Device and method for detecting position of vehicle key

Abstract

The invention provides a method and device for detecting the position of a vehicle key. The method comprises the steps that a processor executes positioning algorithm selection based on anchor point detection data; after executing the positioning algorithm selection, the processor executes anchor point consistency verification to verify a positioning calculation result; the processor executes cross root calculation after consistency verification is completed; the processor executes cross root consistency verification after executing cross root calculation; the processor executes cross root residual calculation after executing cross root consistency verification; the processor executes the process of determining the positioning coordinates after executing the cross root residual calculation.

Description

Technical Field

[0001] Exemplary embodiments of the present disclosure relate to an apparatus and method for detecting a position of a vehicle key, and more particularly, to an apparatus and method for detecting a position of a vehicle key capable of detecting the position of the vehicle key by using ultra-wideband (UWB) communication. Background Art

[0002] Generally speaking, a smart key system refers to a system that enables the driver to open or close the doors and start the vehicle from the outside without inserting a separate key into the key box in the car or performing specific operations. The smart key system uses a FOB key (smart key) or a smart key provided in the form of a card so that the driver can easily carry the key.

[0003] Leveraging digital keys using smartphones has become a trend recently.

[0004] Hereinafter, in the present embodiment, the vehicle key includes a digital key.

[0005] In order to use the digital key, it is necessary to detect the position of the digital key inside or outside the vehicle. To detect the position of the digital key, wireless communication technology is used between the digital key and the antenna installed in the vehicle to measure the distance between the antenna and the digital key, and the position of the digital key inside or outside the vehicle is detected based on the measurement result.

[0006] However, the digital key that only uses near-field communication (NFC) in the related art has the problem of being attacked by hackers. Therefore, it is necessary to accurately measure the user's location by using an ultra-wideband (UWB) digital key to improve security, and it is also necessary to improve user convenience and identify the exact user location. Therefore, a technology that can accurately detect the location of a digital key is needed.

[0007] Background art of the present disclosure is disclosed in Korean Patent Application Publication No. 10-2013-0089069 (published on August 9, 2013, entitled “System for searching for a vehicle smart key”). Summary of the invention

[0008] Various embodiments relate to an apparatus and method for detecting a location of a vehicle key, which are capable of detecting the location of the vehicle key by using UWB communication.

[0009] In one embodiment, an apparatus for detecting the location of a vehicle key includes: a vehicle key, including a digital key based on UWB communication; a plurality of anchor points configured to perform UWB communication with the vehicle key; and a processor configured to detect the location of the digital key by using the plurality of anchor points.

[0010] In the present disclosure, in the initialization step, the processor may perform coordinate setting for each anchor point and perform distance calculation between multiple anchor points, and the distance between anchor point 1 and anchor point 2 is calculated according to Calculated.

[0011] In the present disclosure, in the data acquisition step after the initialization step, the processor may receive data detected by the anchor point and perform data filtering, the received data may include power (ranging power) and distance (ranging distance) information input from the anchor point, and the data filtering may be performed by using a moving window average filter or a low-pass filter (LPF).

[0012] In the present disclosure, the processor can perform positioning algorithm selection based on the data detected by the anchor point, perform anchor point consistency verification after performing the positioning algorithm selection, perform cross-root calculation after completing the consistency verification, perform cross-root consistency verification after performing the cross-root calculation, perform cross-root residual calculation after performing the cross-root consistency verification, and perform a process for determining positioning coordinates after performing the cross-root residual calculation.

[0013] In the present disclosure, the processor can arrange the distance information of the anchor points in ascending order and perform filtering of the anchor points outside the vehicle, and perform a positioning algorithm determination to select a positioning algorithm, and the processor can arrange the anchor points in ascending order according to the minimum distance (i.e., ranging distance) data, and perform filtering on the received anchor points according to multiple specified conditions to determine the anchor points outside the vehicle to be excluded from the positioning algorithm determination.

[0014] In the present disclosure, multiple conditions for determining the external anchor points to be excluded from the positioning algorithm by filtering the received anchor points may include: Condition 1: "receiving two or more internal anchor point data", "receiving one or more external anchor point data", and minimum value (in-vehicle anchor point) < minimum value (external anchor point); Condition 2: "When Pmax is not A7", rn>2_Dxymn+rm+10 (cm) (here, rn=external anchor point ranging result, rm=in-vehicle anchor point ranging result, m=number of internal anchor points, n=number of external anchor points, and Pmax=maximum power value in power value); Condition 3: rn value is equal to Am1 anchor point There is no cross root with the Am2 anchor point (that is, according to the anchor point ranging result, there is no cross root with at least the first anchor point and the second anchor point in all anchor point ranging); Condition 4: rn (outside vehicle anchor point ranging result) > (inside vehicle anchor point ranging average value * 2); Condition 5-1: When [receiving two or more inside vehicle anchor points + outside vehicle anchor points], [receiving one or more outside vehicle anchor points] and [outside vehicle anchor point rmax-rmin>600 (cm)] are satisfied, the rmax anchor point positioning logic is not applied; and Condition 5-2: When [receiving two or more inside vehicle anchor points + outside vehicle anchor points], [receiving two or more outside vehicle anchor points], [outside vehicle anchor point r2ndmax! = rmin] and [outside vehicle anchor point r2ndmax-rmin>600 (cm)] are satisfied.

[0015] In the present disclosure, in the receiving anchor point calculation step of the positioning algorithm determination step, the processor can select the corresponding positioning algorithm based on four states: State 1: when the number of received anchor points is 0, positioning is not performed; State 2: when the number of received anchor points is 1, positioning is performed with the previous positioning coordinate result, and positioning is not performed without the previous positioning coordinate result; State 3: when the number of received anchor points is 2, 2-side positioning is performed; and State 4: when the number of received anchor points is 3 to 8, 3-side positioning is performed.

[0016] In the present disclosure, in the consistency verification step, when the in-vehicle area positioning algorithm is selected, the processor can perform the in-vehicle area consistency verification; when the trunk area positioning algorithm is selected, the processor can perform the trunk area consistency verification; and when the outside-vehicle area positioning algorithm is selected, the processor can perform the outside-vehicle area consistency verification.

