Distance measurement information loss compensation method, device, equipment, medium and product

Abstract

The invention discloses a distance measurement information loss compensation method, device, equipment, medium and product, and relates to the technical field of intelligent automobiles, the method comprises the following steps: sending a distance measurement starting instruction to a digital key and UWB anchor points, and detecting the synchronization state of the digital key and a plurality of UWB anchor points; if the synchronization detection result shows that the UWB anchor points are not synchronized, radio frequency identification of the UWB anchor points is started; establishing a precise synchronization between the digital key and the plurality of UWB anchor points using the received pre-poll frame and poll frame; each UWB anchor point is controlled to calculate and obtain distance measurement information; starting radio frequency identification of the plurality of UWB anchor points to enable the plurality of UWB anchor points to receive a final-data frame sent by the digital key; determining the distance measurement information of the successful UWB anchor point which receives the final-data frame as distance measurement success information; determining the distance measurement information of the failed UWB anchor point which does not receive the final-data frame as distance measurement failure information; and processing the distance measurement failure information by using the final-data frame to obtain the lost distance measurement information of the failed UWB anchor point, so that the safety and the reliability of the automobile digital key can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a method, device, equipment, medium and product for compensating for range information loss. Background Art

[0002] With the rapid development of smartphone technology, major mobile phone manufacturers have integrated ultra-wideband (UWB) technology into their products. This technology has brought revolutionary changes to many application scenarios with its high-precision ranging and positioning capabilities. In the automotive industry, the introduction of UWB technology has promoted the innovation of vehicle digital key systems, allowing the traditional PEPS (Passive Entry Passive Start) system to gradually transition to a more intelligent and convenient UWB digital key system.

[0003] However, in practical applications, UWB technology also faces some challenges. In particular, in complex vehicle environments, due to factors such as vehicle body structure, human body occlusion, and long distance measurement, the transmission of UWB signals is often interfered with, resulting in the loss of ranging information or ranging failure, which affects the security and reliability of the car digital key. Summary of the invention

[0004] The purpose of this application is to provide a method, device, equipment, medium and product for compensating for loss of ranging information, which can improve the security and reliability of automobile digital keys.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a ranging information loss compensation method, comprising:

[0007] Sending a ranging start instruction to a digital key and a plurality of UWB anchor points set on the smart car through a domain controller set on the smart car, and detecting a synchronization state between the digital key and the plurality of UWB anchor points to obtain a synchronization detection result;

[0008] If the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchor points, enabling radio frequency identification of the multiple UWB anchor points so that the multiple UWB anchor points receive pre-poll frames and poll frames sent by the digital key;

[0009] Using the received pre-poll frame and the poll frame, establishing precise synchronization between the digital key and the plurality of UWB anchor points;

[0010] Based on the precise synchronization, each UWB anchor point is controlled to calculate and obtain ranging information; wherein the ranging information at least includes the distance between the UWB anchor point and the digital key;

[0011] Turning on radio frequency identification of the multiple UWB anchor points so that the multiple UWB anchor points receive the final-data frame sent by the digital key;

[0012] Determine the ranging information of the successful UWB anchor point that receives the final-data frame as ranging success information;

[0013] Determine the ranging information of the failed UWB anchor point that has not received the final-data frame as ranging failure information;

[0014] The ranging failure information is processed using the final-data frame to obtain the lost ranging information of the failed UWB anchor point.

[0015] Optionally, the using the received pre-poll frame and the poll frame to establish precise synchronization between the digital key and the multiple UWB anchor points specifically includes:

[0016] Detecting a reception status of each UWB anchor point for the pre-poll frame and the poll frame;

[0017] If the reception status of each UWB anchor point indicates that the UWB anchor point has received the pre-poll frame and the poll frame, precise synchronization is established between the digital key and each UWB anchor point.

