Positioning system and positioning method for movable part of vehicle

Abstract

The invention discloses a positioning system and a positioning method for a movable part of a vehicle, and the positioning system comprises a positioning base station which is disposed at a fixed position of the vehicle; the vehicle positioning system comprises a positioning base station and at least one positioning tag, the positioning tag is arranged on a movable part of a vehicle, the positioning tag and the movable part move synchronously, the positioning base station and the positioning tag perform information interaction in a wireless communication mode, and the positioning base station can position the positioning tag based on the wireless positioning technology. The positioning system has the advantages that the positioning base station, the positioning tag and the like are combined, positioning of the positioning tag can be achieved based on the wireless positioning technology, then positioning of movable parts of a vehicle is achieved, and the positioning system has the advantages of being high in environmental adaptability, easy to install and maintain and the like.

Description

Technical Field

[0001] The invention relates to the field of positioning of movable parts of a vehicle, and in particular to a positioning system and a positioning method of movable parts of a vehicle. Background Art

[0002] With the rapid development of the automobile industry, the comfort and safety of vehicles have been significantly improved. Accurate positioning of vehicle doors and windows is one of the key technologies to achieve these functions. Traditional vehicle door and window positioning technologies mainly rely on mechanical and Hall sensors. Although these technologies meet the needs of vehicle positioning to a certain extent, they have some obvious shortcomings.

[0003] First, mechanical positioning methods usually rely on complex mechanical structures, which not only increases manufacturing costs, but also may lead to maintenance difficulties and increased failure rates. Wear and aging of mechanical components will also affect the accuracy and reliability of positioning. In addition, relative to the vehicle, the mechanical positioning system is usually larger and occupies more space, limiting the flexibility of vehicle design.

[0004] Secondly, although the Hall sensor positioning method has improved accuracy, it is expensive and requires a dedicated sensor to be installed at each positioning point. This one-to-one sensor configuration not only increases the overall cost of the system, but may also increase the complexity and failure rate of the system. In addition, the Hall sensor is highly sensitive to the environment and is easily disturbed by the magnetic field, which affects the accuracy of positioning.

[0005] In the current field of vehicle positioning technology, there is no effective solution to the above problems. Existing technical solutions often only focus on improving the performance of a single sensor, while ignoring the optimization and cost control of the entire system, which leads to the shortcomings of vehicle door and window positioning technology in terms of cost-effectiveness and system reliability. Therefore, a new positioning technology for vehicle doors, windows and other components is urgently needed to solve the shortcomings of the existing technology.

[0006] It should be understood that the above statements merely provide background technology related to the present invention and do not necessarily constitute prior art. Summary of the invention

[0007] Based on the above technical problems, the purpose of the present invention is to provide a positioning system and a positioning method for movable parts of a vehicle. The positioning system combines a positioning base station and a positioning tag. The positioning base station and the positioning tag use wireless communication to exchange information. The positioning base station can simultaneously identify multiple positioning tags. At the same time, it can realize the positioning of movable parts of the vehicle based on wireless positioning technology. The wireless positioning technology used in the positioning system can work stably in various complex environments, has strong environmental adaptability and is easy to install and maintain.

[0008] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0009] A positioning system for a movable part of a vehicle, comprising:

[0010] A positioning base station is arranged at a fixed position of the vehicle;

[0011] At least one positioning tag, which is set on a movable part of the vehicle, and the positioning tag moves synchronously with the movable part. The positioning base station and the positioning tag exchange information using wireless communication. The positioning base station can locate the positioning tag based on wireless positioning technology.

[0012] Optionally, the positioning base station includes:

[0013] The main controller exchanges information with the positioning tag by wireless communication. The main controller sends a request signal to the positioning tag at regular intervals. The positioning tag receives and analyzes the request signal from the main controller and communicates with the main controller according to the protocol standard.

[0014] Optionally, the main controller includes a microcontroller, a first radio frequency module and a first antenna, and the microcontroller can control the first radio frequency module to send and receive radio frequency signals through the first antenna, so that the microcontroller can calculate the position of the positioning tag based on wireless positioning technology.

[0015] Optionally, the positioning base station further includes:

[0016] Multiple slave controllers respectively exchange information with the master controller and the positioning tag by wireless communication. The slave controller can receive and analyze the control command sent by the master controller, and send corresponding signals to the positioning tag based on the control command; the positioning tag receives and parses the signal of the slave controller, and communicates with the slave controller according to the protocol standard; the slave controller can also send relevant interaction information between it and the positioning tag to the master controller.