[0017] In the present disclosure, during the positioning algorithm selection and consistency verification process, when the number of received valid data anchor points is less than three, the processor may perform 1-side positioning or 2-side positioning according to the number of anchor points.

[0018] In one embodiment, a method for detecting the position of a vehicle key includes: a processor performing positioning algorithm selection based on data detected by an anchor point; after performing the positioning algorithm selection, the processor performing anchor point consistency verification; after the consistency verification is completed, the processor performing cross-root calculation; after performing the cross-root calculation, the processor performing cross-root consistency verification; after performing the cross-root consistency verification, the processor performing cross-root residual calculation; and after performing the cross-root residual calculation, the processor performs a process of determining positioning coordinates.

[0019] According to the present disclosure, it is possible to accurately detect the location of a vehicle key by using UWB communication, and to improve security by robustly countering hacker attacks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is an exemplary view showing a schematic configuration of an apparatus for detecting a vehicle key position according to an embodiment of the present disclosure.

[0021] Figure 2 It is shown installed in Figure 1 An exemplary view of the schematic locations of UWB anchor points in a vehicle in FIG.

[0022] Figure 3 is a flowchart for explaining a method for detecting a vehicle key position according to an embodiment of the present disclosure.

[0023] Figure 4 It is used to explain Figure 3 An exemplary view of the positioning algorithm selection process in FIG.

[0024] Figure 5 It is used to explain Figure 4 Conditions for performing the off-vehicle anchor point filtering step and an exemplary view explaining the processing process.

[0025] Figure 6 It is used to explain Figure 4 An exemplary view of the receiving anchor point positioning calculation step of the positioning algorithm determination step.

[0026] Figure 7 It is used to explain Figure 3 An exemplary view of the consistency verification process for verifying the positioning calculation results after selecting a positioning algorithm.

[0027] Fig. 8A and Figure 8B It is used to explain Figure 7 An illustrative view of the relationship between consistency and the presence or absence of an intersection. DETAILED DESCRIPTION

[0028] The components described in the example embodiments may be implemented by hardware components, such as at least one digital signal processor (DSP), a processor, a controller, an application-specific integrated circuit (ASIC), a programmable logic element (such as an FPGA), other electronic devices, or a combination thereof. At least some of the functions or steps described in the example embodiments may be implemented by software, which may be recorded on a recording medium. The components, functions, and steps described in the example embodiments may be implemented by a combination of hardware and software.

[0029] The method according to the example embodiments may be embodied as a computer executable program and may be implemented through various recording media, such as a magnetic storage medium, an optical reading medium, and a digital storage medium.

[0030] The various techniques described herein may be implemented as digital electronic circuits or computer hardware, firmware, software, or a combination thereof. These techniques may be implemented as a computer program product, i.e., a computer program embodied in a tangible manner in an information carrier such as a machine-readable storage device (e.g., a computer-readable medium), or in a propagated signal that is processed or controls the operation of a data processing device (e.g., a programmable processor, a computer, or multiple computers). Computer programs may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including stand-alone programs or modules, components, subroutines, or other units suitable for use in a computing environment. Computer programs may be deployed to execute on a single computer, on multiple computers at a site, or distributed across multiple sites and interconnected by a communication network.

[0031] For example, processors suitable for executing computer programs include general and special purpose microprocessors, and one or more processors of any type of digital computer. In general, the processor receives instructions and data from a read-only memory or a random access memory or both. The elements of a computer may include at least one processor for executing instructions and one or more storage devices for storing instructions and data. In general, the computer also includes or is connected to one or more mass storage devices (such as magnetic disks, magneto-optical disks, or optical disks) to receive data, transmit data, or perform both operations to store data. Examples of information carriers suitable for embodying computer program instructions and data include semiconductor memory devices, such as magnetic media such as hard disks, floppy disks, and tapes, optical media such as compact disk read only memory (CD-ROM), digital video disks (DVD), and magneto-optical media such as optical disks, as well as read-only memory (ROM), random access memory (RAM), flash memory, erasable programmable ROM (EPROM) and electrically erasable programmable ROM (EEPROM) and any other known computer readable media. The processor and the memory can be supplemented by, or integrated in, special purpose logic circuitry.

[0032] The processor may run an operating system (OS) and one or more software applications running on the operating system. The processor device may also access, store, manipulate, process, and create data in response to the execution of software. For simplicity, the processor device is described in the singular; however, those skilled in the art will appreciate that the processor device may include multiple processing elements and / or multiple types of processing elements. For example, the processor device may include multiple processors or a processor and a controller. In addition, different processing configurations are possible, such as parallel processors.

[0033] Additionally, non-transitory computer-readable media can be any available media that can be accessed by a computer and may include computer storage media and transmission media.

[0034] This specification includes details of some specific embodiments, but it should be understood that these details do not limit any invention or what may be claimed in the specification, but rather describe features of specific example embodiments. Features described in the specification in various example embodiments can be implemented as a combination in a single example embodiment. In contrast, various features described in the specification in a single example embodiment can be implemented individually or in appropriate sub-combinations in multiple example embodiments. In addition, these features can operate in a specific combination and may initially be described as required in the combination, but in some cases, one or more features may be excluded from the required combination, and the required combination may become a sub-combination or a modification of the sub-combination.

[0035] Similarly, even if operations are described in a particular order in the accompanying drawings, it should not be understood that the operations need to be performed in a particular order or sequential order to obtain the desired results, or that all operations need to be performed. In certain circumstances, multitasking and parallel processing may be advantageous. In addition, it should not be understood that the various device components in the above-described example embodiments are required to be separated in all example embodiments. It should be understood that the above-described program components and devices can be combined into one software product or in multiple software products.

[0036] It should be understood that the exemplary embodiments disclosed herein are merely illustrative and are not intended to limit the scope of the present invention. It is apparent to those skilled in the art that various modifications may be made to the exemplary embodiments without departing from the spirit and scope of the claims and their equivalents.

[0037] The following will describe the embodiments of the present disclosure in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present disclosure. However, the present disclosure can be embodied in many different forms and is not limited to the embodiments described herein.