[0018] Optionally, the ranging information loss compensation method further includes:

[0019] If the receiving state exists, it indicates that the first UWB anchor point has not received the pre-poll frame and the poll frame, determining a second UWB anchor point that first receives the pre-poll frame;

[0020] Obtain a broadcast frame of the second UWB anchor point; wherein the broadcast frame includes at least a pre-poll reception time of the second UWB anchor point and ranging session key information, the pre-poll reception time of the second UWB anchor point is the time when the second UWB anchor point receives the pre-poll frame, and the ranging session key information includes a session ID;

[0021] broadcasting the broadcast frame through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame;

[0022] Using the broadcast frame, precise synchronization is established between the digital key and the first UWB anchor point.

[0023] Optionally, after broadcasting the broadcast frame through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame, the method further includes:

[0024] Obtain the instruction ID in the ranging start instruction;

[0025] Compare the instruction id with the session id to obtain a comparison result;

[0026] If the comparison result indicates that the instruction id is the same as the session id, the step of using the broadcast frame to establish precise synchronization between the digital key and the first UWB anchor point is performed.

[0027] Optionally, the using the broadcast frame to establish precise synchronization between the digital key and the first UWB anchor point specifically includes:

[0028] Acquire a pre-stored first timestamp of the first UWB anchor point and a second timestamp of the second UWB anchor point;

[0029] Calculate a first pre-poll reception time of the first UWB anchor point using the first timestamp, the second timestamp, and the pre-poll reception time of the second UWB anchor point;

[0030] Using a preset signal gap time length and a first pre-poll receiving time of the first UWB anchor point, a first poll receiving time of the first UWB anchor point is calculated;

[0031] Using the preset duration and the first poll reception time of the first UWB anchor point, calculate the open detection time;

[0032] If the open detection time is not earlier than the current time, turning on the radio frequency identification of the first UWB anchor point so that the first UWB anchor point receives the poll frame sent by the digital key;

[0033] If the first UWB anchor point receives the poll frame, it is determined that precise synchronization is established between the digital key and the first UWB anchor point.

[0034] Optionally, the pre-storage method of the first timestamp of the first UWB anchor point and the second timestamp of the second UWB anchor point is specifically:

[0035] Sending a time synchronization instruction to the multiple UWB anchor points through the domain controller, and determining the current time when the domain controller sends the time synchronization instruction as the initial time;

[0036] Obtaining a current timestamp when each UWB anchor point receives the time synchronization instruction; wherein the current timestamp of the first UWB anchor point is a first timestamp, and the current timestamp of the second UWB anchor point is a second timestamp;

[0037] The current timestamp of each UWB anchor point is sent to the domain controller through each UWB anchor point, so that the domain controller stores the current timestamp of each UWB anchor point.

[0038] In a second aspect, the present application provides a ranging information loss compensation device, comprising:

[0039] A sending unit, configured to send a ranging start instruction to a digital key and a plurality of UWB anchor points set on the smart car through a domain controller set on the smart car, and detect a synchronization state between the digital key and the plurality of UWB anchor points to obtain a synchronization detection result;

[0040] a first enabling unit, configured to enable radio frequency identification of the multiple UWB anchor points if the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchor points, so that the multiple UWB anchor points receive pre-poll frames and poll frames sent by the digital key;

[0041] a synchronization unit, configured to establish precise synchronization between the digital key and the plurality of UWB anchor points using the received pre-poll frame and the poll frame;

[0042] A control unit, configured to control each UWB anchor point to calculate and obtain ranging information based on the precise synchronization; wherein the ranging information at least includes a distance between the UWB anchor point and the digital key;

[0043] A second opening unit, configured to open the radio frequency identification of the plurality of UWB anchor points, so that the plurality of UWB anchor points receive the final-data frame sent by the digital key;

[0044] A first determining unit, configured to determine the ranging information of the successful UWB anchor point receiving the final-data frame as ranging success information;

[0045] A second determining unit is used to determine the ranging information of the failed UWB anchor point that has not received the final-data frame as ranging failure information;

[0046] A processing unit is used to process the ranging failure information using the final-data frame to obtain the lost ranging information of the failed UWB anchor point.