[0017] Optionally, the slave controller includes a second RF module and a second antenna, and the second RF module sends and receives RF signals through the second antenna.

[0018] Optionally, the positioning tag includes a third radio frequency module and a third antenna, and the third radio frequency module sends and receives radio frequency signals through the third antenna.

[0019] Optionally, the wireless positioning technology includes:

[0020] The positioning base station includes a main controller and at least two slave controllers. The main controller and each slave controller send wireless signals to the positioning tag. The main controller receives feedback information from the positioning tag and related interaction information between the slave controller and the positioning tag, and establishes a relationship between the signal propagation model and the distance to calculate the location of the positioning tag, wherein the feedback information and the related interaction information both include the ID code of the positioning tag and the signal strength received by it;

[0021] And / or, the positioning tag has an antenna array, the positioning base station sends a wireless signal to the positioning tag, the positioning tag receives the wireless signal and measures and records the angle at which the wireless signal reaches the positioning tag, so as to calculate the angle and distance of the positioning tag relative to the positioning base station;

[0022] And / or, the positioning base station has an antenna array, the positioning tag has a single antenna, the positioning base station sends signals by switching different transmitting antennas, and the positioning tag receives each signal and calculates the corresponding transmission angle to calculate the angle and distance of the positioning tag relative to the positioning base station;

[0023] And / or, the positioning base station includes a main controller and at least two slave controllers, the main controller and each slave controller send signals to the positioning tag, and the distance between the main controller and the slave controller and the positioning tag is obtained by measuring the time when each signal reaches the positioning tag, and then the position of the positioning tag is calculated based on the position information of the main controller and the slave controller.

[0024] Optionally, also include:

[0025] The terminal exchanges information with the positioning base station by wireless communication.

[0026] Optionally, the wireless positioning technology is compatible with at least one of RFID positioning technology, BLE positioning technology and UWB positioning technology;

[0027] The frequency band used by the wireless positioning technology includes at least one of: 2.400 GHz to 2.480 GHz, 125 KHz to 134 KHz, 13.56 MHz, 860 MHz to 956 MHz, 3.1 GHz to 10.6 GHz, and 76 GHz to 79 GHz;

[0028] The protocol format of the positioning tag includes: at least one of a protocol version, a firmware version, a date, a device name, a tag ID, location information, posture information, speed information, and pressure information.

[0029] Optionally, a positioning method of the aforementioned positioning system for a movable component of a vehicle comprises:

[0030] The positioning base station sends a request signal to the positioning tag using wireless communication;

[0031] After receiving the request signal from the positioning base station, the positioning tag communicates with the positioning base station according to the protocol standard;

[0032] The positioning base station receives the information fed back by the positioning tag and locates the positioning tag based on wireless positioning technology.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] In a positioning system and positioning method for a movable part of a vehicle of the present invention, the positioning system combines a positioning base station and a positioning tag, and the positioning base station and the positioning tag use wireless communication to exchange information. The positioning base station can simultaneously identify multiple positioning tags, and can realize the positioning of the positioning tags based on wireless positioning technology, thereby realizing the positioning of the movable parts of the vehicle. Compared with traditional mechanical and Hall positioning methods, the positioning system of the present invention uses radio positioning technology, which can work stably in various complex environments, has strong environmental adaptability, and is easy to install and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for the description. Obviously, the drawings described below are an embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0036] Figure 1 It is a schematic diagram of the installation of a positioning system for a movable component of a vehicle according to the present invention;

[0037] Figure 2 A schematic diagram of the composition of a positioning system for a movable component of a vehicle according to the present invention;

[0038] Figure 3 A schematic diagram of the composition of a main controller of the present invention;

[0039] Figure 4 A schematic diagram of the composition of a slave controller of the present invention;

[0040] Figure 5 A schematic diagram of the composition of a positioning tag of the present invention;

[0041] Figure 6 A schematic diagram of positioning based on signal strength according to the present invention;

[0042] Figure 7 A schematic diagram of positioning based on the angle of arrival signal of the present invention;

[0043] Figure 8 A schematic diagram of positioning based on the angle of transmitted signals according to the present invention;

[0044] Fig. 9 The figure is a schematic diagram of positioning based on arrival time difference of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that, in this article, the terms "include", "comprises", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "includes..." or "comprising..." do not exclude the existence of other elements in the process, method, article or terminal device including the elements.

[0047] It should be noted that the drawings are all in very simplified form and use inaccurate ratios, and are only used to conveniently and clearly assist in explaining the embodiments of the present invention.