[0038] In the following description of the embodiments of the present disclosure, if the detailed description of the known functions and configurations contained herein may make the subject matter of the present disclosure rather unclear, such description will be omitted. In the accompanying drawings, parts irrelevant to the description of the present disclosure will be omitted, and similar parts are represented by similar reference numerals.

[0039] In the present disclosure, components that are distinguished from each other are intended to clearly illustrate each feature. However, this does not necessarily mean that these components are separate. That is, multiple components can be integrated into one hardware unit or software unit, or a single component can be distributed to multiple hardware units or software units. Therefore, unless otherwise stated, such integrated or distributed embodiments are also included in the scope of the present disclosure.

[0040] In the present disclosure, the components described in each embodiment are not necessarily essential components, and some may be optional components. Therefore, an embodiment consisting of a subset of the components described in an embodiment is also included in the scope of the present disclosure. In addition, in addition to the components described in each embodiment, an embodiment including other components is also included in the scope of the present disclosure.

[0041] The following will describe the embodiments of the present disclosure in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present disclosure. However, the present disclosure can be embodied in many different forms and is not limited to the embodiments described herein.

[0042] In the following description of the embodiments of the present disclosure, if the detailed description of the known functions and configurations contained herein may make the subject matter of the present disclosure rather unclear, such description will be omitted. In the accompanying drawings, parts irrelevant to the description of the present disclosure will be omitted, and similar parts are represented by similar reference numerals.

[0043] In the present disclosure, when it is mentioned that a component is "linked", "coupled" or "connected" to another component, it should be understood that it includes not only a direct connection relationship but also an indirect connection relationship through an intermediate component. In addition, when it is mentioned that a component "includes" or "has" another component, unless there is a clear contrary description, it may be intended to further include rather than exclude the other component.

[0044] In the present disclosure, the terms "first", "second", etc. are only used to distinguish one component from another component, and do not limit the order or importance of the components, etc., unless otherwise specifically stated. Therefore, within the scope of the present disclosure, a first component in an exemplary embodiment may be referred to as a second component in another embodiment, and similarly, a second component in an exemplary embodiment may be referred to as a first component.

[0045] In the present disclosure, components that are distinguished from each other are intended to clearly illustrate each feature. However, this does not necessarily mean that these components are separate. That is, multiple components can be integrated into one hardware unit or software unit, or a single component can be distributed into multiple hardware units or software units. Therefore, unless otherwise stated, such integrated or distributed embodiments are also included in the scope of the present disclosure.

[0046] In the present disclosure, the components described in each embodiment are not necessarily essential components, and some may be optional components. Therefore, an embodiment consisting of a subset of the components described in one embodiment is also included in the scope of the present disclosure. In addition, in addition to the components described in each embodiment, exemplary embodiments including other components are also included in the scope of the present disclosure.

[0047] Hereinafter, an apparatus and method for detecting a vehicle key position will be described through various exemplary embodiments with reference to the accompanying drawings.

[0048] Here, for the sake of clarity and convenience of description, the thickness of lines, the size of components, etc. shown in the drawings may be exaggerated. In addition, the terms used below are defined in consideration of the functions of the present disclosure and may vary depending on the intention or common practice of the user or operator. Therefore, these terms should be defined in accordance with the entire contents of this specification.

[0049] The present embodiment relates to an apparatus and method capable of detecting the position of a vehicle key by using UWB communication. In this case, UWB technology is a technology developed from near-field wireless technology in related technologies such as Wi-Fi, Bluetooth, and GPS. The UWB technology is characterized by being able to process situation information that is difficult to process in related technologies, such as the position of the UWB anchor point, the movement of the anchor point, and the distance from other devices, with an accuracy of several centimeters.

[0050] Figure 1 is an exemplary view showing a schematic configuration of an apparatus for detecting a vehicle key position according to an embodiment of the present disclosure; Figure 2 It is shown installed in Figure 1 An exemplary view of the schematic locations of UWB anchor points in a vehicle in FIG.

[0051] Reference Figure 1 and Figure 2 According to an apparatus for detecting a vehicle key position based on UWB communication according to an embodiment of the present invention, the accurate position of a vehicle key (including a digital key) is detected by using two-way UWB communication.

[0052] Reference Figure 1 , the device includes a plurality of UWB anchor points 121 to 128 configured to perform UWB communication with a digital key 110 based on UWB communication; and a processor 130 (e.g., ECU) configured to detect a position of the digital key 110 by using the plurality of UWB anchor points 121 to 128.

[0053] In the present embodiment, the plurality of anchor points A1 to A8 and 121 to 128 refer to a plurality of UWB anchor points. For convenience of description, the anchor point and the UWB anchor point will be described alternately below, but it should be understood that the anchor point and the UWB anchor point have the same meaning.

[0054] The digital key 110 performs UWB communication with a plurality of anchor points 121 to 128 .

[0055] Reference Figure 2 Among the plurality of anchor points 121 to 128, four anchor points 121, 122, 123, and 124 are respectively installed at edge portions of the vehicle.

[0056] For example, among the four anchor points 121, 122, 123, and 124, two anchor points 121 and 122 are respectively installed at two opposite edge portions of the front bumper, and two anchor points 123 and 124 are respectively installed at two opposite edge portions of the rear bumper. In addition, one anchor point 128 is installed between the anchor points 123 and 124 respectively installed at two opposite edge portions of the rear bumper, and the installation position of the anchor point 128 is closer to the anchor point 124 installed at one edge portion.

[0057] Among the plurality of anchor points 121 to 128, the remaining three anchor points 125, 126, and 127 are installed in the vehicle.

[0058] In this case, in the present embodiment, an example in which eight anchor points 121 to 128 are installed in the vehicle is described. However, the number and installation positions of the anchor points may vary depending on the vehicle model. However, the present disclosure is applicable regardless of the number and installation positions of the anchor points.

[0059] The installation positions of the anchor points 121 to 128 may be used as layout information to cope with positioning errors of the digital key 110 .

[0060] In this case, the layout information includes a plurality of pieces of coordinate information indicating anchor point installation positions, and the coordinate information refers to two-dimensional coordinates.

