Method and apparatus for allowing access to vehicle, vehicle and computer program

Abstract

Embodiments relate to a method (100) of allowing access to a vehicle. The method comprises obtaining (110), from a Bluetooth low energy sensor, first sensor data indicative of a location of a user device configured to unlock the vehicle, and determining (120), based on the first sensor data, a first location of the user device relative to the vehicle. The method (100) further comprises activating (130) an ultra-wideband sensor based on the determined first location, and obtaining (140) second sensor data from the ultra-wideband sensor indicative of the location of the user equipment. The method (100) further includes determining (150) a second location of the user device relative to the vehicle based on the second sensor data, and allowing (160) access to the vehicle based on the second location of the user device.

Description

Technical Field

[0001] The present disclosure relates to the field of ultra-wideband ranging. Embodiments relate to methods, apparatus, vehicles and computer programs for allowing access to a vehicle. Background Art

[0002] In order to allow a user equipment (UE) to access the vehicle, the location of the UE may be used. To determine the location, an ultra-wideband (UWB) ranging intent sent from the UE may be utilized. This ranging intent may define a trigger for the digital key framework to initiate UWB ranging. The ranging intent is triggered by the UE (see Car Connectivity Consortium (CCC) Standard Release 3, CCC-TS-101). Without positioning via UWB ranging, it would not be possible to make any changes to the vehicle's central locking system until a user action (e.g. allowing access to the vehicle) is taken. UWB is the most accurate positioning radio on the market. However, it is extremely susceptible to shielding and obstruction and has high energy consumption. This may have a negative impact on the user's experience. Therefore, it may be necessary to allow access to the vehicle in an improved manner.

[0003] Therefore, it is found that access to the vehicle can be allowed based on first sensor data obtained by a Bluetooth Low Energy (BLE) sensor and further based on second sensor data obtained by a UWB sensor. Therefore, access can be allowed based on utilizing two sensor data, for example, using BLE sensor data for determining a first location of the UE to activate the UWB sensor to obtain second sensor data for determining a second location of the UE to allow access to the vehicle.

[0004] It has further been found that the determination of the UE location and thus the method of allowing access to the vehicle can be improved based on combining first sensor data from a BLE sensor with second sensor data from a UWB sensor. Thus, different technologies with different characteristics (e.g., propagation characteristics) can be utilized. In this way, the impact of blocking and / or shadowing effects caused by obstacles can be reduced. Summary of the invention

[0005] An embodiment provides a method for allowing access to a vehicle, comprising obtaining first sensor data indicating the location of a user device configured to unlock the vehicle from a Bluetooth low energy sensor, and determining a first location of the user device relative to the vehicle based on the first sensor data. The method also includes activating an ultra-wideband sensor based on the determined first location, and obtaining second sensor data indicating the location of the user device from the ultra-wideband sensor. The method also includes determining a second location of the user device relative to the vehicle based on the second sensor data, and allowing access to the vehicle based on the second location of the user device. In this way, the energy consumption of the vehicle can be reduced by activating the BLE sensor when needed, for example, if the user is in a predefined position relative to the vehicle.

[0006] In an example, determining the second location of the user equipment may also be based on the first sensor data. In this way, the first sensor data and the second sensor data may be combined to improve the determination of the UE location.

[0007] In an example, determining the second location of the user device based on the first sensor data can be based on channel detection of Bluetooth low energy signals received at the Bluetooth low energy sensor. In this way, different propagation characteristics of different frequencies can be utilized. In addition, channel detection of BLE signals can improve the positioning / location accuracy of the UE.

[0008] In an example, the method may further include comparing the first location to a predefined spatial region around the vehicle. The ultra-wideband sensor may be activated only when the first location is within the predefined spatial region around the vehicle. Thus, the UWB sensor may be activated only when the user device is in a predefined position relative to the vehicle (e.g., near a door of the vehicle).

