abnormal object and detect whether the abnormal object is still in an abnormal state after being reset.

[0038] Control the non-abnormal party to send a corresponding reset instruction to the abnormal object, so that the abnormal object performs a reset operation in response to the reset instruction, including but not limited to initializing various parameters of the abnormal object, and control the non-abnormal party to send a detection signal to the reset abnormal object to detect whether the reset abnormal object is still in an abnormal state.

[0039] Exemplarily, the non-abnormal object is controlled to send a reset instruction to the abnormal object, so that the abnormal object performs a reset operation based on the reset instruction, and the reset abnormal object returns a response signal to the non-abnormal object in response to the detection signal sent by the non-abnormal object; if the non-abnormal object receives the response signal, it indicates that the reset abnormal object has returned to normal; if the non-abnormal object does not receive the response signal, it indicates that the reset abnormal object is still in an abnormal state.

[0040] In some embodiments, a preset number of resets can be set, that is, a reset operation is performed for the abnormal object for a preset number of resets. If the abnormal object is still in an abnormal state after the reset operation is performed for the preset number of resets, then while the reset operation is stopped, it is finally determined that the abnormal object after reset is still in an abnormal state. Performing a reset operation for the abnormal object for a preset number of resets can avoid errors caused by a single reset operation, resulting in distorted state judgment. It is worth noting that in the process of performing multiple reset operations, once it is detected that the abnormal object has returned to normal, the subsequent reset operation is stopped to avoid wasting processing resources.

[0041] S130: If yes, the non-abnormal object is used as the control subject of the ultra-wideband chip to perform the ultra-wideband ranging operation.

[0042] By selecting the control subject of the ultra-wideband chip according to the scene requirements, the normal operation of the ultra-wideband ranging function can be ensured to avoid the loss of the ultra-wideband ranging function due to the abnormality of a single control subject of the ultra-wideband chip. This embodiment realizes the complementary functions and abnormality handling of the microcontroller unit and the Bluetooth chip, and improves reliability and convenience.

[0043] In this embodiment, a connection relationship is established between the Bluetooth chip and the micro control unit and the ultra-wideband chip, so that both the Bluetooth chip and the micro control unit can be used as the control subject of the ultra-wideband chip. The micro control unit and the Bluetooth chip are controlled to perform interactive detection to reset the abnormal object, and if it is detected that the abnormal object after reset is still in an abnormal state, the non-abnormal object is used as the control subject of the ultra-wideband chip to perform ultra-wideband ranging operation to ensure the normal operation of ultra-wideband ranging.

[0044] At the same time, the Bluetooth chip in this embodiment also has a Bluetooth communication function, which can roughly locate external devices with Bluetooth function (such as Bluetooth keys). When the ultra-wideband ranging function fails, it can serve as a backup function to meet the positioning and ranging needs.

[0045] In another exemplary embodiment of the present application, it is described in detail how to use a non-abnormal object as a control subject of an ultra-wideband chip to perform an ultra-wideband ranging operation. For details, please refer to Figure 2 , Figure 2 is based on Figure 1The exemplary embodiment shown is a flow chart of another ultra-wideband ranging method for a vehicle. The ultra-wideband ranging method is as follows: Figure 1 The S130 shown further includes S210; wherein the abnormal object is a microcontroller unit, and the vehicle also includes an external anchor power supply and a LIN chip connected to the Bluetooth chip, which are described in detail as follows:

[0046] S210: The Bluetooth chip is used as the control body of the ultra-wideband chip to control the ultra-wideband chip and the external anchor power supply to perform ultra-wideband ranging operations, and the signal representing the micro control unit failure is reported through the LIN chip.