[0061] For example, the coordinates of UWB anchor points A1 to A8 can be expressed as A1 = anchor point 1 = coordinate (x1, y1) to An = anchor point n = coordinate (xn, yn), and the reference coordinates (see anchor point coordinates) can be X axis: vehicle center = 100 cm, Y axis: vehicle end = 0 cm.

[0062] The plurality of anchor points 121 to 128 perform UWB communication with the digital key 110 in response to a communication instruction issued by a processor 130 (eg, an ECU).

[0063] The plurality of anchor points 121 to 128 may be connected via a communication bus (eg, a controller area network (CAN)) provided in the vehicle for receiving communication instructions from the processor 130 .

[0064] Processor 130 executes Figure 3 The process shown in the figure detects the position of the digital key 110, for example, the position of the digital key 110 inside or outside the vehicle.

[0065] Figure 3 is a flowchart for explaining a method of detecting a vehicle key position according to an embodiment of the present disclosure.

[0066] Reference Figure 3In the initialization step S110, the processor 130 may perform UWB anchor point coordinate setting (ie, reading the distance of the anchor points installed according to the vehicle type) and anchor point distance calculation (ie, calculating the distance D between the anchor points installed on the vehicle).

[0067] For example, the distance between anchor point 1 and anchor point 2 can be calculated as The distance between anchor point 7 and anchor point 8 can be calculated as The distance D between other anchor points can be calculated in the same way.

[0068] In the data collection step S120 , the processor 130 may receive data (ie, data detected by the anchor points) and perform data filtering.

[0069] For example, the data (ie, data detected by the anchor points) may include power (ranging power) and distance (ranging distance) input from the anchor points 121 to 128 .

[0070] In this case, the distance (ranging distance) is expressed as the ranging result of the anchor point 1 (A1) = r1 to the ranging result of the anchor point 8 (A8) = r8.

[0071] Furthermore, if ranging compensation is applied, ranging=ranging*1+9(cm) (ie, offset value).

[0072] In addition, the power (ranging power) is expressed as anchor point 1 (A1) power result = p1 to anchor point 8 (A8) power result = p8.

[0073] Furthermore, data filtering may be performed by using a moving window average filter, and a low pass filter (LPF) may be used.

[0074] Figure 4 It is used to explain Figure 3 An exemplary view of the positioning algorithm selection process in FIG.

[0075] In the positioning algorithm selection step S130, the processor 130 arranges the distance information in ascending order ( Figure 4 S131 in the figure), performs off-vehicle anchor point filtering ( Figure 4 S132 in ), and executing a positioning algorithm to determine ( Figure 4 (S133 in ).

[0076] For example, the processor 130 arranges the anchor points in ascending order according to the minimum distance (ie, ranging distance) data (eg, Am1, Am2, Am3, and Am4 to Am8). In addition, in step S132, the processor 130 arranges the anchor points according to the following conditions (ie, Figure 5 Conditions 1 to 5-2) in the above table perform filtering to determine the off-vehicle anchor points to be excluded.

[0077] In this case, the excluded off-vehicle anchor points are not determined by the positioning algorithm.

[0078] In this case, Am1 refers to the minimum value of the distance (ranging or range) data of the corresponding anchor point.

[0079] Figure 5 It is used to explain Figure 4 Conditions for performing the off-vehicle anchor point filtering step and an exemplary view explaining the processing process.

[0080] Condition 1: 'receive two or more anchor point data inside the vehicle', 'receive one or more anchor point data outside the vehicle', and minimum value (anchor point inside the vehicle) < minimum value (anchor point outside the vehicle).

[0081] Condition 2: "When Pmax is not A7", rn>2_Dxymn+rm+10 (cm).

[0082] In this case, rn=the distance measurement result of the anchor point outside the vehicle, rm=the distance measurement result of the anchor point inside the vehicle, m=the number of anchor points inside the vehicle, n=the number of anchor points outside the vehicle, and Pmax=the maximum power value among the power values.

[0083] Condition 3: The rn value has no cross roots with the Am1 anchor point and the Am2 anchor point (ie, according to the anchor point ranging results, at least the rn value has no cross roots with the first anchor point and the second anchor point in all anchor point ranging results).

[0084] Condition 4: rn (distance measurement result of anchor points outside the vehicle) > (average distance measurement result of anchor points inside the vehicle*2).

[0085] Condition 5-1: When [receive two or more anchor points inside the vehicle + anchor points outside the vehicle], [receive one or more anchor points outside the vehicle], and [rmax-rmin of the anchor point outside the vehicle>600 (cm)] are met, the rmax anchor point positioning logic is not applied.

[0086] Condition 5-2: An anchor point outside the vehicle when [receiving two or more anchor points inside the vehicle + anchor points outside the vehicle], [receiving two or more anchor points outside the vehicle], [anchor point outside the vehicle r2ndmax!=rmin], and [anchor point outside the vehicle r2ndmax-rmin>600 (cm)] are satisfied.

[0087] Reference Figure 5 , when conditions 1 and 2 are met, the outside anchor point filtering is performed; when conditions 1 and 3 are met, the outside anchor point filtering is performed; when conditions 1 and 4 are met, the outside anchor point filtering is performed; when condition 5-1 is met, the outside anchor point filtering is performed; when condition 5-2 is met, the outside anchor point filtering is also performed.

[0088] In addition, in the received anchor point positioning calculation step S133-1, the processor 130 selects a positioning algorithm according to the following four states (see Figure 6 ).

[0089] Figure 6 It is used to explain Figure 4 An exemplary view of the received anchor point positioning calculation step S133-1 in the positioning algorithm determination step S133.

[0090] State 1: When the number of received anchor points is 0, no positioning is performed.

[0091] State 2: When the number of anchor points received is 1, positioning is performed if there is a previous positioning coordinate result, and positioning is not performed if there is no previous positioning coordinate result.

[0092] State 3: When the number of received anchor points is 2, positioning is performed on both sides (eg, both sides outside the vehicle, both sides inside the vehicle, or one side inside the vehicle and one side outside the vehicle).

[0093] State 4: When the number of received anchor points is 3 to 8, positioning is performed on three sides (ie, positioning algorithms RSS1, RSS2, and RSS0).

[0094] In this case, RSS1 represents the interior area of ​​the vehicle, RSS2 represents the trunk area, and RSS0 represents the exterior area of ​​the vehicle.