[0009] In an example, the method may further include re-determining the first location based on the additional first sensor data, and if the re-determined first location is outside the predefined spatial area, then deactivating the ultra-wideband sensor. In this way, if the owner of the user device is less likely to use it, then the UWB sensor can be deactivated.

[0010] In an example, the method may further include obtaining third sensor data from a third sensor, and determining the location of the user device may also be based on the third sensor data. In this way, third sensor data, such as from an ultrasonic sensor, a radar sensor, may be used to increase the determination of the location of the user device, for example, by determining the location of a person.

[0011] Embodiments relate to a method of allowing access to a vehicle, comprising obtaining first sensor data indicating a location of a user device configured to unlock the vehicle from a Bluetooth low energy sensor, and obtaining second sensor data indicating the location of the user device from an ultra-wideband sensor. In addition, the method includes determining a location of the user device relative to the vehicle based on the first sensor data and the second sensor data, and allowing access to the vehicle based on the determined location of the user device. In this way, allowing access can be improved by combining sensor data with different frequencies to improve the determination of the UE location. As a result, the user experience can be increased and / or false detections can be reduced.

[0012] An example relates to an apparatus comprising interface circuitry configured to communicate with a first sensor and a second sensor and processing circuitry configured to perform the method as described above.

[0013] An example relates to a vehicle comprising an arrangement as described above and a sensor for measuring sensor data.

[0014] The example also relates to a computer program having a program code for executing the above method when the computer program is executed on a computer, a processor or a programmable hardware component. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Some examples of apparatus, methods and / or computer programs will be described below, by way of example only, and with reference to the accompanying drawings, in which

[0016] Figure 1 An example of a method is shown;

[0017] Figure 2 Another example of a method is shown;

[0018] Figure 3 A block diagram of an example of an apparatus is shown. DETAILED DESCRIPTION

[0019] Various example embodiments will now be described more fully with reference to the accompanying drawings, in which some example embodiments are illustrated. In the accompanying drawings, the thickness of lines, layers or regions may be exaggerated for clarity. Optional components may be illustrated using broken lines, dashed lines or dotted lines.

[0020] Thus, while the example embodiments are capable of various modifications and alternative forms, embodiments thereof are shown by way of example in the drawings and will be described in detail herein. However, it should be understood that there is no intent to limit the example embodiments to the particular forms disclosed, but on the contrary, the example embodiments are intended to cover all modifications, equivalents, and alternatives within the scope of the invention. Throughout the entire description of the drawings, the same reference numerals refer to similar or similar elements.

[0021] As used herein, the term "or" refers to a non-exclusive or, unless otherwise indicated (e.g., "otherwise" or "or alternatively"). In addition, as used herein, words used to describe relationships between elements should be broadly interpreted to include direct relationships or the presence of intermediate elements, unless otherwise indicated. For example, when an element is referred to as being "connected" or "coupled" to another element, the element may be directly connected or coupled to the other element, or there may be intermediate elements. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intermediate elements. Similarly, words such as "between," "adjacent," etc. should be interpreted in a similar manner.

[0022] The terms used herein are only used for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments. As used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when used herein, the terms "include" or "comprise" specify the presence of the features, integers, steps, operations, elements, or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0023] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the example embodiments belong. It will also be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with the meaning of the terms in the context of the relevant art, and should not be interpreted as an idealized or overly formal meaning unless explicitly defined herein.

[0024] Figure 1 An example of a method 100 is shown. The method 100 of allowing access to a vehicle includes obtaining 110 first sensor data indicating the location of a user device configured to unlock the vehicle from a Bluetooth low energy sensor, and determining 120 a first location of the user device relative to the vehicle based on the first sensor data. The method 100 also includes activating 130 an ultra-wideband sensor based on the determined first location, and obtaining 140 second sensor data indicating the location of the user device from the ultra-wideband sensor. The method 100 also includes determining 150 a second location of the user device relative to the vehicle based on the second sensor data, and allowing 160 access to the vehicle based on the second location of the user device. In this way, BLE location measurements can be combined with UWB location measurements. The energy consumption of the BLE sensor may be less than the energy consumption of the UWB sensor. Therefore, the UWB sensor can be activated only when the UE is in a predefined location (determined by using the BLE sensor), so that the possibility of the UE owner using the vehicle can be increased.