[0047] See also Figure 3 , Figure 3 This is a schematic diagram of the internal structure of the vehicle-side digital key shown in an exemplary embodiment of the application. Among them, the UWB chip is connected to the Bluetooth chip and the microcontroller unit through SPI respectively to ensure that the Bluetooth chip and the microcontroller unit can both serve as the control body of the UWB chip. Both the microcontroller unit and the Bluetooth chip can control the UWB power chip to realize the role of the main control UWB chip; the microcontroller unit and the Bluetooth chip can also control the external anchor power supply to make the external anchor power supply of the vehicle body work, so as to achieve the purpose of ultra-wideband ranging, so as to accurately locate external objects (mobile phone keys, Bluetooth keys, physical keys, etc.) at the centimeter level.

[0048] This embodiment uses the Bluetooth chip as the control subject of the ultra-wideband chip to ensure the normal operation of the ultra-wideband ranging function, and reports the fault signal of the abnormal object - the micro control unit through the LIN line of the LIN chip. Figure 3 As shown, the Bluetooth chip is connected to the LIN chip via LINRX / TX, so that when the Bluetooth chip is used as the control subject, faults are reported via the LIN line.

[0049] In another exemplary embodiment of the present application, it is described in detail how to use a non-abnormal object as a control subject of an ultra-wideband chip to perform an ultra-wideband ranging operation. For details, please refer to Figure 4 , Figure 4 is based on Figure 1 The exemplary embodiment shown is a flow chart of another ultra-wideband ranging method for a vehicle. The ultra-wideband ranging method is as follows: Figure 1 The S130 shown further includes S410; wherein the abnormal object is a Bluetooth chip, and the vehicle also includes an external anchor power supply and a CAN chip connected to the micro control unit, which are described in detail as follows:

[0050] S410: The microcontroller unit is used as the control body of the ultra-wideband chip to control the ultra-wideband chip and the external anchor power supply to perform ultra-wideband ranging operations, and the communication mode with the external device is switched from Bluetooth communication to ultra-wideband communication, and the signal representing the Bluetooth chip failure is reported through the CAN chip.

[0051] This embodiment uses the microcontroller unit as the control subject of the ultra-wideband chip to ensure the normal operation of the ultra-wideband ranging function, and reports the fault signal of the abnormal object - the Bluetooth chip through the CAN line of the CAN chip. Figure 3 As shown, the microcontroller unit is connected to the CAN chip via CANRX / TX, so that when the microcontroller unit serves as the control subject, faults are reported via the CAN line.

[0052] In some embodiments, there is a situation where both the microcontroller unit and the Bluetooth chip are abnormal. The following describes this scenario:

[0053] Depend on Figure 3 It can be seen that when the Bluetooth chip is used as the control subject of the UWB chip, it reports the fault of the microcontroller unit through the LIN line. If the Bluetooth chip also fails, the fault information cannot be sent through the LIN chip, that is, the fault information of the microcontroller unit cannot be reported. Similarly, when the microcontroller unit is used as the control subject of the UWB chip, it reports the fault of the Bluetooth chip through the CAN line. If the microcontroller unit also fails, the fault information cannot be sent through the CAN chip, that is, the fault information of the Bluetooth chip cannot be reported.

[0054] It can be seen that if both the Bluetooth chip and the microcontroller unit fail, the LIN chip and the CAN chip will not work properly, that is, no fault information will be reported. The operation and maintenance personnel can use external detection equipment to Figure 3 The digital key shown is subjected to fault detection to further detect whether both the Bluetooth chip and the micro control unit are faulty.

[0055] In another exemplary embodiment of the present application, it is described in detail how to use a non-abnormal object as a control subject of an ultra-wideband chip to perform an ultra-wideband ranging operation. For details, please refer to Figure 5 , Figure 5 is based on Figure 1 The exemplary embodiment shown is a flow chart of another ultra-wideband ranging method for a vehicle. The ultra-wideband ranging method is as follows: Figure 1 Based on the S110 to S130 shown, at least S510 to S520 are also included, which are described in detail as follows:

[0056] S510: In response to a Bluetooth signal from an external device, a distance measurement function of the Bluetooth chip is enabled, so that the Bluetooth chip measures a Bluetooth distance between the Bluetooth chip and the external device.