[0095] Reference Figure 6 , in state 4, the processor 130 selects a positioning algorithm according to the following conditions.

[0096] RSS2 is executed when "Condition 1, (Condition 2-1 or Condition 2-2), Condition 3, and Condition 4" are satisfied, and RSS0 is executed when the vehicle outer side is determined after RSS2 is executed.

[0097] RSS0 is executed when "Condition 1, (Condition 2-1 or Condition 2-2), Condition 3, and Condition 4" are not satisfied and Condition 5 is satisfied, RSS1 is executed when Condition 5 is not satisfied, and RSS0 is executed when the vehicle outer side is determined after RSS1 is executed.

[0098] In this case, Condition 1: "Am1 = r3 or r4 or r6 or r7 or r8", Condition 2-1: "{(Pm1 = p3) and (p3 - p8 < RSS2_Offset1)} or {(Pm1 = p4) and (p4 - p8 < RSS2_Offset1)}", Condition 2-2: "(Pm1 = p8) and {p8 - avg(p3, p4) > RSS2_Offset2}", Condition 3: "p8 - avg(p6, p7) > RSS2_Offset3", Condition 4: Receive A3 and A4 and A6 and A7 and A8, Condition 5: "Receive one or more outdoor anchors" and "{(Pm1!= p8) and (Pm1 = p1 or p2 or p5) and (p5 - outdoor Pm1 < RSS0_Offset1)} or [{(p3 > p8) or (p4 > p8)} and (Avg(p6, p7) – outdoor Pm1 < RSS0_Offset2)]".

[0099] In addition, in the 3-side positioning calculation selection step S133-2, the processor 130 performs positioning calculations according to the number of received anchors. That is, in the case of 3-side positioning, the processor performs the selection of 3-side positioning calculations for the in-vehicle area, the trunk area, and the outdoor area.

[0100] In addition, the processor 130 performs a consistency verification step S140 according to the in-vehicle area, the trunk area, or the outdoor area determined in the step S133-2.

[0101] In the consistency verification step S140, in-vehicle area consistency verification (S141) is performed when selecting the in-vehicle area positioning algorithm, trunk area consistency verification (S142) is performed when selecting the trunk area positioning algorithm, and outdoor area consistency verification (S143) is performed when selecting the outdoor area positioning algorithm.

[0102] Figure 7 is used to explain Figure 3 the consistency verification process S140 for verifying the consistency of the positioning calculation results after selecting the positioning algorithm in

[0103] For example, in the consistency verification step S141 for each anchor point in the in-vehicle area, the processor 130 identifies whether there is an intersection point (i.e., the distance intersection point between the anchors used for verifying consistency). In this case, the absence of an intersection point means the absence of consistency, which will be described in more detail with reference to FIG. 8.

[0104] (Process 0) First, the r (distance) values of the anchors used for calculation are sorted in ascending order, and then the r values are assigned to Am1 to Amn to determine whether there is an intersection point.

[0105] (Process 1) Next, when rn+1 (or 2) ≥ rn, check the condition of "2_Dxy12 + r1 ≥ r2 ≥ 2_Dxy12 - r1". In this case, rn = the range (ranging) value of the nth anchor point, and 2_Dxyab = sqrt((Xa - Xb)^2 + (Ya - Yb)^2).

[0106] (Process 1-1) Exceptionally, when "two in-vehicle anchors are received" and "2_Dxy12 + r1 < r2" are satisfied, i) execute RSS0 logic when one or more out-of-vehicle anchors are received (do not execute the remaining RSS1 logic), ii) execute one-sided positioning logic when no out-of-vehicle anchors are received (do not execute the remaining RSS1 logic).

[0107] (Process 2) Meanwhile, when any one of the situations where the condition '2_Dxy12 > r1 + r2' between the received in-vehicle anchors is satisfied and the situation where consistency is not satisfied (i.e., the situation where the anchors are inconsistent because all in-vehicle anchor distances are too short) occurs, determine the in-vehicle side and set the coordinates to the average value of the three in-vehicle anchor coordinate values (subsequently, no logic is executed).

[0108] (Process 3) In addition, the inconsistent anchors are used to calculate the residuals. (Process 4) When Am1 does not satisfy consistency, use Am1 to calculate the residuals in subsequent calculations and do not use the remaining anchors. When Am1 does not satisfy consistency, perform coordinate calculation.

[0109] In this case, Am1 refers to the minimum value of the distance (ranging or range) data. That is, a configuration with a smaller distance (ranging or range) value of a specific anchor point means that when a circle with a radius equal to the distance (ranging or range) value is determined around the installation position of the corresponding anchor point, it is very likely that the device (i.e., the digital key) appears at the corresponding position.

[0110] Figure 8 is for explaining Figure 7 the relationship between consistency and the existence of intersection points. Fig. 8A and 8B are exemplary views showing two cases (Case 1 and Case 2) where there is no intersection point between two circles (i.e., the ranges of the anchors).

[0111] As Fig. 8A shown, in Case 1 (Example 1) without an intersection point, r2 < 2_Dxy12 - r1 & r1 + r2 < 2_Dxy12. In this case, r1 and r2 refer to the radii.

[0112] As Figure 8B shown, in Case 2 (Example 2) without an intersection point, 2_Dxy12 + r1 < r2.

[0113] At the same time, if Figure 7 As shown, in the consistency verification step S142 of each anchor point in the trunk area, the processor 130 identifies whether there is an intersection (i.e., a range intersection between anchor points for verifying consistency) (i.e., using anchor points A3, A4, and A8). In this case, the absence of an intersection means that there is no consistency.

[0114] (Process 0) First, the r (distance) values ​​of the anchor points used for trunk area consistency calculation (ie, anchor points A3, A4, and A8 are used) are arranged in ascending order, and then the r values ​​are assigned to Am1 to Amn.

[0115] (Process 1) Next, when calculating RSS2, if the anchor point corresponding to Am1 and the anchor point corresponding to Am2 are not together, Am1 and Am2 are corrected. That is, when 2_Dxy12≥Am1+Am2, Am1 and Am2 are corrected by the following formula and then applied to the positioning logic.