[0025] For example, for energy efficiency, the positioning of the UE (determining the first position) may start only on the BLE sensor. This can be based on UE-side information, such as the BLE relative signal strength index (RSSI) and / or the motion measured by the BLE sensor, and / or vehicle-side information measured, for example, using a third sensor as described below. The RSSI can be measured at the communication device. Channel sounding can be performed so that the distance between the communication device and the UE can be determined. If the positioning of the UE determined based on the first sensor data is close enough to the vehicle, the UWB sensor can be activated, for example, to start a UWB ranging session. Therefore, a UWB ranging session triggered by the BLE sensor (and optionally a passive vehicle sensor) can be initiated. For example, a UWB sensor using UWB ranging can then be used exclusively for positioning (determining the second position), especially when the UE is close to the vehicle.

[0026] Obtaining 110 first sensor data may be performed by receiving sensor data from a BLE sensor (e.g., a sensor of the infrastructure) and / or by measuring the first sensor data using a sensor of the vehicle. The first sensor data may include raw data of the sensor. The raw data may be evaluated by a processing circuit system (e.g., a control unit) included in the vehicle. Alternatively, the first sensor data may include evaluated data, such as position data, distance data, which indicates a first position of the UE.

[0027] Determining 120 the first location may be performed by a processing circuit system (e.g., a control unit) of the vehicle. Based on the determined first location, the UWB sensor may be activated 130, e.g., by the processing circuit system. For example, the processing circuit system may generate an activation signal including data indicating activation of the UWB sensor.

[0028] Obtaining 140 the second sensor data may be performed by receiving sensor data from a UWB sensor (e.g., a sensor of the infrastructure) and / or by measuring the second sensor data using a sensor of the vehicle. The second sensor data may include raw data of the sensor. The raw data may be evaluated by a processing circuit system (e.g., a control unit) included in the vehicle. Alternatively, the second sensor data may include evaluated data, such as position data, distance data, which indicates a second position of the UE.

[0029] Determining 150 the second location may be performed by a processing circuit system (eg, a control unit) of the vehicle. Based on the determined second location, access to the vehicle may be permitted 160. For example, the processing circuit system may generate a permission signal including data indicating that access to the vehicle is permitted.

[0030] In the example, determining the second position of the user device may also be based on the first sensor data. Therefore, different frequencies of different sensors may be utilized to improve the determination of the second position. For example, direction estimation (e.g., ranging) may be performed based on BLE. Several methods may be utilized, for example, passive (reduced accuracy) methods such as signal power (RSSI), beacon location sharing; active (increased accuracy compared to passive methods) methods such as time of flight (ToF), phase slope / accumulation, or a combination thereof. In addition, direction finding (in 2D or 3D) may be performed, and methods such as angle of departure (AoD), indoor positioning, angle of arrival (AoA), asset tracking, or channel detection may be used. In this way, the determination of the second position may be increased. For example, a combination of a UWB ranging session with HADM may produce the highest positioning performance, for example, the most accurately determined second position.

[0031] In an example, determining the second position of the user equipment based on the first sensor data may be based on channel sounding of a Bluetooth low energy signal received at the Bluetooth low energy sensor. Thus, further improvements in the second position determination may be achieved. For example, known UWB multiple-input multiple-output (MIMO) channel sounding may be used for BLE in a similar manner. For example, Mode 2 as defined for BLE MIMO channel sounding based on signal phase may be used to determine the second position of the UE.

