UWB-based living body detection and UWB positioning fusion multiplexing method and device, and vehicle

Abstract

The invention provides a UWB-based living body detection and UWB positioning fusion multiplexing method and device and a vehicle, the fusion multiplexing method is applied to the vehicle, the vehicle is provided with a UWB anchor point and a group of UWB antennas, the UWB anchor point is provided with a UWB chip, the UWB chip is provided with a radar register and a ranging register, the radar register is configured to be in a radar mode, and the ranging register is configured to be in a ranging mode. The ranging register is configured to be in a ranging mode, and comprises the following steps: in a session period, acquiring first channel impulse response (CIR) data in a radar mode and acquiring second CIR data in the ranging mode through a UWB anchor point and a UWB antenna respectively; performing living body detection according to the first CIR data; and performing UWB positioning according to the second CIR data. The technical problem of high cost caused by the fact that two functions of living body detection and positioning can be completed at the same time only by using two anchor points to work cooperatively at the same time is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent automobile technology, and in particular to a fusion multiplexing method of ultra-wideband (UWB)-based liveness detection and UWB positioning, a fusion multiplexing device of ultra-wideband (UWB)-based liveness detection and UWB positioning, and a vehicle. Background Art

[0002] As people's living standards continue to improve, cars have become a part of people's work and life, improving the convenience of people's lives. Among some functions of vehicles, ranging positioning and liveness detection are increasingly mentioned. For example, it is necessary to detect whether there are living people (adults, children, pets, etc.) on the seats to remind people to fasten their seat belts; to prevent children, pets, etc. from being forgotten in the car, and suffocating to death in the car due to closed doors and windows, high temperature in the car, and thin oxygen.

[0003] In the existing solutions, when using UWB to simultaneously realize the liveness detection and positioning functions, multiple ultra-wideband (UWB) chips are usually required, which requires at least two anchor points in the car: the front anchor point and the rear anchor point, one of which is used as the receiving anchor point and the other as the sending anchor point.

[0004] However, in actual implementation, two anchor points need to work together to complete both liveness detection and positioning, which results in relatively high costs. Summary of the invention

[0005] The present application intends to solve the technical problem that the cost is relatively high because two anchor points need to work together to simultaneously complete the two functions of liveness detection and positioning. To solve the above problems, the present application provides a fusion multiplexing method for liveness detection and UWB positioning based on ultra-wideband UWB. The fusion multiplexing method is applied to a vehicle. The vehicle is provided with a UWB anchor point and a group of UWB antennas. The UWB anchor point is provided with a UWB chip. The UWB chip is configured with a radar register and a ranging register. The radar register is configured in a radar mode, and the ranging register is configured in a ranging mode. The fusion multiplexing method includes: within a session cycle, through the UWB anchor point and the UWB antenna, respectively obtaining a first channel impulse response CIR data in the radar mode and obtaining a second CIR data in the ranging mode; performing the liveness detection according to the first CIR data; and performing the UWB positioning according to the second CIR data.

[0006] Compared with the prior art, the technical effect achieved by adopting this technical solution is: the fusion multiplexing method of this application uses only one UWB anchor point, one UWB chip and a group of UWB antennas, ensuring that the vehicle can use a single UWB chip in the case of only one UWB anchor point, and can realize both the UWB positioning function and the liveness detection function within a session cycle. Among them, UWB positioning refers to locating the location of the fob (key tag), locating the location of the fob (that is, locating the location of the driver), which can realize the functions of automatic unlocking when the driver approaches the vehicle and automatic locking when leaving the vehicle; liveness detection refers to detecting whether there is a live body in the vehicle, and an alarm can be issued when a live body is detected.

[0007] Specifically, after the radar mode obtains the CIR data of the first channel pulse response, it switches to the ranging mode to obtain the CIR data in the ranging mode, so that the two functions of liveness detection and positioning can be completed in the same session cycle. Among them, the above session cycle meets the Car Connectivity Consortium (CCC)'s standard protocol for digital keys (referred to as the CCC protocol). Therefore, this will not destroy the CCC protocol, but can obtain the CIR data of the two modes within the session cycle required by the CCC protocol, and perform algorithm calculations to realize the UWB positioning and liveness detection functions respectively; at the same time, it reduces the number of UWB anchor points, the number of UWB chips, and the number of UWB antennas, making the anchor point smaller, and at the same time can improve the accuracy and signal strength of liveness detection in the car.