[0048] like Figure 1 and Figure 2 As shown, it is a schematic diagram of a positioning system for a movable part of a vehicle of the present invention, and the positioning system comprises a positioning base station (a main controller 21 and a slave controller 22) and at least one positioning tag 10. The positioning base station is arranged at a fixed position of the vehicle, the positioning tag 10 is arranged on the movable part of the vehicle, the positioning tag 10 moves synchronously with the movable part, the positioning base station and the positioning tag 10 use wireless communication to exchange information, and the positioning base station can locate the positioning tag 10 based on wireless positioning technology.

[0049] From the above, it can be seen that the positioning system of the movable parts of the vehicle of the present invention combines a positioning base station and a positioning tag 10. The positioning base station and the positioning tag 10 use wireless communication to exchange information. The positioning base station can identify multiple positioning tags 10 at the same time. At the same time, it can realize the positioning of the positioning tag 10 based on wireless positioning technology, thereby realizing the positioning of the movable parts of the vehicle. Compared with traditional mechanical and Hall positioning methods, the radio positioning technology adopted by the positioning system can work stably in various complex environments, has strong environmental adaptability and is easy to install and maintain. On the other hand, the positioning system of the present invention allows the vehicle to simultaneously locate multiple movable parts of the vehicle by installing only one set of positioning base stations, which helps to improve positioning efficiency; at the same time, the positioning system adopts a non-contact identification and positioning method, which can automatically realize the positioning of movable parts without human intervention.

[0050] It is understandable that the movable parts of the vehicle may be structures such as doors, windows, trunk doors, sunroofs, seats, wheels, etc. On the other hand, the fixed position of the positioning base station is fixed relative to the body of the vehicle. In practical applications, the position information of each structure of the positioning base station is known so as to realize the positioning of the positioning tag 10. On the other hand, since the positioning base station and the positioning tag 10 use wireless communication to exchange information, the positioning system can not only realize the positioning of the positioning tag 10, i.e., the movable parts, but also realize the two-way data exchange between the positioning base station and the positioning tag 10 based on wireless communication, such as exchanging information such as posture, speed, pressure and voltage.

[0051] Furthermore, the positioning system of the movable parts of the vehicle further includes a terminal, and the terminal and the positioning base station use wireless communication to exchange information. In practical applications, the terminal may include at least one of a central control instrument module, a body control module, and a mobile phone terminal. During operation, the positioning base station can locate all movable parts of the vehicle in real time, and send the positioning information to the terminal in real time (which can be displayed in the user interface of the terminal).

[0052] Optionally, the protocol format of the terminal includes: at least one of the protocol version, frame number, date, device name, location information, attitude information, speed information and pressure information, and of course other information may also be included. On the other hand, the protocol format of the positioning tag 10 includes: at least one of the protocol version, firmware version, date, device name, tag ID, location information, attitude information, speed information and pressure information, and of course other information may also be included. In actual applications, attitude information, speed information and pressure information can be obtained through built-in sensors. In actual applications, each positioning tag 10 can have a tag ID number (Tag ID) for identification by the positioning base station. Based on this, a single movable part of the vehicle, such as a window, only needs to be installed with one positioning tag 10 to allow the positioning base station to locate it.

[0053] like Figure 1 and Figure 2 As shown, the positioning base station includes a main controller 21, and the main controller 21 and the positioning tag 10 use wireless communication to exchange information. The main controller 21 sends a request signal to the positioning tag 10 at a fixed time, and the positioning tag 10 receives and parses the request signal of the main controller 21, and communicates with the main controller 21 according to the protocol standard, so that the main controller 21 receives the feedback signal of the positioning tag 10. Furthermore, the main controller 21 can also use wireless communication to exchange information with the terminal (such as the central control instrument and / or the body control module), so as to send the positioning tag 10 related information obtained by the main controller 21 to the terminal.

[0054] Further, such as Figure 1 and Figure 2 As shown, the positioning base station also includes a plurality of slave controllers 22, each of which uses wireless communication to exchange information with the main controller 21 and the positioning tag 10. The slave controller 22 can receive and analyze the control command sent by the main controller 21, and send a corresponding signal to the positioning tag 10 based on the control command; the positioning tag 10 receives and analyzes the signal of the slave controller 22, and communicates with the slave controller 22 according to the protocol standard, so that the slave controller 22 receives the feedback signal of the positioning tag 10; the slave controller 22 can also send the relevant interaction information between it and the positioning tag 10 to the main controller 21. Furthermore, the slave controller 22 can also use wireless communication to exchange information with the terminal (such as the central control instrument and / or the body control module).

