A method for precise vehicle positioning based on UWB ranging function

Abstract

The present invention provides a method for accurately locating a car based on the UWB ranging function, which changes the traditional positioning method, sets the anchor point on the induction coil of the parking space, and corresponds to the shape anchor point of the vehicle itself, thereby realizing the positioning of the vehicle and the positioning of the charging induction coil. The present invention provides a method for accurately locating a car based on the UWB ranging function, which uses the vehicle-end anchor point to more accurately locate the position of the charging coil than the traditional method of using the parking space anchor point, reduces the position error, and can be implemented in the original UWB system of the vehicle, without the need to rearrange the positioning system, thereby reducing the use cost.

Description

Technical Field

[0001] The present invention relates to a method for accurately positioning a car based on a UWB ranging function. Background Art

[0002] At present, with the popularity of new energy vehicles, car charging has become an issue that must be paid attention to in daily life. The advancement of technology has made wireless charging a new operation trend. Wireless charging is achieved by using the induction coil in the car and the coil in the parking space (such as Figure 1 It is very convenient for consumers to use.

[0003] At the same time, since the APA automatic parking system is widely used, today's highly intelligent vehicles can automatically find parking spaces and park accurately and automatically, which is very convenient for the majority of users. However, the APA automatic parking system can only complete the automatic parking of the vehicle, and realize automatic parking through the positional relationship between the vehicle and the parking space. It cannot achieve precise positioning of other positions.

[0004] However, wireless charging requires the position determination on the induction coil, and the position of the car is not like other small appliances, and the position of the car cannot be precisely adjusted. Therefore, the traditional positioning method is to use three points on the outside of the vehicle and the parking space for positioning, which makes it easier for the vehicle to enter the parking space for parking. However, this parking mode can only be used for the relative position relationship between the vehicle body and the parking space, and cannot complete the correspondence of the induction coil used for wireless charging. However, if only the mutual correspondence of the coils is targeted, the positioning of the car relative to the parking space cannot be taken into account, resulting in a conflict between the traditional automatic parking method and the wireless charging mode, and they are incompatible.

[0005] To this end, if automatic parking and wireless charging of the car are to be realized, the induction coil needs to be repositioned. At the same time, the automatic parking function of the car needs to be taken into account. The sensors are not just set up at the front and rear of the car to determine the position, but also need to be determined with the induction coil used for charging. The entire parking system needs to be redesigned, and the body sensors also need to be rearranged, which greatly increases the cost.

[0006] The traditional UWB positioning technology is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data. It has a very wide spectrum range and high positioning accuracy. Therefore, it is also used in the fields of parking and key positioning. The general method is to use the anchor point of the induction coil in the car to correspond to the position edge of the parking space to determine the vehicle position (such as Figure 2 As shown in the figure), this cannot be achieved in situations where the induction coils need to be positioned relative to each other. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a method for accurately positioning a car based on the UWB ranging function, changing the traditional positioning method, setting the anchor point on the induction coil of the parking space, and corresponding to the external anchor point of the vehicle itself, thereby realizing vehicle positioning and simultaneously positioning the charging induction coil.

[0008] In order to solve the above technical problems, the technical solution of the present invention is: A method for accurately positioning a car based on the UWB ranging function. First, the vehicle's APA system is started to search for a parking space, and then a suitable rechargeable parking space is found; then the parking space is connected and the parking space charging coil is connected; the on-board UWB system is started, the parking space coil is set as the positioning point, and the vehicle-side UWB is set as the positioning anchor point; the UWB system is used to perform ranging calculations to calculate the distances between at least three positioning anchor points and the parking space coil positioning point; the coordinate values ​​of the parking space coil positioning point are calculated using the distances between the positioning anchor points and the positioning points, and the coordinate values ​​are fed back to the APA system; the APA system automatically parks the car based on the coordinate values; it is determined whether the vehicle position is correctly parked at the desired point. If so, the positioning parking is completed; otherwise, the ranging is re-performed and the parking action is repeated until the vehicle is correctly parked in the parking space; the UWB and APA systems are turned off, and the vehicle begins to charge.

[0009] Furthermore, the positioning anchor points selected by the UWB system are generally set to the front end, rear end and on-board charging coil positions of the vehicle.

[0010] Furthermore, no less than three positioning anchor points are set, and multiple positioning anchor points can be set and distributed around the vehicle.

[0011] Furthermore, the distance measurement calculation adopts the principle of triangulation positioning, that is, the coordinates of the vehicle-end position are calculated by the distance between the vehicle-end positioning anchor point and the parking space coil positioning point, and the actual position of the vehicle-mounted coil is calculated by using the principle that the distance between the vehicle-mounted coil and the vehicle-end positioning anchor point is constant. During the parking process, the coordinates of the vehicle-mounted coil position are kept consistent with the coordinates of the parking space coil positioning point to achieve the correct parking of the vehicle.

[0012] Furthermore, the vehicle-mounted UWB system may adopt the original UWB system of the vehicle key.