[0032] In some scenarios, UWB-based positioning may fail due to shielding and / or blocking. By combining the first sensor data and the second sensor data, the determination of the second position of the UE can be improved, especially if there is a problem with shielding and / or blocking of the UWB. In addition, some positioning techniques (e.g., Kalman filters) can benefit from additional sensor data (such as first sensor data). For example, (one or more) BLE sensors may be located at a different position of the vehicle than (one or more) UWB sensors. Therefore, (one or more) BLE sensors may not be affected by obstacles that may affect (one or more) UWB sensors. Therefore, by combining the first sensor data (especially including BLE channel sounding measurements), the measurement noise can be reduced, for example, to take into account the larger distance / position measurement errors of the UWB sensor. In addition, combining BLE sensors and UWB sensors can increase the number of sensors that detect the UE. In this way, the determination of the second position can be improved by increasing the number of sensors used to detect the UE.

[0033] In an example, the method may further include comparing the first location to a predefined spatial area around the vehicle. The ultra-wideband sensor may be activated only when the first location is within the predefined spatial area around the vehicle. Thus, the UWB sensor may be activated only when the likelihood of the owner of the UE using the vehicle increases. For example, the spatial area around the vehicle may define an area where a user can reach a vehicle door within a certain time and / or with a predefined number of steps. For example, the spatial area may be within a distance of up to 3 steps from a person to a vehicle door or within 2 steps from a person to a vehicle door.

[0034] In an example, the method may further include re-determining the first position based on the additional first sensor data, and if the re-determined first position is outside the predefined spatial area, deactivating the ultra-wideband sensor. For example, the UE may move away from the vehicle. Therefore, the activated UWB sensor may be deactivated again to reduce energy consumption.

[0035] In an example, the method may further include obtaining third sensor data from a third sensor, and determining the location of the user device may also be based on the third sensor data. For example, the third sensor may be a lidar sensor, a radar sensor, an ultrasonic transducer. Thus, additional sensor data may be used to improve the determination of the second sensor location.

[0036] Further details and aspects are mentioned in conjunction with the embodiments described below. Figure 1 The examples shown in may include one or more optional additional features that correspond to one or more aspects mentioned in conjunction with the proposed concept or below (e.g., Figure 2-3 ) described in one or more examples.

[0037] Figure 2 An example of a method 200 is shown. The method 200 of allowing access to a vehicle comprises obtaining 210 first sensor data from a Bluetooth low energy sensor indicating a location of a user device configured to unlock the vehicle, and obtaining 220 second sensor data from an ultra-wideband sensor indicating a location of the user device. Furthermore, the method 200 comprises determining 230 a location of the user device relative to the vehicle based on the first sensor data and the second sensor data, and allowing 240 access to the vehicle based on the determined location of the user device. In this way, the determination of the UE location may be improved. Reference has been made to Figure 1 The combination of the first sensor data and the second sensor data is described in more detail.

[0038] Further details and aspects are mentioned in conjunction with the embodiments described above and / or below. Figure 2 The examples shown in may include one or more optional additional features that correspond to one or more aspects mentioned in conjunction with the proposed concept or above (e.g., Figure 1) and / or below (for example, Figure 3 ) described in one or more examples.

[0039] Figure 3 An example of a block diagram of an apparatus 30 for a vehicle 300 is shown. The apparatus includes an interface circuit system 32 configured to communicate with a sensor (eg, a BLE sensor or a UWB sensor); and a processing circuit system 34 configured to perform the above-mentioned, for example, reference Figure 1 and / or Figure 2 For example, the device may be composed of a vehicle 300 , for example, a control unit of the vehicle 300 .

[0040] For example, vehicle 300 may be a land vehicle, such as a road vehicle, a sedan, an automobile, an SUV, a motor vehicle, a bus, a robot taxi, a van, a truck, or a van. Alternatively, vehicle 300 may be any other type of vehicle, such as a train, a subway train, a ship, or a boat. For example, the proposed concept may be applied to public transportation (trains, buses) and future means of mobility (e.g., robot taxis).