[0057] The external device is a device with Bluetooth function, such as a Bluetooth key, a mobile phone key, etc., which can establish a Bluetooth connection with the execution subject of this embodiment to transmit Bluetooth signals. If the execution subject of this embodiment retrieves the Bluetooth signal of the external device, or receives the Bluetooth signal sent by the external device, it responds to the Bluetooth signal and turns on the ranging function of the Bluetooth chip to enable the Bluetooth chip to measure the Bluetooth distance between the external device.

[0058] S520: If the Bluetooth distance is less than or equal to the preset first distance, turn off the ranging function of the Bluetooth chip, and control the micro control unit to turn on the power supply of the ultra-wideband chip and the external anchor power supply, so that the ultra-wideband chip turns on the ultra-wideband ranging function to obtain the first ultra-wideband distance.

[0059] The first ultra-wideband distance is an ultra-wideband distance measured by the ultra-wideband when the vehicle is in a locked state.

[0060] The accuracy of the Bluetooth ranging function is low. In order to improve the accuracy of close-range measurements, if the measured Bluetooth distance corresponding to the external device is less than or equal to the preset first distance, that is, the object is detected to enter the welcome area, in order to accurately unlock the vehicle, it is necessary to accurately monitor the distance between the object and the measurement. In this case, the Bluetooth ranging can be switched to ultra-wideband ranging, and the first ultra-wideband distance must be monitored at all times to achieve centimeter-level positioning.

[0061] If it is detected that the first ultra-wideband distance is less than or equal to the preset second distance, the vehicle is unlocked and the second ultra-wideband distance measured by the ultra-wideband chip is monitored; wherein the second ultra-wideband distance is the ultra-wideband distance measured when the vehicle is unlocked; the preset first distance is greater than the preset second distance, the preset second distance is used to divide the unlocking area, and the second ultra-wideband distance is the ultra-wideband distance monitored in real time after the unlocking operation.

[0062] If it is detected that an object has entered the unlocking area (ie, the first ultra-wideband distance obtained by ultra-wideband ranging is less than or equal to the preset second distance), the vehicle is unlocked to perform intelligent unlocking of the vehicle.

[0063] If the second ultra-wideband distance is detected to be greater than the preset second distance and less than the preset first distance, the vehicle is locked, the ultra-wideband ranging function is turned off, and the ranging function of the Bluetooth chip is turned on. This scene represents that the object exits the unlocking area to the welcome area, and the vehicle is unlocked.

[0064] If the second UWB distance is detected to be greater than the preset first distance, the UWB ranging function is turned off, and the ranging function of the Bluetooth chip is turned off. This scenario indicates that the object has moved away from the vehicle and has exited the sensing range of the vehicle's Bluetooth function. In order to avoid unnecessary functional loss, the Bluetooth and UWB ranging functions can be turned off.

[0065] In another exemplary embodiment of the present application, the application scenarios of the above-mentioned multiple ultra-wideband ranging methods are exemplarily described. Figure 6 , Figure 6 Schematic diagram of the application scenario of the ultra-wideband ranging method of the vehicle of the present application. It includes a vehicle 100, an external terminal 200 and a server 300, and the three terminals can be connected by wireless communication. The present application does not limit the connection method between them. The vehicle includes a micro control unit and a Bluetooth chip respectively connected to the ultra-wideband chip.

[0066] The server 300 serves as an execution subject of the ultra-wideband ranging method shown in any of the above exemplary embodiments to execute the corresponding ultra-wideband ranging method, which is exemplarily described as follows:

[0067] If the ultra-wideband ranging is abnormal, the server 300 controls the microcontroller unit and the Bluetooth chip to perform interactive detection to determine the abnormal object and the non-abnormal object; the server 300 resets the abnormal object and detects whether the abnormal object is still in an abnormal state after the reset; if so, the server 300 uses the non-abnormal object as the control subject of the ultra-wideband chip to perform ultra-wideband ranging operations.