[0008] In one example of the present application, obtaining the first channel pulse response CIR data in the radar mode and obtaining the second CIR data in the ranging mode respectively include: executing the radar mode, and obtaining the first CIR data sent by the UWB chip after the radar mode ends; after the radar mode ends, executing the ranging mode, and obtaining the second CIR data sent by the UWB chip after the ranging mode ends.

[0009] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: when the radar mode works to the finaldata stage (that is, when the radar mode ends), the CIR data (that is, the first CIR data) sent by the UWB chip in the radar mode can be obtained for use in the liveness detection algorithm; at the same time, the ranging mode is turned on, and after receiving a frame of the latest CIR data (that is, the second CIR data), it is used for the positioning algorithm and switched to the radar mode at the same time. This will not destroy the CCC protocol, and the CIR data of the two modes can be obtained within one session cycle, and the algorithm calculations are performed separately to achieve the UWB positioning and liveness detection functions.

[0010] In one example of the present application, a group of UWB antennas includes a transmitting antenna and a receiving antenna. After the radar mode ends, the ranging mode is executed, including: switching from the radar mode to the ranging mode after the radar mode ends; receiving a confirmation frame sent by a detected tag corresponding to the UWB positioning through the receiving antenna in the ranging mode; and sending a reply frame to the detected tag through the transmitting antenna in the ranging mode.

[0011] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the transmitting antenna is used to send information, and the receiving antenna is used to receive information; the switching between the radar mode and the ranging mode is fixed, so after the radar mode ends, it directly switches from the radar mode to the ranging mode. The transmitting antenna is mainly used to send a reply frame to the detected tag, and the receiving antenna is mainly used to receive a confirmation frame sent by the detected tag corresponding to the UWB positioning.

[0012] In one example of the present application, the fusion multiplexing method also includes: receiving an end frame through the receiving antenna in the ranging mode; receiving an end data frame through the receiving antenna in the ranging mode; obtaining the second CIR data sent by the UWB chip at the end of the ranging mode, including: determining that the second CIR data is obtained when the end data frame is received.

[0013] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: after the transmitting antenna sends a reply frame to the detected tag and the receiving antenna receives the confirmation frame sent by the detected tag corresponding to the UWB positioning, the receiving antenna receives the end frame and the end data frame in the ranging mode, and when the end data frame is received, it can be determined whether the second CIR data is obtained, and the subsequent execution steps are determined according to whether the second CIR data is obtained. Among them, the above-mentioned detected tag can be represented by tag.

[0014] In an example of the present application, the fusion multiplexing method further includes: when receiving the end data frame, if it is determined that the second CIR data is not obtained, ending the session.

[0015] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: after receiving the end data frame through the receiving antenna in the ranging mode, it is determined whether the second CIR data is obtained. If the second CIR data is not obtained, the session is ended, that is, the fusion multiplexing method is ended.

[0016] In one example of the present application, if it is determined that the second CIR data has not been obtained when the end data frame is received, the session is terminated, including: if it is determined that the second CIR data has not been obtained when the end data frame is received, the session is directly terminated; or, if it is determined that the second CIR data has not been obtained when the end data frame is received, continue to determine in the ranging mode whether the second CIR data is received within a preset time after receiving the end data frame; if so, switch from the ranging mode to the radar mode; if not, terminate the session.

[0017] Compared with the prior art, the technical effect achieved by adopting this technical solution is: when the end data frame is received, if it is determined that the second CIR data has not been obtained, the session is terminated, specifically including: ①. directly terminating the session; ②. continuing to determine in the ranging mode whether the second CIR data is received within the preset time after receiving the end data frame: if the second CIR data is received, switching back to the radar mode; if the second CIR data is not obtained, the session is terminated. Two possibilities are set to avoid directly terminating the session when the second CIR data is not received in time; setting a preset time, that is, setting a response time, reduces the possibility of false detection by the fusion multiplexing method.