[0047] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the above-mentioned ranging information loss compensation methods.

[0048] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the above-mentioned ranging information loss compensation methods.

[0049] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned ranging information loss compensation methods.

[0050] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run a program or instruction, and the processor implementing the steps of any one of the above-mentioned ranging information loss compensation methods when executing the program or instruction.

[0051] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0052] The present application provides a method, apparatus, device, medium and product for compensating for loss of ranging information. Through multiple UWB anchor points set on a smart car, accurate synchronization between a digital key and multiple UWB anchor points can be achieved; and based on accurate synchronization, each UWB anchor point can calculate the ranging information including the distance between the UWB anchor point and the digital key; and then the final-data frame sent by the digital key can be used to detect which UWB anchor points have lost their ranging information, that is, ranging failure information. At this time, the final-data frame can be used to process the ranging failure information, so as to compensate for the ranging failure information and obtain the lost ranging information of the failed UWB anchor point, thereby improving the accuracy of ranging, and at the same time, the safety and reliability of the car digital key can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 This is an application environment diagram of a ranging information loss compensation method in an embodiment of the present application;

[0055] Figure 2 for Figure 1 A structural schematic diagram of a smart car;

[0056] Figure 3 A flowchart of a method for compensating for ranging information loss in an embodiment of the present application is shown;

[0057] Figure 4 A schematic diagram of storing the current timestamp of each UWB anchor point provided by an embodiment of the present application;

[0058] Figure 5 A schematic diagram of functional modules of a ranging information loss compensation device provided in one embodiment of the present application;

[0059] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. 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 this application.

[0061] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0062] The ranging information loss compensation method provided in the embodiment of the present application can be applied to Figure 1 Please also refer to Figure 2 , Figure 2 The figure is a schematic diagram of the structure of a smart car. Among them, a smart car can be equipped with multiple UWB nodes (i.e., UWB anchor points, UWB modules, UWB antennas, UWB slave nodes, etc.), BLE (Bluetooth Low Energy) nodes, positioning master control modules, GATEWAY, etc., and can be connected via the CAN bus, which can be based on the CANFD or LIN protocol.

[0063] In an exemplary embodiment, Figure 3As shown, a method for compensating for the loss of ranging information is provided, which is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In the embodiment of the present application, the following steps 301 to 308 are included. Among them:

[0064] Step 301, sending a ranging start instruction to a digital key and multiple UWB anchor points set on the smart car through a domain controller set on the smart car, and detecting the synchronization status of the digital key and the multiple UWB anchor points to obtain a synchronization detection result.

[0065] In the embodiment of the present application, the domain controller sends a ranging start instruction to the digital key in order to make the digital key broadcast a pre-poll frame. The digital key can be a mobile terminal, a smart phone, an electronic key, etc., which is not limited in the embodiment of the present application.

[0066] Step 302: If the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchor points, radio frequency identification of the multiple UWB anchor points is enabled to enable the multiple UWB anchor points to receive pre-poll frames and poll frames sent by the digital key.

[0067] In the embodiment of the present application, the pre-poll frame may be a broadcast data frame for bilateral ranging, the broadcast data frame may further include a final data frame, the poll frame may be a broadcast ranging frame, the broadcast ranging frame may further include a final frame. The pre-poll frame and the final data frame only participate in the transmission of data and do not involve the function of the ranging timestamp.

[0068] Step 303: Use the received pre-poll frame and the poll frame to establish precise synchronization between the digital key and the multiple UWB anchor points.