[0055] In practical applications, a set of positioning base stations can be installed in the vehicle, and each positioning tag 10 can be installed on each movable component of the vehicle. Figure 2As shown, the positioning base station includes a main controller 21 and multiple slave controllers 22. The main controller 21 is the main control node, and cooperates with multiple slave controllers 22 to synchronously and regularly send radio signals. The time interval is T0. After the positioning tag 10 receives the signals from the main controller 21 and each slave controller 22, it communicates according to the protocol standard to feedback signals to the main controller 21 and the slave controller 22.

[0056] It is understandable that the present invention does not limit the specific structural composition of the main controller 21 and the slave controller 22, as long as the corresponding functional effects can be achieved.

[0057] like Figure 3 As shown, in one embodiment, the main controller 21 includes a microcontroller (MCU), a first radio frequency module and a first antenna. The microcontroller can control the first radio frequency module to send and receive radio frequency signals through the first antenna, so that the microcontroller can calculate the position of the positioning tag 10 based on wireless positioning technology. In practical applications, the main controller 21 can exchange information with the positioning tag 10 and the slave controller 22 through the first radio frequency module and the first antenna. On the other hand, the main controller 21 can also be connected to the body control module through the CAN bus (CAN TR) and the CANFD bus. The main controller 21 can also be connected to the central control instrument module through the CAN bus, so that the microcontroller and the central control instrument module and the body control module can exchange information according to the communication protocol.

[0058] like Figure 4 As shown, in one embodiment, the slave controller 22 includes a second RF module and a second antenna, and the second RF module sends and receives RF signals through the second antenna. In practical applications, the second RF module of the slave controller 22 receives the control command sent by the master controller 21 through the second antenna, and the second RF module parses the control command, and then sends the RF signal to the positioning tag 10 through the second antenna based on the parsing of the control command. On the other hand, the slave controller 22 is connected to the body control module through the CAN bus and the CANFD bus, so that the slave controller 22 and the body control module can exchange information according to the communication protocol.

[0059] like Figure 5As shown, in one embodiment, the positioning tag 10 includes a third RF module and a third antenna, and the third RF module sends and receives RF signals through the third antenna. In actual applications, the third RF module receives RF signals from the main controller 21 and the slave controller 22 through the third antenna, and parses the command, and then the third RF module sends RF signals according to the requirements of the command to feedback to the main controller 21 and the slave controller 22. It can be understood that the main controller 21, the slave controller 22 and the positioning tag 10 are all provided with a power module for power supply; the main controller 21 can be provided with a safety module to ensure the safety of the device.

[0060] Furthermore, the wireless positioning technology used in the present invention is compatible with at least one of RFID positioning technology, BLE positioning technology and UWB positioning technology (advanced technology), and of course it is also compatible with other wireless communication protocols. On the other hand, the frequency bands used by the wireless positioning technology may include: 2.400GHz~2.480GHz, 125KHz~134KHz (low frequency, LF), 13.56MHz (high frequency, HF), 860MHz~956MHz (ultra-high frequency, UHF), 3.1GHz~10.6GHz, at least one of 76GHz~79GHz. For example, in one embodiment, the wireless positioning technology uses frequency bands such as 125K, 2.4G, 5.8G, and 77G. In actual applications, it can be selected according to actual needs.

[0061] In practical applications, the distance, distance difference, direction and other positioning parameters can be determined by measuring the changes in the propagation time, phase, amplitude or frequency of radio waves, and then the position of the target can be determined. For example, the following methods can be used for positioning:

[0062] (1) Positioning based on signal strength (RSSI) (see Figure 6 ). This method usually requires at least three signal sources to determine the two-dimensional position of an object, and it estimates the distance between the transmitting source (fixed position devices 1 to 3) and the receiver (position to be measured device) by measuring the received signal strength. The signal strength decays as the distance increases, so the signal propagation model can be used to establish a relationship with the distance to achieve positioning. Specifically, in actual applications, the positioning base station includes a main controller 21 and at least two slave controllers 22, the main controller 21 and each slave controller 22 send a wireless signal to the positioning tag 10, the main controller 21 receives the feedback information of the positioning tag 10 and the interaction-related information between the slave controller 22 and the positioning tag 10, and establishes a relationship with the distance based on the signal propagation model to calculate the positioning of the positioning tag 10, wherein the feedback information and the related interaction information both include the ID code of the positioning tag 10 and the signal strength received by it.