[0018] In one example of the present application, a session cycle includes multiple first time slots and multiple second time slots; within one session cycle, the first channel pulse response CIR data is obtained in the radar mode and the second CIR data is obtained in the ranging mode through the UWB anchor point and the UWB antenna, respectively, including: within the multiple first time slots, the first CIR data is obtained in the radar mode through the UWB anchor point and the UWB antenna; within the multiple second time slots, the second CIR data is obtained in the ranging mode through the UWB anchor point and the UWB antenna.

[0019] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the first CIR data and the second CIR data are obtained in different time slots of the session cycle, that is, the radar mode and the ranging mode are time-shared in the same session cycle, and are executed separately, thereby ensuring the accuracy of the first CIR data and the second CIR data.

[0020] In one example of the present application, the session cycle also includes at least two third time slots, and the at least two third time slots are located before the multiple first time slots in timing, and the multiple first time slots are located before the multiple second time slots in timing; before obtaining the first channel impulse response CIR data in the radar mode and the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna, the fusion multiplexing method also includes: initializing the radar register and the ranging register in different time slots of the at least two third time slots, so that the radar register is configured as the radar mode and the ranging register is configured as the ranging mode.

[0021] Compared with the prior art, the technical effect achieved by adopting the technical solution is as follows: before respectively obtaining the first channel pulse response CIR data in the radar mode and obtaining the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna, the radar register and the ranging register are initialized, that is, the radar mode and the ranging mode are awakened, so that the radar mode and the ranging mode can be executed subsequently, and the radar register and the ranging register are initialized at the same time, so as to save initialization time and further reduce the overall duration of the fusion multiplexing method.

[0022] On the other hand, an embodiment of the present application also provides a fusion multiplexing device for liveness detection and UWB positioning based on ultra-wideband UWB, and applies a fusion multiplexing method for liveness detection and UWB positioning based on ultra-wideband UWB as in any of the above embodiments. The fusion multiplexing device sets a UWB anchor point and a group of UWB antennas, and the UWB anchor point is provided with a UWB chip, and the UWB chip is configured with a radar register and a ranging register, the radar register is configured as a radar mode, and the ranging register is configured as a ranging mode; the fusion multiplexing device includes: an acquisition module, which is used to obtain the first channel pulse response CIR data in the radar mode and the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna within a session cycle; a detection module, which is used to perform the liveness detection according to the first CIR data; and a positioning module, which is used to perform the UWB positioning according to the second CIR data.

[0023] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the fusion multiplexing device for liveness detection and UWB positioning based on ultra-wideband UWB in this embodiment is used to implement the fusion multiplexing method for liveness detection and UWB positioning based on ultra-wideband UWB as in any embodiment of the present application, so it has all the beneficial effects of the fusion multiplexing method for liveness detection and UWB positioning based on ultra-wideband UWB as in any embodiment of the present application, which will not be repeated here.

[0024] On the other hand, an embodiment of the present application further provides a vehicle, the vehicle comprising the fusion multiplexing device for ultra-wideband UWB-based living body detection and UWB positioning as described in the first embodiment above.

[0025] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the vehicle in this embodiment includes a fusion multiplexing device for liveness detection based on ultra-wideband UWB and UWB positioning as in any embodiment of the present application, so it has all the beneficial effects of the fusion multiplexing method for liveness detection based on ultra-wideband UWB and UWB positioning as in any embodiment of the present application, which will not be repeated here.

[0026] On the other hand, an embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the fusion multiplexing method of living body detection based on ultra-wideband UWB and UWB positioning as in any of the above embodiments are implemented.

[0027] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the readable storage medium in this embodiment is used to store the fusion multiplexing method of liveness detection based on ultra-wideband UWB and UWB positioning as in any embodiment of the present application, so it has all the beneficial effects of the fusion multiplexing method of liveness detection based on ultra-wideband UWB and UWB positioning as in any embodiment of the present application, which will not be repeated here.