[0069] Optionally, the method of establishing precise synchronization between the digital key and the multiple UWB anchor points using the received pre-poll frame and the poll frame in step 303 may specifically include:

[0070] Detecting a reception status of each UWB anchor point for the pre-poll frame and the poll frame;

[0071] If the reception status of each UWB anchor point indicates that the UWB anchor point has received the pre-poll frame and the poll frame, precise synchronization is established between the digital key and each UWB anchor point.

[0072] If the receiving state exists, it indicates that the first UWB anchor point has not received the pre-poll frame and the poll frame, determining a second UWB anchor point that first receives the pre-poll frame;

[0073] Obtain a broadcast frame of the second UWB anchor point; wherein the broadcast frame includes at least the pre-poll reception time of the second UWB anchor point and the ranging session key information, the pre-poll reception time of the second UWB anchor point is the time Tprepoll2_0 when the second UWB anchor point receives the pre-poll frame, and the ranging session key information includes a session id;

[0074] broadcasting the broadcast frame through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame;

[0075] Obtain the instruction ID in the ranging start instruction;

[0076] Compare the instruction id with the session id to obtain a comparison result;

[0077] If the comparison result indicates that the command id is the same as the session id, the broadcast frame is used to establish precise synchronization between the digital key and the first UWB anchor point.

[0078] As an optional implementation manner, using the broadcast frame, a method for establishing precise synchronization between the digital key and the first UWB anchor point may specifically include:

[0079] Acquire a pre-stored first timestamp TR1 of the first UWB anchor point and a second timestamp TR2 of the second UWB anchor point;

[0080] Using the first timestamp, the second timestamp, and the pre-poll receiving time of the second UWB anchor point, calculate a first pre-poll receiving time Tprepoll1_0 of the first UWB anchor point;

[0081] Using the preset signal gap time length Tslot and the first pre-poll receiving time of the first UWB anchor point, the first poll receiving time Tpoll1_0 of the first UWB anchor point is calculated;

[0082] The open detection time is calculated using the preset duration Tmargin and the first poll reception time of the first UWB anchor point;

[0083] If the open detection time is not earlier than the current time, turning on the radio frequency identification of the first UWB anchor point so that the first UWB anchor point receives the poll frame sent by the digital key;

[0084] If the first UWB anchor point receives the poll frame, it is determined that precise synchronization is established between the digital key and the first UWB anchor point.

[0085] For example, assuming that the UWB anchor point 2 on the vehicle body first receives the pre-poll frame of the digital key and the decryption verification is correct, it records the timestamp Tprepoll2_0 of when it receives the pre-poll frame.

[0086] The key information of the ranging session corresponding to the pre-poll frame (session id, sts index, scrambled timestamp sequence index, Ranging_Block and other parameters defined by the CCC standard) and the timestamp Tprepoll2_0 are broadcast between anchor points.

[0087] Other UWB anchor points that have successfully received the pre-poll frame can choose to broadcast or not (due to factors such as time or bus arbitration, if the time to prepare for broadcasting lags behind UWB anchor point 2, and the broadcast information is consistent with that of UWB anchor point 2, then this broadcast can be ignored to reduce the occupancy rate of the bus or communication means);

[0088] UWB anchor point 1, which lost the pre-poll frame, receives the broadcast frame from UWB anchor point 2.

[0089] First, determine whether the session ID of the broadcast frame matches the instruction ID in the ranging start instruction. If it matches, intercept and save the key information of the ranging session, and use UWB anchor point 2 to receive the first pre-poll timestamp Tprepoll2_0. According to the pre-established time synchronization relationship, the estimated time Tprepoll1_0 when the pre-poll frame arrives at UWB anchor point 1 is calculated as follows:

[0090] Tprepoll1_0=Tprepoll2_0–(TR2-TR1)

[0091] Wherein, TR2–TR1 is the time difference between the relative initial moments of UWB anchor point 2 and UWB anchor point 1.