[0063] In practical applications, calculations can be performed based on formula (1). Of course, other signal propagation models can also be used. The present invention does not impose any limitation on this, as long as the corresponding functions can be achieved.

[0064]

[0065] Where L is the power attenuation value, P TX is the transmission power, P RX is the received power, f is the frequency of the signal, r is the propagation distance, G TX is the transmitting antenna gain, G RX is the receiving antenna gain.

[0066] (2) Positioning based on the angle of arrival (AOA) (see Figure 7 ), that is, positioning is performed based on the angle of the received signal. This method determines the source direction of the signal by measuring the angle at which the signal from the transmitting source reaches the receiver. The distance and angle are calculated using the information of the entire array of the receiving antenna, and the accuracy of the angle measurement can be improved by using the receiving antenna array. Specifically, in actual applications, the positioning tag 10 has an antenna array, the positioning base station sends a wireless signal to the positioning tag 10, the positioning tag 10 receives the wireless signal and measures and records the angle at which the wireless signal reaches the positioning tag 10, so as to calculate the angle and distance of the positioning tag 10 relative to the positioning base station.

[0067] (3) Positioning based on the angle of departure (AOD) (see Figure 8 ). In this method, the transmitting device is equipped with an antenna array, while the receiving device uses a single antenna. The transmitting end sends signals by switching different transmitting antennas, and the receiving end calculates the departure angle based on the received signals, thereby positioning. Figure 8 As shown, the transmitting end is composed of a radio frequency switch and an antenna array. By transmitting a direction-finding broadcast packet, the antenna is switched during the transmission process to calculate the distance and angle. Specifically, in practical applications, the positioning base station has an antenna array, and the positioning tag 10 has a single antenna. The positioning base station sends signals by switching different transmitting antennas, and the positioning tag 10 receives each signal and calculates the corresponding transmission angle to calculate the angle and distance of the positioning tag 10 relative to the positioning base station.

[0068] (4) Positioning based on time difference of arrival (TDOA, Time Difference of Arrival) (see Fig. 9 ).like Fig. 9As shown, this method measures the different times taken by multiple base stations (base stations A to C) to reach the receiver, i.e., the tag, to obtain the distance between the transmitting point and the receiving point, and then makes a circle with the receiver as the center and the measured distance as the radius, and the intersection of the circles is the location of the measured point. Specifically, in actual applications, the positioning base station includes a main controller 21 and at least two slave controllers 22, and the main controller 21 and each slave controller 22 send a signal to the positioning tag 10, and by measuring the time taken for each signal to reach the positioning tag 10, the distance between the main controller 21 and the slave controller 22 and the positioning tag 10 is obtained, and then the position of the positioning tag 10 is calculated based on the position information of the main controller 21 and the slave controller 22.

[0069] It is understandable that the wireless positioning technology used in the present invention is not limited to the above-mentioned ones. In practical applications, other methods can also be used. The present invention does not limit this, as long as the corresponding functions can be achieved.

[0070] Based on the same inventive concept, the present invention also provides a positioning method for a positioning system of a movable part of a vehicle, the positioning method comprising: the positioning base station sends a request signal to the positioning tag 10 by wireless communication; the positioning tag 10 receives the request signal from the positioning base station and communicates with the positioning base station according to the protocol standard; the positioning base station receives the information fed back by the positioning tag 10, and locates the positioning tag 10 based on wireless positioning technology.

[0071] In summary, in a positioning system and positioning method for a movable part of a vehicle of the present invention, the positioning system combines a positioning base station and a positioning tag 10, and the positioning base station and the positioning tag 10 use wireless communication to exchange information, and the positioning base station can simultaneously identify multiple positioning tags 10, and it can realize the positioning of the positioning tag 10 based on wireless positioning technology, thereby realizing the positioning of the movable part of the vehicle. Compared with traditional mechanical and Hall positioning methods, the radio positioning technology used in the positioning system can work stably in various complex environments, has strong environmental adaptability and is easy to install and maintain, and it can greatly reduce the positioning cost and has good economic efficiency.

[0072] Furthermore, the positioning system adopts radio positioning, which has the advantages of saving connecting cables, reducing vehicle weight, reducing vehicle energy consumption and reducing carbon emissions. It also has the advantage of good scalability. In practical applications, the positioning tag 10 can be infinitely expanded to simultaneously locate multiple movable parts.