[0028] After adopting the technical solution of this application, the following technical effects can be achieved: (1) The fusion multiplexing method of the present application uses only one UWB anchor point, one UWB chip and one set of UWB antennas, ensuring that the vehicle can achieve both UWB positioning and liveness detection in one session cycle using a single UWB chip when there is only one UWB anchor point; (2) This will not damage the CCC protocol, but can also obtain CIR data of two modes within the CCC cycle, and perform algorithm calculations to achieve UWB positioning and liveness detection functions respectively; at the same time, it reduces the number of UWB anchor points, the number of UWB chips, and the number of UWB antennas, making the anchor point smaller, and at the same time can improve the accuracy and signal strength of liveness detection in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flowchart of a fusion multiplexing method for living body detection and UWB positioning based on ultra-wideband UWB provided in Example 1 of the present application; Figure 2 A schematic diagram of a fusion multiplexing method for ultra-wideband UWB-based living body detection and UWB positioning provided in Example 1 of the present application; Figure 3A detailed flow chart of a fusion multiplexing method for ultra-wideband UWB-based living body detection and UWB positioning provided in Example 1 of the present application; Figure 4 A schematic block diagram of the structure of a fusion multiplexing device for living body detection and UWB positioning based on ultra-wideband UWB provided in the second embodiment of the present application; Figure 5 A schematic diagram of the structure of a readable storage medium provided in Example 4 of the present application.

[0030] Description of reference numerals: 100 - fusion multiplexing device; 101 - acquisition module; 102 - detection module; 103 - positioning module; 300 - readable storage medium; 310 - computer executable instructions. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0032] [Example 1] See also Figure 1 , which is a flowchart of a fusion multiplexing method for ultra-wideband UWB-based living body detection and UWB positioning provided in the first embodiment of the present application. The fusion multiplexing method is applied to a vehicle, wherein the vehicle is provided with a UWB anchor point and a group of UWB antennas, wherein the UWB anchor point is provided with a UWB chip, wherein the UWB chip is configured with a radar register and a ranging register, wherein the radar register is configured in a radar mode, wherein the ranging register is configured in a ranging mode, and ... vehicle is provided with a UWB anchor point and a group of UWB antennas, wherein the Figure 2-Figure 3 , the fusion multiplexing methods include: S100: within a session period, obtaining, through the UWB anchor point and the UWB antenna, first channel impulse response (CIR) data in the radar mode and second CIR data in the ranging mode respectively; S200: Performing the living body detection according to the first CIR data; S300: Perform the UWB positioning according to the second CIR data.

[0033] The existing technology does not realize the UWB positioning and liveness detection (for example, Child Presence Detection (CPD)) functions with a single anchor point, a single chip, and the same group of antennas, or cannot ensure that the UWB positioning and liveness detection functions are completed within a CCC cycle (96ms). In the embodiment of the present application, the fusion multiplexing method only uses one UWB anchor point, one UWB chip, and a group of UWB antennas to ensure that the vehicle can achieve both the UWB positioning function and the liveness detection function within a session cycle using a single UWB chip when there is only one UWB anchor point. UWB positioning refers to locating the location of the fob (key tag). Locating the location of the fob (that is, locating the driver's location) can realize functions such as automatic unlocking when the driver approaches the vehicle and automatic locking when leaving the vehicle; liveness detection refers to detecting whether there is a living body in the vehicle, and an alarm can be issued when a living body is detected.

[0034] Specifically, after the radar mode obtains the CIR data of the first channel pulse response (that is, after the liveness detection is completed), the UWB positioning function is turned on to obtain the CIR data in the ranging mode. The two functions do not conflict at all and will not have any impact on the CCC cycle. This will not destroy the UWB CCC protocol, but can obtain the CIR data of the two modes within the CCC cycle, and perform algorithm calculations to achieve the UWB positioning and liveness detection functions; at the same time, the number of UWB anchor points, the number of UWB chips, and the number of UWB antennas are reduced, making the anchor point smaller, while improving the accuracy and signal strength of liveness detection in the car, and will not affect or destroy the CCC protocol used for UWB positioning.

[0035] Specifically, the first CIR data is Radar CIR data, that is, radar CIR data, and the second CIR data is Ranging CIR data, that is, ranging CIR data. Specifically, the duration of a session cycle may be greater than or equal to 40 ms, and may be up to 96 ms.

[0036] Furthermore, S100 includes: S110: Execute the radar mode, and obtain the first CIR data sent by the UWB chip when the radar mode ends; S120: After the radar mode ends, the ranging mode is executed, and the second CIR data sent by the UWB chip is obtained when the ranging mode ends.