[0013] Compared with the existing technology, the present invention provides a method for precise automobile positioning based on the UWB ranging function. The method uses the position of the charging coil on the parking space as the positioning point to perform ranging calculation with the vehicle-side positioning anchor point, calculates the coordinates of the positioning point and the position coordinates of the vehicle-mounted coil, and uses the two coordinates to perform automatic positioning parking through the APA automatic parking system. If the two position coordinates coincide, the positioning parking is completed, and the position of the charging coil is determined at the same time, so that the vehicle can be wirelessly charged. The use of the vehicle-side anchor point can more accurately locate the position of the charging coil than the traditional method of using the parking space anchor point, reduce positioning error, and can be implemented in the vehicle's original UWB system, without the need to rearrange the positioning system, reducing the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attachment Figure 1 A schematic diagram of wireless charging of a vehicle according to the present invention is shown.

[0015] Attachment Figure 2 Shows the positioning method of the traditional positioning system.

[0016] Attachment Figure 3 The vehicle positioning method of the present invention is shown.

[0017] Attachment Figure 4 Shown is a schematic flow chart of the present invention.

[0018] Attachment Figure 5 The following illustrates the positioning coordinate calculation principle of the present invention.

[0019] Among them: BF1: the left side positioning anchor point of the front end of the vehicle, with coordinates of (x1, y1); BF2: the right side positioning anchor point of the front end of the vehicle, with coordinates of (x2, y2); BF3: the left side positioning anchor point of the rear end of the vehicle, with coordinates of (x3, y3); BU: the parking space coil positioning point, with coordinates of (x, y); the distance between BF1 and BU is rA; the distance between BF2 and BU is rB; the distance between BF3 and BU is rC. DETAILED DESCRIPTION

[0020] In one embodiment, Figure 3 and 4As shown, a method for precise car positioning based on UWB ranging function is shown. First, the vehicle APA system is started to search for a parking space, and then a suitable rechargeable parking space is found; then the parking space is connected and the parking space charging coil is connected; the vehicle-mounted UWB system is started, the parking space coil is set as the positioning point, and the vehicle-side UWB is set as the positioning anchor point; the distance measurement is performed through the UWB system to calculate the distance between at least three positioning anchor points and the parking space coil positioning point; the coordinate value of the parking space coil positioning point is calculated using the distance between the positioning anchor point and the positioning point, and the coordinate value is fed back to the APA system; the APA system automatically parks according to the coordinate value; it is determined whether the vehicle position is correctly parked at the expected point. If so, the positioning parking is completed, otherwise the distance is re-measured and the parking action is repeated until the vehicle is correctly parked in the parking space; the UWB and APA systems are turned off, and the vehicle starts charging.

[0021] like Figure 5 As shown, in one embodiment, the distance between the three positioning anchor points on the vehicle side and the parking coil positioning point is measured by the UWB system, and the coordinate data of the parking coil positioning point is calculated from the coordinate data of the vehicle side positioning anchor point. Since the vehicle body is fixed, the position coordinates of the vehicle-mounted coil can be directly calculated and obtained, and the coordinate data of the two are input into the APA system. The system performs automatic parking through the coordinates of the two, realizing coil positioning and completing vehicle parking at the same time.

[0022] like Figure 5 As shown, in one embodiment, the distances rA, rB and rC between the three positioning anchor points and the positioning point are measured by the UWB system, and the coordinate data of the positioning point is calculated according to the calculation formula of the three distances and the known coordinate data of the positioning anchor points, thereby completing the positioning.

[0023] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive technical solutions. Those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present invention that do not depart from the purpose and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method for precise positioning of a car based on UWB ranging function, characterized in that: The method is as follows: first, start the vehicle APA system to find a parking space, and then find a suitable rechargeable parking space; then connect the parking space and the parking space charging coil; start the on-board UWB system, set the parking space coil as the positioning point, and set the vehicle-side UWB as the positioning anchor point; perform distance measurement calculations through the UWB system, and calculate the distance between at least three positioning anchor points and the parking space coil positioning point; use the distance between the positioning anchor point and the positioning point to calculate the coordinate value of the parking space coil positioning point, and feed the coordinate value back to the APA system; the APA system automatically parks according to the coordinate value; determine whether the vehicle position is correctly parked at the expected point, if so, complete the positioning parking, otherwise re-measure the distance and repeat the parking action until the vehicle is correctly parked in the parking space; turn off the UWB and APA systems, and the vehicle starts charging.

2. The method for accurately positioning a vehicle based on UWB ranging function according to claim 1, characterized in that: The positioning anchor points selected by the UWB system are generally set at the front end, rear end and on-board charging coil of the vehicle.

3. The method for precise positioning of a vehicle based on UWB ranging function according to claim 1, characterized in that: There shall be no less than three positioning anchor points, and more than one may be provided, distributed around the vehicle.

4. The method for precise positioning of a vehicle based on UWB ranging function according to claim 1, characterized in that: The distance measurement calculation adopts the principle of trigonometric positioning, that is, the coordinates of the vehicle-end position are calculated by the distance between the vehicle-end positioning anchor point and the parking coil positioning point, and the actual position of the vehicle-mounted coil is calculated by using the principle that the distance between the vehicle-mounted coil and the vehicle-end positioning anchor point is constant. During the parking process, the coordinates of the vehicle-mounted coil position are kept consistent with the coordinates of the parking coil positioning point to achieve the correct parking of the vehicle.

5. The method for precise positioning of a vehicle based on UWB ranging function according to claim 1, characterized in that: The in-vehicle UWB system can adopt the original UWB system of the vehicle key.

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