[0092] And, the formula for calculating the receiving time Tpoll1_0 of the next ranging slot (poll) is:

[0093] Tpoll1_0=Tprepoll1_0+Tslot

[0094] Preset the duration Tmargin in advance to start receiving, set the timeout Tpoll_timeout, and start a time window to capture the next poll frame.

[0095] If the time relationship (such as the delay caused by the broadcast means, which is less than the slot length time Tslot, etc.) causes the calculation of the poll frame start time Tpoll1_0-Tmargin to be earlier than the current time, the current ranging is abandoned, and the pre-poll time of the next ranging round (Ranging block) Tprepoll1_1=Tprepoll1_0+Tblock is calculated to establish coarse synchronization.

[0096] At Tprepoll1_1–Tmargin, the reception is started to wait for the capture of the pre-poll frame of the next ranging round. If the capture is successful, accurate synchronization is established and the subsequent process is continued to receive and send the subsequent ranging frames. If the capture of the pre-poll frame fails this time, that is, synchronization has been achieved but the pre-poll frame is lost, it is classified into the following situations:

[0097] If synchronization has been completed, if a pre-poll frame of a ranging round of UWB anchor point 1 is lost, due to the previously established synchronization time, the time of the subsequent ranging frame of this ranging round and the arrival time of the pre-poll frame of the next ranging round can still be calculated. Therefore, the error of the pre-poll frame loss can be ignored and the subsequent process can be continued.

[0098] The pre-poll frame time of the last ranging round is Tpre poll1_n-1. The time when the pre-poll that has been lost in this ranging round should arrive is: Tpre poll1_n=Tpre poll1_n-1+Tblock;

[0099] The estimated arrival time of the poll frame of this ranging round: Tpoll1_n=Tpre poll1_n+Tslot;

[0100] Estimated time for the next ranging round: Tpre poll1_n+1=Tpre poll1_n+Tblock.

[0101] In the embodiment of the present application, the pre-storage method of the first timestamp of the first UWB anchor point and the second timestamp of the second UWB anchor point may specifically be:

[0102] Sending a time synchronization instruction to the multiple UWB anchor points through the domain controller, and determining the current time when the domain controller sends the time synchronization instruction as the initial time;

[0103] Obtaining a current timestamp when each UWB anchor point receives the time synchronization instruction; wherein the current timestamp of the first UWB anchor point is a first timestamp, and the current timestamp of the second UWB anchor point is a second timestamp;

[0104] The current timestamp of each UWB anchor point is sent to the domain controller through each UWB anchor point, so that the domain controller stores the current timestamp of each UWB anchor point.

[0105] Please also read Figure 4 , Figure 4 The schematic diagram is a diagram for storing the current timestamp of each UWB anchor point. After the domain controller starts the ranging function or the bus wakes up, the vehicle body UWB anchor point time synchronization can be started once.

[0106] Specifically, time synchronization may be initiated by a domain controller or by one of the UWB anchor points.

[0107] The synchronization method can be wired synchronization including the vehicle bus, wireless synchronization, or even hard-wired coaxial line synchronization, etc. The effect after establishing synchronization is that a relative relationship at time 0 is established between each anchor point.

[0108] Since the clock sources of each UWB anchor point are all inside their own products, and the wake-up time and timer start time of different UWB anchor points are different (different implementation schemes, different chips, different suppliers, etc.). After establishing time synchronization, a time 0 T0 (i.e., initial time) for this ranging session can be defined. And the current timestamps TR0, TR1, TR2, etc. corresponding to the T0 time of each UWB anchor point will be recorded.

[0109] Step 304: Based on the precise synchronization, control each UWB anchor point to calculate and obtain ranging information.

[0110] In an embodiment of the present application, the ranging information at least includes the distance between the UWB anchor point and the digital key.

[0111] In the embodiment of the present application, UWB bilateral ranging can be specifically as follows: the physical digital key, as the UWB anchor point initiator, first broadcasts a pre-poll frame to each UWB anchor point in the SP0 format, carrying ranging control information data, which is mainly used for synchronization of data and time slots.