[0116] That is, comp=(2_Dxy12-Am1-Am2)*2+15 (cm) In this case, when the calculated comp value is greater than 2_Dxy12 / 2, the maximum comp value is comp=2_Dxy12 / 2.

[0117] Therefore, Am1=Am1+comp, and Am2=Am2+comp.

[0118] In this case, comp stands for correction value.

[0119] (Process 2) At the same time, when rn+1 (or 2) ≥ rn, the condition of "2_Dxy12+r1 ≥ r2 ≥ 2_Dxy12-r1" is checked. The anchor points that do not meet the consistency are used to calculate the residuals (R1, R2, and R3). When Am1 does not meet the consistency, Am1 is used to calculate the residuals in subsequent calculations, and the remaining anchor points are not used. However, when Am1 does not meet the consistency, Am1 is used for coordinate calculation.

[0120] At the same time, if Figure 7 As shown, in the consistency verification step S143 of each anchor point in the vehicle exterior area, the processor 130 identifies whether there is an intersection (ie, a range intersection between anchor points for verifying consistency) (ie, using all received anchor points). In this case, the absence of an intersection means that there is no consistency.

[0121] (Process 0) First, the r (distance) values ​​of the anchor points used for RSS0 calculation are arranged in ascending order, and then the r values ​​are allocated to Am1 to Amn.

[0122] (Process 1) Next, when rn+1 (or 2) ≥ rn, check the condition of "2_Dxy12 + r1 ≥ r2 ≥ 2_Dxy12 - r1". (Process 2) The anchor points that do not meet the consistency are used for residual calculation.

[0123] (Process 3) However, when Am1 does not meet the consistency, exclude Am1, and then perform positioning coordinate calculation (when performing "Anchor point consistency verification S140" and "Cross-root consistency verification S160", Am1 is not applied, and when performing "Cross-root residual calculation S170", Am1 is applied) → Use three received anchor points: Am2 and Am3, after cross-root two calculation, perform final positioning coordinate calculation at the intersection of Am1 → Use four or more received anchor points: Am2 to Amn, after performing coordinate calculation on the RSS minimum point, perform final positioning coordinate calculation at the intersection of Am1.

[0124] (Process 4) In addition, the conditions of "Receiving one in-vehicle anchor point and receiving two out-of-vehicle anchor points", "The consistency of Am1 and Am2 is met", and "The consistency of Am1 and Am3 is not met" are satisfied.

[0125] In the following corresponding formulas, assume that Am1 and Am2 are the installation coordinates of the anchor points, and r1 < r2 (here, r1 = the ranging value of Am1, r2 = the ranging value of Am2).

[0126] The following will refer to Figure 3 Describe the cross-root calculation step S150.

[0127] First, perform root optimization.

[0128] Am2(xm2, ym2) - Am1(xm1, ym1) = (xm2 - xm1, ym2 - ym1), a = xm2 - xm1, b = ym2 - ym1, c = a^2 + b^2 + rm1^2 - rm2^2.

[0129] As described below, perform positioning calculation according to the root optimization calculation result.

[0130] (Process 1) When the x coordinates of the installation positions of the two anchor points are equal, that is, a = 0, (the roots of Pxmn are + / - equal values, Px+ = Px, Px- = -1*Px, Py = a common root), Py = (b^2 + r1^2 - r2^2) / 2b, Px = sqrt(r1^2 - Pymn^2), Px+ = Px, Px- = -1*Px, and DCm(n,n+1) = (Px+, Py), (Px-, Py).

[0131] (Process 2) Next, when the y coordinates of the two anchor point installation positions are equal, that is, b=0, (Px=a common root, the roots of Py are + / - equal values, Py+=Py, Py-=-1*Px), Px=(a^2+r1^2-r2^2) / 2a, Py=sqrt(r1^2-Pxmn^2), PY+=Py, Py-=-1*Py, and DCm(n,n+1)=(Px,Py+), (Px,Py-).

[0132] (Process 3) Next, when all x-coordinates and y-coordinates of the two anchor point installation positions are different, that is, a≠0 and b≠0, (two x-roots, two y-roots, PX+=[a*c / b^2+sqrt{(a*c / b^2)^2-4*(1+(a / b)^2)*((c / 2 / b)^2-r1^2)}] / (2+2*(a / b)^2), PX-=[a*c / b^2- sqrt{(a*c / b^2)^2-4*(1+(a / b)^2)*((c / 2 / b)^2-r1^2)}] / (2+2*(a / b)^2), PY+=(-2 *a*PX++c) / (2*b), PY-=(-2*a*PX-+c) / (2*b), and DCm(n,n+1)=(Px+,Py+), (Px-,Py-).

[0133] In addition, DCm(n,n+1)=(Px++a,Py++b), (Px-+a,Py-+b), Px+=Px++xm1, Py+=Py++ym1, Px-=Px-+xm1, and Py-=Py-+ym1.

[0134] Next, if Figure 3 As shown, in the cross-root consistency verification step S160, data is input, filtering is performed, and then the number of cross-roots is reduced to three or less.

[0135] In this case, it is determined whether the root is within the distance (range or range) of all anchor points, and then only the intersecting roots within the distance (or range) are used.

[0136] In this case, when Pxn=x coordinate of each cross root, Pyn=y coordinate of each cross root, (Pxn-xi)^2+(Pyn-yi)^2<=ri^2 serves as the decision equation.

[0137] Therefore, in the case of the interior area, i=5, 6, 7 and 8; in the case of the trunk area, i=3, 4, 5, 6, 7 and 8; in the case of the exterior area, i=1, 2, 3, 4, 5, 6, 7 and 8, and the equation (i.e. (Pxn-xi)^2+(Pyn-yi)^2<=ri^2) needs to be satisfied.

[0138] However, in the case where the anchor point is excluded in the previous step (i.e., the external anchor point is filtered, the anchor point consistency is not satisfied, etc.), i is the corresponding anchor point.