[0041] like Figure 3 As shown in , at the device 30, the corresponding interface circuit system 32 is coupled to the corresponding processing circuit system 34. In the example, the processing circuit system 34 can be implemented using one or more processing units, one or more processing devices, any component for processing (such as a processor, a computer, or a programmable hardware component that can operate with corresponding adapted software). Similarly, the functions of the processing circuit system 34 can also be implemented in software, which is then executed on one or more programmable hardware components. Such hardware components may include a general-purpose processor, a digital signal processor (DSP), a microcontroller, etc. The processing circuit system 34 is capable of controlling the interface circuit system 32, so that any data transmission occurring through the interface circuit system 32 and / or any interaction that may involve the interface circuit system 32 can be controlled by the processing circuit system 34.

[0042] In an embodiment, the apparatus 30 may include a memory and at least one processing circuitry 34 operably coupled to the memory and configured to perform the method described above.

[0043] In an example, the interface circuit system 32 may correspond to any component for obtaining, receiving, sending or providing analog or digital signals or information, such as any connector, contact, pin, register, input port, output port, conductor, channel, etc. that allows providing or obtaining signals or information. The interface circuit system 32 may be wireless or wired, and it may be configured to communicate with another internal or external component, such as sending or receiving signals, information.

[0044] The device 30 may be a computer, a processor, a control unit, a (field) programmable logic array ((F)PLA), a (field) programmable gate array ((F)PGA), a graphics processor unit (GPU), an application specific integrated circuit (ASIC), an integrated circuit (IC), or a system on a chip (SoC) system.

[0045] Further details and aspects will be mentioned in conjunction with the described embodiments. Figure 3 The examples shown in may include one or more optional additional features that correspond to one or more aspects mentioned in conjunction with the proposed concept or above (e.g., Figure 1-2 ) described in one or more examples.

[0046] Aspects and features described in relation to a specific one of the previous examples may also be combined with one or more other examples to replace the same or similar features of the other examples or to additionally introduce features into the other examples.

[0047] The example may also be or relate to a (computer) program, which includes a program code for performing one or more of the above methods when the program is executed on a computer, a processor or other programmable hardware component. Therefore, the steps, operations or processes of the different methods in the above methods may also be performed by a programmed computer, a processor or other programmable hardware component. The example may also cover program storage devices, such as digital data storage media, which are readable by a machine, a processor or a computer, and encode and / or contain machine-executable, processor-executable or computer-executable programs and instructions. The program storage device may include or be, for example, a digital storage device, a magnetic storage medium (such as a disk and a tape), a hard drive or an optically readable digital data storage medium. Other examples may also include a computer, a processor, a control unit, a (field) programmable logic array ((F)PLA), a (field) programmable gate array ((F)PGA), a graphics processor unit (GPU), an application-specific integrated circuit (ASIC), an integrated circuit (IC) or a system on a chip (SoC) system, which is programmed to perform the steps of the above methods.

[0048] It should also be understood that the disclosure of several steps, processes, operations or functions disclosed in the specification or claims should not be interpreted as implying that these operations must rely on the described order, unless explicitly stated in individual cases or required for technical reasons. Therefore, the above description does not limit the execution of several steps or functions to a certain order. In addition, in other examples, a single step, function, process or operation can include and / or be decomposed into several sub-steps, sub-functions, sub-processes or sub-operations.

[0049] If some aspects have been described in relation to a device or system, then these aspects should also be understood as descriptions of corresponding methods. For example, blocks, devices or functional aspects of a device or system may correspond to features of a corresponding method, such as method steps. Thus, aspects described in relation to a method should also be understood as descriptions of corresponding blocks, corresponding elements, attributes or functional features of a corresponding device or corresponding system.

[0050] If some aspects have been described in relation to a device or system, then these aspects should also be understood as descriptions of corresponding methods, and vice versa. For example, blocks, devices or functional aspects of a device or system may correspond to features of a corresponding method, such as method steps. Thus, aspects described in relation to a method should also be understood as descriptions of corresponding blocks, corresponding elements, attributes or functional features of a corresponding device or corresponding system.