[0112] For the anchor point, after starting the ranging, it will start receiving the pre-poll frame and wait for the pre-poll frame of the digital key. After the anchor point receives the pre-poll frame for the first time, if it is verified and passes the encryption verification, it will enter the synchronization state.

[0113] After the UWB anchor point is verified and synchronized through the pre-poll frame, the time interval of each frame slot is agreed upon according to the slot length parameter. For a known ranging session, if it is synchronized by a pre-poll frame, the time of each ranging slot in each subsequent ranging round is fixed immediately;

[0114] For receiving frames, the reception will be started a short time in advance, and a timeout will be set to open a receiving window to receive frames transmitted by the mobile phone / key;

[0115] For the transmission frame, the anchor point will start the transmission according to the time of the corresponding transmission slot.

[0116] The last final data frame carries the distance measurement result information. For bilateral distance measurement, the anchor point needs to obtain the distance measurement result of the mobile phone / key and combine it with its own distance measurement result to calculate the distance information.

[0117] If the pre-poll frame fails to be received, time synchronization will also be a problem, and the subsequent frames will not be able to determine the time of reception and transmission, which will lead to the failure of ranging.

[0118] If the final data frame fails to be received, the key data for calculating the ranging information cannot be obtained, the distance cannot be calculated, and the ranging fails.

[0119] Table 1 lists the sensitivity performance of mainstream UWB chips at home and abroad in UWB BPRF PHY SP0 and SP3 frames defined by IEEE802.15.4 and 4z. By comparing the sensitivity of SP0 and SP3 frames of various chips, the sensitivity of SP3 frames is basically 4-6dB higher than that of SP0, and the difference of 3dB means that the power has doubled. Combined with the common knowledge of the RF device industry, it is concluded that SP0 frames are more susceptible to interference / blocking and loss than SP3 frames.

[0120] Table 1 Sensitivity performance of SP0 frame and SP3 frame

[0121] brand NXP NXP qorvo ultraception model NCJ29D5 NCJ29D6 DW3300Q ZN2024 IEEE-SP0 -95dBm -100dBm -90dBm -95dBm IEEE-SP3 -99dBm -104dBm -96dBm -99dBm

[0122] Step 305 , enabling radio frequency identification of the multiple UWB anchor points, so that the multiple UWB anchor points receive the final-data frame sent by the digital key.

[0123] Step 306: Determine the ranging information of the successful UWB anchor point that receives the final-data frame as ranging success information.

[0124] Step 307: Determine the ranging information of the failed UWB anchor point that has not received the final-data frame as ranging failure information.

[0125] Step 308: Use the final-data frame to process the ranging failure information to obtain the lost ranging information of the failed UWB anchor point.

[0126] In an embodiment of the present application, the anchor point of the digital key final-data frame is successfully received, and the key information of the final-data frame (session id, Ranging_Block, Final_STS_Index, next Round_Index, Ranging_Timestamp_FINAL_TX, Ranging_Timestamp_Responder) is broadcast.

[0127] For the UWB anchor point that loses the final-data frame, if the SP3 bilateral ranging is successful, the ranging failure information of this round (session id, Ranging_Block, STS INDEX, and three timestamps of bilateral SP3 ranging: Ts poll, Ts respond, and Ts final) is recorded and cached.

[0128] If the broadcast information of other anchor points is received, if the broadcast information can match the ranging failure information session id recorded above, and the ranging block and STS match, then the key information useful to itself (such as Ranging_Timestamp_FINAL_TX and the Ranging_Timestamp_Responder of the corresponding anchor point number) is intercepted, and the final ranging distance of the lost ranging round is calculated by combining the three timestamps Ts poll, Ts respondse, and Ts final of the UWB anchor point end cached above.