[0037] Specifically, executing the radar mode may include: starting the radar full calibration, starting the radar rns mode calibration, and starting the radar system. When the radar mode works to the final data stage (that is, when the radar mode ends), the CIR data (that is, the first CIR data) sent by the UWB chip in the radar mode can be obtained to perform the liveness detection algorithm; at the same time, the ranging mode is turned on, and after receiving a frame of the latest CIR data (that is, the second CIR data), the positioning algorithm is performed, and the radar mode is switched at the same time. This will not destroy the CCC protocol, and the CIR data of the two modes can be obtained within 96ms, and the algorithm calculations are performed separately to achieve the UWB positioning and liveness detection functions.

[0038] Specifically, Figure 2 As shown, the radar mode works in the slot1~slot4 stage, the slot4 stage is the final data stage, in the final data stage, the radar mode CCC protocol ends once, and in the final data stage it can be determined whether the first CIR data is obtained; the ranging mode works in the slot5~slot8 stage, and in the slot8 stage it can be determined whether the second CIR data is obtained.

[0039] Further, a group of UWB antennas includes a transmitting antenna and a receiving antenna, and after the radar mode ends, the ranging mode is executed, including: After the radar mode ends, switching from the radar mode to the ranging mode; In the ranging mode, receiving, through the receiving antenna, a confirmation frame sent by the detected tag corresponding to the UWB positioning; In the ranging mode, a reply frame is sent to the detected tag through the transmitting antenna.

[0040] Specifically, the transmitting antenna is used to send information, and the receiving antenna is used to receive information; the switching between the radar mode and the ranging mode is fixed, so after the radar mode ends, it directly switches from the radar mode to the ranging mode. The transmitting antenna is mainly used to send a reply frame to the detected tag, and the receiving antenna is mainly used to receive a confirmation frame sent by the detected tag corresponding to the UWB positioning. Among them, the detected tag can be represented by tag.

[0041] Furthermore, the fusion multiplexing method also includes: receiving an end frame through the receiving antenna in the ranging mode; receiving an end data frame through the receiving antenna in the ranging mode; The acquiring the second CIR data sent by the UWB chip when the ranging mode ends includes: When the end data frame is received, it is determined that the second CIR data is acquired.

[0042] Specifically, after the transmitting antenna sends a reply frame to the tag and the receiving antenna receives a confirmation frame sent by the tag corresponding to the UWB positioning, the receiving antenna receives an end frame and an end data frame in the ranging mode. When the end data frame is received, it can be determined whether the second CIR data is obtained, and the subsequent execution steps are determined according to whether the second CIR data is obtained. Among them, the end frame can be represented by an RX final frame, and the end data frame can be represented by an RX final data frame.

[0043] Further, if it is determined that the second CIR data has not been acquired when the end data frame is received, the session is ended.

[0044] Specifically, after receiving the end data frame through the receiving antenna in the ranging mode, it is determined whether the second CIR data is obtained. If the second CIR data is not obtained, the session is terminated, that is, the fusion multiplexing method is terminated.

[0045] Further, if it is determined that the second CIR data is not obtained when the end data frame is received, ending the session includes: When receiving the end data frame, if it is determined that the second CIR data has not been obtained, directly end the session; or, If it is determined that the second CIR data has not been acquired when the end data frame is received, continue to determine in the ranging mode whether the second CIR data is received within a preset time after the end data frame is received; If so, switching from the ranging mode to the radar mode; If not, end the session.

[0046] Specifically, when the end data frame is received, if it is determined that the second CIR data is not obtained, the session is ended, which specifically includes: ①. directly ending the session; ②. continuing to determine whether the second CIR data is received within the preset time after receiving the end data frame in the ranging mode: if the second CIR data is received, switch back to the radar mode (that is, repeat S110-S120); if the second CIR data is not obtained, end the session. Set two possibilities to avoid directly ending the session when the second CIR data is not received in time; set a preset time, that is, set a response time, to reduce the possibility of false detection by the fusion multiplexing method.