[0051] The following claims are hereby incorporated into the Detailed Description, where each claim can stand on its own as a separate example. It should also be noted that, although in the claims, a dependent claim refers to a specific combination with one or more other claims, other examples may also include a combination of a dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in individual cases that a specific combination is not intended. In addition, features of a claim should also be included for any other independent claim, even if the claim is not directly defined as dependent on the other independent claim.

[0052] The aspects and features described in relation to a specific one of the preceding examples may also be combined with one or more other examples to replace the same or similar features of the other examples, or to additionally introduce features into the other examples. Reference numerals

[0053] 30 devices

[0054] 32 Processing circuit system

[0055] 34 Interface circuit system

[0056] 100 Methods to access the vehicle are allowed

[0057] 110 Obtaining the first sensor data

[0058] 120 Determine the first location of the user equipment

[0059] 130 Activate ultra-wideband sensor

[0060] 140 Obtaining the second sensor data

[0061] 150 Determine the second location of the user equipment

[0062] 160 Access to vehicle is allowed

[0063] 200 Access to vehicle methods is allowed

[0064] 210 Obtaining the first sensor data

[0065] 220 Obtaining the second sensor data

[0066] 230 Determine the position of the user device relative to the vehicle

[0067] 240 Access to vehicle is allowed

[0068] 300 vehicles

Claims

1. A method (100) of allowing access to a vehicle, the method comprising: obtaining ( 110 ) first sensor data from a Bluetooth low energy sensor indicating a location of a user device configured to unlock the vehicle; determining ( 120 ) a first position of the user device relative to the vehicle based on the first sensor data; activating (130) an ultra-wideband sensor based on the determined first position; obtaining (140) second sensor data indicative of a location of a user device from an ultra-wideband sensor; determining ( 150 ) a second position of the user device relative to the vehicle based on the second sensor data; as well as Access to the vehicle is permitted ( 160 ) based on the second location of the user device.

2. The method (100) according to claim 1, wherein The second location of the user device is also determined based on the first sensor data.

3. The method (100) according to claim 2, wherein Determining the second location of the user equipment based on the first sensor data is based on channel sounding of Bluetooth low energy signals received at a Bluetooth low energy sensor.

4. The method (100) according to any one of the preceding claims, further comprising The first position is compared to a predefined spatial region around the vehicle, and wherein The ultra-wideband sensor is activated only when the first location is within the predefined spatial area around the vehicle.

5. The method (100) according to claim 4, further comprising: re-determining the first position based on additional first sensor data; as well as If the re-determined first position is outside the predefined spatial area, the ultra-wideband sensor is deactivated.

6. The method (100) according to any of the preceding claims, further comprising: obtaining third sensor data from a third sensor; as well as The second location of the user device is also determined based on the third sensor data.

7. A method (200) of allowing access to a vehicle, the method comprising: obtaining ( 210 ) first sensor data from a Bluetooth low energy sensor indicating a location of a user device configured to unlock the vehicle; obtaining (220) second sensor data indicative of a location of a user device from an ultra-wideband sensor; determining ( 230 ) a position of a user device relative to a vehicle based on the first sensor data and the second sensor data; as well as Access to the vehicle is permitted ( 240 ) based on the determined location of the user device.

8. A device (30), comprising: an interface circuit system (32) configured to communicate with the first sensor and the second sensor; as well as Processing circuitry (34) configured to perform a method (100) according to any one of the preceding claims.

9. A vehicle (50), comprising: The device (30) according to claim 8; a Bluetooth low energy sensor for measuring first sensor data; as well as An ultra wideband sensor for measuring second sensor data.

10. A computer program having a program code for executing a method (100; 200), a processing circuit system (34) being configured to execute the method (100; 200) according to any one of claims 1 to 8 when the computer program is executed on a computer, a processor or a programmable hardware component.

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