[0129] T round1 +T round2 +T reply1 +T reply2

[0130] T round1 =Ranging_Timestamp_Responder;

[0131] T round2 =Ranging_Timestamp_FINAL_TX-Ranging_Timestamp_Responder;

[0132] T reply1=Ts respondse-Ts poll;

[0133] T reply2 =Ts final - Ts poll.

[0134] By implementing the above steps 301 to 308, accurate synchronization between the digital key and the multiple UWB anchor points can be achieved through the multiple UWB anchor points set on the smart car; and based on the accurate synchronization, each UWB anchor point can calculate the ranging information including the distance between the UWB anchor point and the digital key; and then the final-data frame sent by the digital key can be used to detect which UWB anchor points have lost their ranging information, that is, ranging failure information. At this time, the final-data frame can be used to process the ranging failure information, so as to compensate for the ranging failure information and obtain the lost ranging information of the failed UWB anchor point, thereby improving the accuracy of ranging, and also can improve the safety and reliability of the car digital key.

[0135] Based on the same inventive concept, the embodiment of the present application also provides a ranging information loss compensation device for implementing the ranging information loss compensation method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more ranging information loss compensation devices provided below can refer to the limitations of the ranging information loss compensation method above, and will not be repeated here.

[0136] In an exemplary embodiment, Figure 5 As shown, a ranging information loss compensation device is provided, comprising:

[0137] The sending unit 501 is used to send a ranging start instruction to the digital key and multiple UWB anchor points set on the smart car through a domain controller set on the smart car, and detect the synchronization status of the digital key and the multiple UWB anchor points to obtain a synchronization detection result;

[0138] A first enabling unit 502 is configured to enable radio frequency identification of the multiple UWB anchor points if the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchor points, so that the multiple UWB anchor points receive pre-poll frames and poll frames sent by the digital key;

[0139] A synchronization unit 503, configured to establish precise synchronization between the digital key and the plurality of UWB anchor points using the received pre-poll frame and the poll frame;

[0140] A control unit 504 is configured to control each UWB anchor point to calculate and obtain ranging information based on the precise synchronization; wherein the ranging information at least includes a distance between the UWB anchor point and the digital key;

[0141] A second opening unit 505 is used to open the radio frequency identification of the multiple UWB anchor points, so that the multiple UWB anchor points receive the final-data frame sent by the digital key;

[0142] A first determining unit 506 is configured to determine the ranging information of the successful UWB anchor point receiving the final-data frame as ranging success information;

[0143] A second determining unit 507 is configured to determine the ranging information of the failed UWB anchor point that has not received the final-data frame as ranging failure information;

[0144] The processing unit 508 is configured to process the ranging failure information using the final-data frame to obtain the lost ranging information of the failed UWB anchor point.

[0145] By implementing the above-mentioned implementation mode, accurate synchronization between the digital key and the multiple UWB anchor points can be achieved through the multiple UWB anchor points set on the smart car; and based on the accurate synchronization, each UWB anchor point can calculate the ranging information including the distance between the UWB anchor point and the digital key; and then the final-data frame sent by the digital key can be used to detect which UWB anchor points have lost their ranging information, that is, ranging failure information. At this time, the final-data frame can be used to process the ranging failure information, so as to compensate for the ranging failure information and obtain the lost ranging information of the failed UWB anchor point, thereby improving the accuracy of ranging, and at the same time, the safety and reliability of the car digital key can also be improved.

[0146] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 6As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store ranging information loss compensation data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a ranging information loss compensation method is implemented.

[0147] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0148] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0149] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0150] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0151] In an exemplary embodiment, a chip is provided, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the above-mentioned method embodiments and achieve the same technical effects. To avoid repetition, they are not described here.