[0139] When the number of cross roots (or intersections) exceeds three, the formula (i.e., -distance calculation between cross roots: Pmn distance = sqrt ((Pxm-Pxn)^2 + (Pym-Pyn)^2)) is executed to set the number of cross roots to three. When the number of cross roots is three or less, residual calculation is immediately performed, and the process of obtaining the average value of two cross roots (x, y) with the smallest distance between the cross roots after calculating the distance between the cross roots and converting the average value into one cross root is repeatedly performed until the number of cross roots becomes three or less.

[0140] Next, if Figure 3 As shown, in the cross-root residual calculation step S170, the residuals of the anchor points satisfying the consistency and all the roots satisfying the consistency are calculated.

[0141] Pxn = x coordinate of each cross root that satisfies consistency.

[0142] Pyn = y coordinate of each cross root that satisfies consistency.

[0143] Xi = x coordinate of the i-th anchor point installation location.

[0144] Yi = Yy coordinate of the i anchor point installation position.

[0145] ri = the distance (range or range) value of the i anchor point.

[0146] In the case of the interior area, i=5, 6, 7 and 8; in the case of the trunk area, i=3, 4, 5, 6, 7 and 8; in the case of the exterior area, i=1, 2, 3, 4, 5, 6, 7 and 8, and the formula (i.e. (Pxn-xi)^2+(Pyn-yi)^2<=ri^2) needs to be satisfied.

[0147] However, in the case where the anchor point is excluded in the previous step (external anchor point filtering, anchor point consistency not satisfied, etc.), in Examples 1 to 3, the corresponding anchor point is excluded from i.

[0148] (Process 1) When Am1 does not meet consistency, the ri->am1 range, Xi->am1 installation x coordinate, and Yi->am1 installation y coordinate are replaced and included in the calculated residual.

[0149]

[0150] (Process 2) While keeping the previous coordinates, calculate the coordinates according to the following formula and include them in the residual.

[0151] (P xn -X i ) 2 +(P yn -Y i ) 2

[0152] In this case, the residual is denoted by R.

[0153] Next, we will refer to Figure 3 The positioning coordinate determining step S180 is described.

[0154] (Process 1) When the number of cross roots that satisfy consistency is 2,

[0155] Pxn = (Px1*R2+Px2*R1) / (R1+R2) / (n-1), and

[0156] Pyn=(Py1*R2+Py2*R1) / (R1+R2) / (n-1).

[0157] (Process 2) When the number of cross roots that satisfy consistency is 3,

[0158] Pxn = {Px1*(R2+R3)+Px2*(R1+R3)+Px3*(R1+R2)} / (R1+R2+R3) / (n-1), and

[0159] Pyn={Py1*(R2+R3)+Py2*(R1+R3)+Py3*(R1+R2)} / (R1+R2+R3) / (n-1).

[0160] Next, we will refer to Figure 3 The 2-side positioning step S190 is described.

[0161] First, select the anchor point for positioning.

[0162] In this case, the previous coordinate data is retained until the positioning coordinates are updated again.

[0163] In this case, the input condition is receiving distance (ranging or range) data of two anchor points.

[0164] Next, consistency verification is performed on each anchor point.

[0165] In this case, when rn1+rn2≥2_D12 is satisfied, positioning is performed.

[0166] In this case, when it is not satisfied (no two anchors cross the root), 1-side positioning using the rmin anchor is performed.

[0167] Furthermore, the final coordinates of the two roots are selected. In the case of A1 & A2, the root with the largest y coordinate is selected, and in the case of A3 & A4, the root with the smallest y coordinate is selected.

[0168] Meanwhile, when an external signal is input, the root is selected as described below.

[0169] (Process 1) In case of door handle left side signal input (Toggle touch detected, door open / closed state): Select the root with the smaller x coordinate from the two cross roots → the device is likely to be on the left side of the vehicle.

[0170] (Process 2) In case of door handle right side signal input (switch touch detected, door open / closed state): Select the root with the larger x coordinate from the two cross roots → the device is likely to be on the right side of the vehicle.

[0171] (Process 3) In case of a Start Stop Button (SSB) input signal or the owner's mobile phone and vehicle pairing: the average of the two cross-root coordinates → the device is likely to be in the car.

[0172] Next, we will refer to Figure 3 Description 1 Side positioning step S200.

[0173] (Process 1) Receive anchor point 1: X axis = RSS1 boundary xl-45 (cm)

[0174] Y axis = A1 y coordinate (cm) - r1

[0175] (Process 2) Receive anchor point 2: X axis = RSS1 boundary xh + 45 (cm)

[0176] Y axis = A2 y coordinate (cm) - r2

[0177] (Process 3) Receive anchor point 3: X axis = RSS1 boundary xh + 45 (cm)

[0178] Y axis = A3 y coordinate (cm) + r3

[0179] (Process 4) Receive anchor point 4: X axis = RSS1 boundary xl-45 (cm)

[0180] Y axis = A4 y coordinate (cm) + r4

[0181] In this case, 45 (cm) refers to but is not limited to the compensation value.

[0182] Meanwhile, when there is external input, the process described below is performed.

[0183] When the door handle signal is input,

[0184] In the case of x coordinates,

[0185] Am1 is the left side of the vehicle (FL, RL) → coordinate calculation is performed at the left boundary of the vehicle.

[0186] Am1 is the right side of the vehicle (FR, RR) → coordinate calculation is performed at the right boundary of the vehicle.

[0187] In the case of y coordinates,

[0188] Am1 is the front side of the vehicle (FL, FR) → minus the distance (ranging or range) value at each installation position.

[0189] Am1 is the rear side of the vehicle (RL, RR) → add the distance (ranging or range) value at each installation location.

[0190] Next, we will refer to Figure 3 The coordinate calculation step S210 that does not satisfy Am1 consistency is described.

[0191] The point where the straight line between the Am1 anchor point installation coordinates and the positioning coordinates (temporary) intersects the circle of Am1 is calculated as the final coordinate: from the two intersection points, select the intersection point that is closer to the positioning coordinates (temporary).

[0192] First, establish the equation of the line.