[0047] Further, the session cycle includes a plurality of first time slots and a plurality of second time slots; and within one session cycle, obtaining the first channel impulse response CIR data in the radar mode and obtaining the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna, respectively, includes: acquiring, in the radar mode, the first CIR data through the UWB anchor point and the UWB antenna within the plurality of first time slots; The second CIR data is acquired in the ranging mode through the UWB anchor point and the UWB antenna within the plurality of second time slots.

[0048] Specifically, the first CIR data and the second CIR data are obtained in different time slots of the session cycle, that is, the radar mode and the ranging mode cannot be executed at the same time, but can only be executed separately, thereby ensuring the accuracy of the first CIR data and the second CIR data.

[0049] Further, the session cycle also includes at least two third time slots, the at least two third time slots are located before the multiple first time slots in timing, and the multiple first time slots are located before the multiple second time slots in timing; the first channel impulse response CIR data is obtained in the radar mode and the second CIR data is obtained in the ranging mode by the UWB anchor point and the UWB antenna, respectively, and the fusion multiplexing method also includes: The radar register and the ranging register are respectively initialized in different time slots of the at least two third time slots, so that the radar register is configured as the radar mode and the ranging register is configured as the ranging mode.

[0050] Specifically, before respectively acquiring the first channel pulse response CIR data in the radar mode and acquiring the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna, the radar register and the ranging register are initialized, that is, the radar mode and the ranging mode are awakened, so that the radar mode and the ranging mode can be executed subsequently. At the same time, the radar register and the ranging register are initialized to save initialization time and further reduce the overall duration of the fusion multiplexing method.

[0051] In some implementations, after the system is powered on, the radar mode (also referred to as CPD mode or radar mode) and the ranging mode (also referred to as Ranging mode) are initialized in different slots in the pre poll stage, and registers of the two modes are configured respectively.

[0052] [Example 2] See also Figure 4This embodiment also provides a fusion multiplexing device 100 for liveness detection and UWB positioning based on ultra-wideband UWB. The fusion multiplexing device is provided with a UWB anchor point and a group of UWB antennas. The UWB anchor point is provided with a UWB chip. The UWB chip is configured with a radar register and a ranging register. The radar register is configured in a radar mode, and the ranging register is configured in a ranging mode. The fusion multiplexing device 100 includes: an acquisition module 101, a detection module 102 and a positioning module 103. The acquisition module 101 is used to obtain the first channel impulse response CIR data in the radar mode and the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna in a session cycle. The detection module 102 is used to perform the liveness detection according to the first CIR data; the positioning module 103 is used to perform the UWB positioning according to the second CIR data.

[0053] In a specific embodiment, the acquisition module 101, detection module 102 and positioning module 103 of the fusion multiplexing device 100 for living body detection and UWB positioning based on ultra-wideband UWB cooperate to implement the fusion multiplexing method for living body detection and UWB positioning based on ultra-wideband UWB as described in the first embodiment above, which will not be repeated here.

[0054] [Example 3] This embodiment provides a vehicle, which includes the fusion multiplexing device 100 based on ultra-wideband UWB liveness detection and UWB positioning as in the first embodiment above, and cooperates to implement the fusion multiplexing method based on ultra-wideband UWB liveness detection and UWB positioning as in the first embodiment above, which will not be repeated here.

[0055] [Example 4] See also Figure 5 This embodiment also provides a readable storage medium 300, which stores computer executable instructions 310. When the computer executable instructions 310 are read and executed by the processor, the vehicle 200 where the readable storage medium 300 is located is controlled to implement the fusion multiplexing method of living body detection based on ultra-wideband UWB and UWB positioning as in the first embodiment.

[0056] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. In the above-mentioned various embodiments, the same or corresponding contents can be referenced to each other and will not be repeated. The device embodiments described above are merely illustrative. For example, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0057] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A fusion multiplexing method for living body detection and UWB positioning based on ultra-wideband UWB, characterized in that: The fusion multiplexing method is applied to a vehicle, wherein the vehicle is provided with a UWB anchor point and a group of UWB antennas, the UWB anchor point is provided with a UWB chip, the UWB chip is configured with a radar register and a ranging register, the radar register is configured in a radar mode, and the ranging register is configured in a ranging mode; the fusion multiplexing method comprises: In a session cycle, first channel impulse response CIR data is acquired in the radar mode and second CIR data is acquired in the ranging mode through the UWB anchor point and the UWB antenna respectively; Performing the living body detection according to the first CIR data; The UWB positioning is performed according to the second CIR data.