[0068] The server 300 may Figure 6 As shown, it is placed in the vehicle 100 and is an independent physical server. It can also be a server cluster or a distributed system composed of multiple physical servers, wherein multiple servers can form a blockchain, and the server is a node on the blockchain. The server 300 can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network) and big data and artificial intelligence platforms, and there is no restriction on this here.

[0069] Another aspect of the present application also provides an ultra-wideband ranging device for a vehicle, such as Figure 7 As shown, Figure 7 It is a schematic structural diagram of an ultra-wideband ranging device for a vehicle shown in an exemplary embodiment of the present application.

[0070] Among them, the vehicle includes a micro control unit and a Bluetooth chip respectively connected to the ultra-wideband chip, and the ultra-wideband ranging device 700 includes: an interactive detection module 710, which is used to control the micro control unit and the Bluetooth chip to perform interactive detection if the ultra-wideband ranging is abnormal, and determine the abnormal object and the non-abnormal object; a reset detection module 730, which is used to reset the abnormal object and detect whether the abnormal object is still in an abnormal state after the reset; an ultra-wideband ranging module 750, which is used to use the non-abnormal object as the control subject of the ultra-wideband chip to perform ultra-wideband ranging operation if the ultra-wideband ranging is abnormal.

[0071] In another exemplary embodiment, the abnormal object is a micro control unit, and the vehicle also includes an external anchor power supply and a LIN chip connected to the Bluetooth chip; the ultra-wideband ranging module 750 further includes: a first ultra-wideband ranging unit, which is used to use the Bluetooth chip as the control subject of the ultra-wideband chip, to control the ultra-wideband chip and the external anchor power supply to perform ultra-wideband ranging operations, and to report the fault of the micro control unit through the LIN chip.

[0072] In another exemplary embodiment, the abnormal object is a Bluetooth chip, and the vehicle also includes an external anchor power supply and a CAN chip connected to the micro control unit; the ultra-wideband ranging module 750 further includes: a second ultra-wideband ranging unit, which is used to use the micro control unit as the control body of the ultra-wideband chip, to control the ultra-wideband chip and the external anchor power supply to perform ultra-wideband ranging operations, switch the communication mode with the external device from Bluetooth communication to ultra-wideband communication, and report the fault through the CAN chip via a signal indicating a Bluetooth chip fault.

[0073] In another exemplary embodiment, the ultra-wideband ranging device 700 also includes: a response module, which is used to respond to the Bluetooth signal of the external device and turn on the ranging function of the Bluetooth chip so that the Bluetooth chip measures the Bluetooth distance between the external device; a ranging function switching module, which is used to turn off the ranging function of the Bluetooth chip if the Bluetooth distance is less than or equal to the preset first distance, and control the micro control unit to turn on the power supply of the ultra-wideband chip and the external anchor power supply so that the ultra-wideband chip turns on the ultra-wideband ranging function to obtain a first ultra-wideband distance; wherein the first ultra-wideband distance is the ultra-wideband distance measured when the vehicle is in a locked state.

[0074] In another exemplary embodiment, the ultra-wideband ranging device 700 also includes: an unlocking module, which is used to unlock the vehicle if it is detected that the first ultra-wideband distance is less than or equal to the preset second distance, and monitor the second ultra-wideband distance measured by the ultra-wideband chip; wherein the preset first distance is greater than the preset second distance; the second ultra-wideband distance is the ultra-wideband distance measured when the vehicle is unlocked; a locking module, which is used to lock the vehicle if it is detected that the second ultra-wideband distance is greater than the preset second distance and less than the preset first distance, turn off the ultra-wideband ranging function, and turn on the ranging function of the Bluetooth chip; a ranging function turning off module, which is used to turn off the ultra-wideband ranging function and the ranging function of the Bluetooth chip if it is detected that the second ultra-wideband distance is greater than the preset first distance.