[0193] ●Am1(x,y)=Am1_x,Am1_y=anchor point coordinates

[0194] ●P(x,y)=P_x,P_y=positioning coordinates (temporary)

[0195] ● Move the anchor point coordinates to 0, and then make corrections to get the coordinates, Am1(x,y)=(0,0) / P(x,

[0196] y)=(P_x-Am1_x,P_y-Am1_y)

[0197] ● Linear equation = y = {(Am1_y-P_y) / (Am1_x-P_x)*x}

[0198] ●fa=(Am1_y-P_y) / (Am1_x-P_x)

[0199] fc=0

[0200] ●Px + =sqrt(rmin^2 / (1+fa^2))

[0201] ●Px - =-sqrt(rmin^2 / (1+fa^2))

[0202] ●Py + =fa*Px +

[0203] ●Py - =fa*Px -

[0204] Next, correct the Px and Py coordinates.

[0205] ●Px + =Px + +Am1_x,Py + =Py + +Am1_y

[0206] ●Px - =Px - +Am1_x,Py - =Py - +Am1_y

[0207] Next, from P + (x,y) and P - Choose an intersection point in (x,y) that is closer to P(x,y).

[0208] ●When {(Px - Px + )^2+(Py - Py + )^2}<{(Px - Px - )^2+(Py - Py - )^2},

[0209] Select the final P + (x,y) coordinates, if the condition is not met, select P - (x,y).

[0210] When the positioning coordinates (ie, positioning values) are determined through the above steps S110 to S220 , the determined positioning values ​​are output ( S220 ).

[0211] According to the above-described embodiments, the location of the vehicle key can be accurately detected by using UWB communication, and security can be improved by strongly countering hacker attacks.

Claims

1. A device for detecting the position of a vehicle key, the device comprising: Vehicle keys, including digital keys based on ultra-wideband (UWB) communications; a plurality of anchor points configured to perform UWB communication with the vehicle key; as well as A processor is configured to detect a position of the digital key by using the plurality of anchor points.

2. The device according to claim 1, wherein: In the initialization step, the processor performs coordinate setting for each of the anchor points and calculates the distances between the multiple anchor points. The distance between anchor point 1 and anchor point 2 is calculated based on Calculated.

3. The device according to claim 2, wherein: In a data acquisition step after the initialization step, the processor receives data detected by the anchor point and performs data filtering, The received data includes power (ranging power) and distance (ranging distance) information input from the anchor point, and Wherein, the data filtering is performed by using a moving window average filter or a low pass filter (LPF).

4. The device according to claim 1, wherein: The processor performs positioning algorithm selection according to the data detected by the anchor point, performs anchor point consistency verification after performing the positioning algorithm selection, performs cross-root calculation after completing the consistency verification, performs cross-root consistency verification after performing the cross-root calculation, performs cross-root residual calculation after performing the cross-root consistency verification, and performs a process of determining positioning coordinates after performing the cross-root residual calculation.

5. The device according to claim 4, wherein: The processor arranges the distance information of the anchor points in ascending order and performs off-vehicle anchor point filtering, and performs positioning algorithm determination to select the positioning algorithm, and The processor arranges the anchor points in ascending order according to minimum distance (ie, ranging distance) data, and filters the received anchor points according to a plurality of specified conditions to determine the off-vehicle anchor points to be excluded from the positioning algorithm.

6. The device according to claim 5, wherein: The plurality of conditions for determining the anchor points outside the vehicle to be excluded from the positioning algorithm determination by filtering the received anchor points include: Condition 1: 'receive two or more anchor point data inside the vehicle', 'receive one or more anchor point data outside the vehicle', and minimum value (anchor point inside the vehicle) < minimum value (anchor point outside the vehicle); Condition 2: "When Pmax is not A7", rn>2_Dxymn+rm+10 (cm) (where rn=the distance measurement result of the anchor point outside the vehicle, rm=the distance measurement result of the anchor point inside the vehicle, m=the number of anchor points inside the vehicle, n=the number of anchor points outside the vehicle, and Pmax=the maximum power value among the power values); Condition 3: The rn value has no cross roots with the Am1 anchor point and the Am2 anchor point (i.e., according to the anchor point ranging results, at least the first anchor point and the second anchor point have no cross roots in all anchor point ranging); Condition 4: rn (distance measurement result of anchor points outside the vehicle) > (average distance measurement result of anchor points inside the vehicle*2); Condition 5-1: When [receive two or more in-vehicle anchor points + external anchor points], [receive one or more external anchor points], and [external anchor point rmax-rmin>600 (cm)] are met, the rmax anchor point positioning logic is not applied; and Condition 5-2: An anchor point outside the vehicle when [receiving two or more anchor points inside the vehicle + anchor points outside the vehicle], [receiving two or more anchor points outside the vehicle], [anchor point outside the vehicle r2ndmax!=rmin], and [anchor point outside the vehicle r2ndmax-rmin>600 (cm)] are satisfied.

7. The device according to claim 5, wherein: In the receiving anchor point calculation step of the positioning algorithm determination step, the processor selects the corresponding positioning algorithm based on four states: State 1: when the number of received anchor points is 0, no positioning is performed; State 2: when the number of received anchor points is 1, positioning is performed if there is a previous positioning coordinate result, and positioning is not performed if there is no previous positioning coordinate result; State 3: when the number of received anchor points is 2, two-side positioning is performed; and State 4: When the number of received anchor points is 3 to 8, three-side positioning is performed.

8. The device according to claim 4, wherein: In the consistency verification step, when the in-vehicle area positioning algorithm is selected, the processor performs the in-vehicle area consistency verification; when the trunk area positioning algorithm is selected, the processor performs the trunk area consistency verification; and when the outside-vehicle area positioning algorithm is selected, the processor performs the outside-vehicle area consistency verification.

9. The device according to claim 4, wherein: During the positioning algorithm selection and consistency verification process, when the number of received valid data anchor points is less than three, the processor performs 1-side positioning or 2-side positioning according to the number of anchor points.

10. A method for detecting a vehicle key position, the method comprising: The processor performs positioning algorithm selection based on the data detected by the anchor point; After executing the positioning algorithm selection, the processor performs anchor point consistency verification; After the consistency verification is completed, the processor performs cross root calculation; After performing the cross-root calculation, the processor performs a cross-root consistency verification; After performing the cross-root consistency verification, the processor performs a cross-root residual calculation; and After performing the cross-root residual calculation, the processor performs a process of determining positioning coordinates.

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