2. The fusion multiplexing method according to claim 1, characterized in that: The acquiring of first channel impulse response CIR data in the radar mode and acquiring of second CIR data in the ranging mode respectively include: Executing the radar mode, and acquiring the first CIR data sent by the UWB chip when the radar mode ends; After the radar mode ends, the ranging mode is executed, and the second CIR data sent by the UWB chip is acquired when the ranging mode ends.

3. The fusion multiplexing method according to claim 2, characterized in that: The set of UWB antennas includes a transmitting antenna and a receiving antenna, and after the radar mode ends, executing the ranging mode includes: After the radar mode ends, switching from the radar mode to the ranging mode; In the ranging mode, receiving, through the receiving antenna, a confirmation frame sent by the detected tag corresponding to the UWB positioning; In the ranging mode, a reply frame is sent to the detected tag through the transmitting antenna.

4. The fusion multiplexing method according to claim 3, characterized in that: The fusion multiplexing method also includes: receiving an end frame through the receiving antenna in the ranging mode; receiving an end data frame through the receiving antenna in the ranging mode; The acquiring the second CIR data sent by the UWB chip at the end of the ranging mode includes: When the end data frame is received, it is determined that the second CIR data is acquired.

5. The fusion multiplexing method according to claim 4, characterized in that: The fusion multiplexing method also includes: If it is determined that the second CIR data has not been acquired when the end data frame is received, the session is ended.

6. The fusion multiplexing method according to claim 5, characterized in that: The step of ending the session if it is determined that the second CIR data is not obtained when the end data frame is received includes: When receiving the end data frame, if it is determined that the second CIR data has not been obtained, directly end the session; or, If it is determined that the second CIR data has not been acquired when the end data frame is received, continue to determine in the ranging mode whether the second CIR data is received within a preset time after the end data frame is received; If so, switching from the ranging mode to the radar mode; If not, end the session.

7. The fusion multiplexing method according to claim 1, characterized in that: The session cycle includes a plurality of first time slots and a plurality of second time slots; and within one session cycle, obtaining first channel impulse response CIR data in the radar mode and obtaining second CIR data in the ranging mode through the UWB anchor point and the UWB antenna respectively, includes: acquiring, in the radar mode, the first CIR data through the UWB anchor point and the UWB antenna within the plurality of first time slots; The second CIR data is acquired in the ranging mode through the UWB anchor point and the UWB antenna within the plurality of second time slots.

8. The fusion multiplexing method according to claim 7, characterized in that: The session cycle further includes at least two third time slots, wherein the at least two third time slots are located before the plurality of first time slots in time sequence, and the plurality of first time slots are located before the plurality of second time slots in time sequence; Before respectively acquiring the first channel impulse response CIR data in the radar mode and acquiring the second CIR data in the ranging mode through the UWB anchor point and the UWB antenna, the fusion multiplexing method further includes: The radar register and the ranging register are respectively initialized in different time slots of the at least two third time slots, so that the radar register is configured as the radar mode and the ranging register is configured as the ranging mode.

9. A fusion multiplexing device based on ultra-wideband UWB liveness detection and UWB positioning, characterized in that: The fusion multiplexing device is provided with a UWB anchor point and a group of UWB antennas, the UWB anchor point is provided with a UWB chip, the UWB chip is configured with a radar register and a ranging register, the radar register is configured in a radar mode, and the ranging register is configured in a ranging mode; the fusion multiplexing device includes: An acquisition module, used to acquire, through the UWB anchor point and the UWB antenna, first channel impulse response CIR data in the radar mode and second CIR data in the ranging mode respectively within a session cycle; A detection module, configured to perform the liveness detection according to the first CIR data; A positioning module is used to perform the UWB positioning according to the second CIR data.

10. A vehicle, characterized in that: The vehicle includes the fusion multiplexing device for living body detection based on ultra-wideband (UWB) and UWB positioning as described in claim 9.

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