[0075] In another exemplary embodiment, the reset detection module 730 further includes: a first detection unit, used to control the micro control unit to send a first detection signal to the Bluetooth chip, and detect whether the micro control unit receives a first response signal returned by the Bluetooth chip in response to the first detection signal, so as to determine whether the Bluetooth chip is an abnormal object; a second detection unit, used to control the Bluetooth chip to send a second detection signal to the micro control unit, and detect whether the Bluetooth chip receives a second response signal returned by the micro control unit in response to the second detection signal, so as to determine whether the micro control unit is an abnormal object.

[0076] In another exemplary embodiment, the reset detection module 730 further includes: a reset unit, which is used to control the non-abnormal object to send a reset instruction to the abnormal object, so that the abnormal object performs a reset operation based on the reset instruction, and causes the reset abnormal object to return a response signal to the non-abnormal object in response to the detection signal sent by the non-abnormal object; and a detection unit, which is used to indicate that the reset abnormal object is still in an abnormal state if the non-abnormal object does not receive the response signal.

[0077] The ultra-wideband ranging device of the present application establishes a connection relationship between the Bluetooth chip and the micro-control unit and the ultra-wideband chip, respectively, so that the Bluetooth chip and the micro-control unit can both be used as the control subject of the ultra-wideband chip. The micro-control unit and the Bluetooth chip are controlled to perform interactive detection to reset the abnormal object, and if it is detected that the abnormal object after reset is still in an abnormal state, the non-abnormal object is used as the control subject of the ultra-wideband chip to perform ultra-wideband ranging operations to ensure the normal operation of the ultra-wideband ranging.

[0078] It should be noted that the ultra-wideband ranging device provided in the above embodiment and the ultra-wideband ranging method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0079] Another aspect of the present application provides an electronic device, including: a controller; a memory for storing one or more programs, when the one or more programs are executed by the controller, the above-mentioned ultra-wideband ranging method is executed.

[0080] See also Figure 8 , Figure 8 1 is a schematic diagram of the structure of a computer system of an electronic device shown in an exemplary embodiment of the present application, which shows a schematic diagram of the structure of a computer system of an electronic device suitable for implementing an embodiment of the present application.

[0081] It should be noted that Figure 8 The computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0082] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 to the random access memory (RAM) 803, such as executing the method in the above embodiment. In the RAM 803, various programs and data required for system operation are also stored. The CPU 801, ROM 802 and RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0083] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed so that a computer program read therefrom is installed into the storage section 808 as needed.

[0084] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 809, and / or installed from a removable medium 811. When the computer program is executed by a central processing unit (CPU) 801, various functions defined in the system of the present application are executed.

[0085] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0086] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0087] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0088] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the ultra-wideband ranging method as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0089] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the ultra-wideband ranging method provided in each of the above embodiments.

[0090] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0091] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0092] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A vehicle ultra-wideband ranging method, characterized in that: The vehicle includes a micro control unit and a Bluetooth chip respectively connected to an ultra-wideband chip, and the ultra-wideband ranging method includes: If the ultra-wideband ranging is abnormal, the micro control unit and the Bluetooth chip are controlled to perform interactive detection to determine abnormal objects and non-abnormal objects; Resetting the abnormal object and detecting whether the abnormal object is still in an abnormal state after being reset; If yes, the non-abnormal object is used as the control subject of the ultra-wideband chip to perform ultra-wideband ranging operation.

2. The ultra-wideband ranging method according to claim 1, characterized in that: The abnormal object is the micro control unit, and the vehicle further includes an external anchor power supply and a LIN chip connected to the Bluetooth chip; The method of using the non-abnormal object as a control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation further includes: The Bluetooth chip is used as the control body of the ultra-wideband chip to control the ultra-wideband chip and the external anchor power supply to perform ultra-wideband ranging operations, and the signal representing the failure of the micro control unit is reported through the LIN chip.