[0073] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A positioning system for movable parts of a vehicle, characterized in that: Include: A positioning base station is arranged at a fixed position of the vehicle; At least one positioning tag, which is set on a movable part of the vehicle, and the positioning tag moves synchronously with the movable part. The positioning base station and the positioning tag exchange information using wireless communication. The positioning base station can locate the positioning tag based on wireless positioning technology.

2. The positioning system for movable parts of a vehicle according to claim 1, characterized in that: The positioning base station comprises: The main controller uses wireless communication to exchange information with the positioning tag. The main controller periodically sends a request signal to the positioning tag. The positioning tag receives and parses the request signal from the main controller and communicates with the main controller according to the protocol standard so that the main controller receives the feedback signal from the positioning tag.

3. The positioning system for movable parts of a vehicle according to claim 2, characterized in that: The main controller includes a microcontroller, a first radio frequency module and a first antenna. The microcontroller can control the first radio frequency module to send and receive radio frequency signals through the first antenna, so that the microcontroller can calculate the position of the positioning tag based on wireless positioning technology.

4. The positioning system for movable parts of a vehicle as claimed in claim 2, characterized in that: The positioning base station also includes: A plurality of slave controllers respectively exchange information with the master controller and the positioning tag by wireless communication. The slave controller can receive and analyze the control command sent by the master controller, and send a corresponding signal to the positioning tag based on the control command; the positioning tag receives and parses the signal of the slave controller, and communicates with the slave controller according to the protocol standard, so that the slave controller receives the feedback signal of the positioning tag; the slave controller can also send the relevant interaction information between it and the positioning tag to the master controller.

5. The positioning system for movable parts of a vehicle according to claim 4, characterized in that: The slave controller includes a second radio frequency module and a second antenna, and the second radio frequency module sends and receives radio frequency signals through the second antenna.

6. The positioning system for movable parts of a vehicle according to claim 1, characterized in that: The positioning tag includes a third radio frequency module and a third antenna, and the third radio frequency module sends and receives radio frequency signals through the third antenna.

7. The positioning system for movable parts of a vehicle according to claim 1, characterized in that: The wireless positioning technology includes: The positioning base station includes a main controller and at least two slave controllers. The main controller and each slave controller send wireless signals to the positioning tag. The main controller receives feedback information from the positioning tag and related interaction information between the slave controller and the positioning tag, and establishes a relationship between the signal propagation model and the distance to calculate the location of the positioning tag, wherein the feedback information and the related interaction information both include the ID code of the positioning tag and the signal strength received by it; And / or, the positioning tag has an antenna array, the positioning base station sends a wireless signal to the positioning tag, the positioning tag receives the wireless signal and measures and records the angle at which the wireless signal reaches the positioning tag, so as to calculate the angle and distance of the positioning tag relative to the positioning base station; And / or, the positioning base station has an antenna array, the positioning tag has a single antenna, the positioning base station sends signals by switching different transmitting antennas, and the positioning tag receives each signal and calculates the corresponding transmission angle to calculate the angle and distance of the positioning tag relative to the positioning base station; And / or, the positioning base station includes a main controller and at least two slave controllers, the main controller and each slave controller send signals to the positioning tag, and the distance between the main controller and the slave controller and the positioning tag is obtained by measuring the time when each signal reaches the positioning tag, and then the position of the positioning tag is calculated based on the position information of the main controller and the slave controller.

8. The positioning system for movable parts of a vehicle as claimed in claim 1, characterized in that: Also includes: The terminal exchanges information with the positioning base station by wireless communication.

9. The positioning system for movable parts of a vehicle as claimed in claim 1, characterized in that: The wireless positioning technology is compatible with at least one of RFID positioning technology, BLE positioning technology and UWB positioning technology; The frequency band used by the wireless positioning technology includes at least one of: 2.400 GHz to 2.480 GHz, 125 KHz to 134 KHz, 13.56 MHz, 860 MHz to 956 MHz, 3.1 GHz to 10.6 GHz, and 76 GHz to 79 GHz; The protocol format of the positioning tag includes: at least one of a protocol version, a firmware version, a date, a device name, a tag ID, location information, posture information, speed information, and pressure information.

10. A positioning method of a positioning system for a movable part of a vehicle according to any one of claims 1 to 9, characterized in that: Include: The positioning base station sends a request signal to the positioning tag using wireless communication; After receiving the request signal from the positioning base station, the positioning tag communicates with the positioning base station according to the protocol standard; The positioning base station receives the information fed back by the positioning tag and locates the positioning tag based on wireless positioning technology.

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