3. The ultra-wideband ranging method according to claim 1, characterized in that: The abnormal object is the Bluetooth chip, and the vehicle further includes an external anchor power supply and a CAN chip connected to the micro control unit; The method of using the non-abnormal object as a control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation further includes: The microcontroller unit is used as the control body of the ultra-wideband chip to control the ultra-wideband chip and the external anchor power supply to perform ultra-wideband ranging operations, switch the communication mode with the external device from Bluetooth communication to ultra-wideband communication, and report the fault of the Bluetooth chip through the CAN chip.

4. The ultra-wideband ranging method according to claim 1, characterized in that: The ultra-wideband ranging method further includes: In response to a Bluetooth signal from an external device, turning on a distance measurement function of the Bluetooth chip so that the Bluetooth chip measures a Bluetooth distance to the external device; If the Bluetooth distance is less than or equal to a preset first distance, the ranging function of the Bluetooth chip is turned off, and the microcontroller unit is controlled to turn on the power supply of the ultra-wideband chip and the external anchor power supply, so that the ultra-wideband chip turns on the ultra-wideband ranging function to obtain a first ultra-wideband distance; wherein the first ultra-wideband distance is an ultra-wideband distance measured when the vehicle is in a locked state.

5. The ultra-wideband ranging method according to claim 4, characterized in that: The ultra-wideband ranging method further includes: If it is detected that the first ultra-wideband distance is less than or equal to a preset second distance, the vehicle is unlocked and the second ultra-wideband distance measured by the ultra-wideband chip is monitored; wherein the preset first distance is greater than the preset second distance; and the second ultra-wideband distance is the ultra-wideband distance measured when the vehicle is unlocked; If it is detected that the second ultra-wideband distance is greater than the preset second distance and less than the preset first distance, the vehicle is locked, the ultra-wideband ranging function is turned off, and the ranging function of the Bluetooth chip is turned on; If it is detected that the second ultra-wideband distance is greater than the preset first distance, the ultra-wideband ranging function is turned off, and the ranging function of the Bluetooth chip is turned off.

6. The ultra-wideband ranging method according to claim 1, characterized in that: The controlling the microcontroller unit and the Bluetooth chip to perform interactive detection further includes: Controlling the microcontroller unit to send a first detection signal to the Bluetooth chip, and detecting whether the microcontroller unit receives a first response signal returned by the Bluetooth chip in response to the first detection signal, so as to determine whether the Bluetooth chip is an abnormal object; The Bluetooth chip is controlled to send a second detection signal to the micro control unit, and the second response signal returned by the micro control unit in response to the second detection signal is detected to determine whether the micro control unit is the abnormal object.

7. The ultra-wideband ranging method according to any one of claims 1 to 6, characterized in that: The resetting operation on the abnormal object and detecting whether the abnormal object after the reset is still in an abnormal state further includes: Controlling the non-abnormal object to send a reset instruction to the abnormal object, so that the abnormal object performs a reset operation based on the reset instruction, and causing the reset abnormal object to return a response signal to the non-abnormal object in response to the detection signal sent by the non-abnormal object; If the non-abnormal object does not receive the response signal, it indicates that the abnormal object after reset is still in an abnormal state.

8. A vehicle ultra-wideband ranging method, characterized in that: The vehicle includes a micro control unit and a Bluetooth chip respectively connected to the ultra-wideband chip, and the ultra-wideband ranging device includes: An interactive detection module, used to control the microcontroller unit and the Bluetooth chip to perform interactive detection if the ultra-wideband ranging is abnormal, and determine abnormal objects and non-abnormal objects; A reset detection module, used to perform a reset operation on the abnormal object and detect whether the abnormal object is still in an abnormal state after being reset; The ultra-wideband ranging module is used to, if the answer is yes, use the non-abnormal object as the control subject of the ultra-wideband chip to perform an ultra-wideband ranging operation.

9. An electronic device, characterized in that: include: Controller; A memory, used to store one or more programs, when the one or more programs are executed by the controller, the controller implements the ultra-wideband ranging method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the ultra-wideband ranging method according to any one of claims 1 to 7.

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