[0152] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0153] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0154] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0155] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0156] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for compensating for ranging information loss, characterized in that: The ranging information loss compensation method comprises: Sending a ranging start instruction to a digital key and a plurality of UWB anchor points set on the smart car through a domain controller set on the smart car, and detecting a synchronization state between the digital key and the plurality of UWB anchor points to obtain a synchronization detection result; If the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchor points, enabling radio frequency identification of the multiple UWB anchor points so that the multiple UWB anchor points receive pre-poll frames and poll frames sent by the digital key; Using the received pre-poll frame and the poll frame, establishing precise synchronization between the digital key and the plurality of UWB anchor points; Based on the precise synchronization, each UWB anchor point is controlled to calculate and obtain ranging information; wherein the ranging information at least includes the distance between the UWB anchor point and the digital key; Turning on radio frequency identification of the multiple UWB anchor points so that the multiple UWB anchor points receive the final-data frame sent by the digital key; Determine the ranging information of the successful UWB anchor point that receives the final-data frame as ranging success information; Determine the ranging information of the failed UWB anchor point that has not received the final-data frame as ranging failure information; The ranging failure information is processed using the final-data frame to obtain the lost ranging information of the failed UWB anchor point.

2. The ranging information loss compensation method according to claim 1, characterized in that: The using the received pre-poll frame and the poll frame to establish precise synchronization between the digital key and the multiple UWB anchor points specifically includes: Detecting a reception status of each UWB anchor point for the pre-poll frame and the poll frame; If the reception status of each UWB anchor point indicates that the UWB anchor point has received the pre-poll frame and the poll frame, precise synchronization is established between the digital key and each UWB anchor point.

3. The ranging information loss compensation method according to claim 2, characterized in that: The ranging information loss compensation method further includes: If the receiving state exists, it indicates that the first UWB anchor point has not received the pre-poll frame and the poll frame, determining a second UWB anchor point that first receives the pre-poll frame; Obtain a broadcast frame of the second UWB anchor point; wherein the broadcast frame includes at least a pre-poll reception time of the second UWB anchor point and ranging session key information, the pre-poll reception time of the second UWB anchor point is the time when the second UWB anchor point receives the pre-poll frame, and the ranging session key information includes a session ID; broadcasting the broadcast frame through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame; Using the broadcast frame, precise synchronization is established between the digital key and the first UWB anchor point.

4. The ranging information loss compensation method according to claim 3, characterized in that: After broadcasting the broadcast frame through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame, the method further includes: Obtain the instruction ID in the ranging start instruction; Compare the instruction id with the session id to obtain a comparison result; If the comparison result indicates that the instruction id is the same as the session id, the step of using the broadcast frame to establish precise synchronization between the digital key and the first UWB anchor point is performed.

5. The ranging information loss compensation method according to claim 3 or 4, characterized in that: The using the broadcast frame to establish precise synchronization between the digital key and the first UWB anchor point specifically includes: Acquire a pre-stored first timestamp of the first UWB anchor point and a second timestamp of the second UWB anchor point; Calculate a first pre-poll reception time of the first UWB anchor point using the first timestamp, the second timestamp, and the pre-poll reception time of the second UWB anchor point; Using a preset signal gap time length and a first pre-poll receiving time of the first UWB anchor point, a first poll receiving time of the first UWB anchor point is calculated; Using the preset duration and the first poll reception time of the first UWB anchor point, calculate the open detection time; If the open detection time is not earlier than the current time, turning on the radio frequency identification of the first UWB anchor point so that the first UWB anchor point receives the poll frame sent by the digital key; If the first UWB anchor point receives the poll frame, it is determined that precise synchronization is established between the digital key and the first UWB anchor point.

6. The ranging information loss compensation method according to claim 5, characterized in that: The pre-storage method of the first timestamp of the first UWB anchor point and the second timestamp of the second UWB anchor point is specifically: Sending a time synchronization instruction to the multiple UWB anchor points through the domain controller, and determining the current time when the domain controller sends the time synchronization instruction as the initial time; Obtaining a current timestamp when each UWB anchor point receives the time synchronization instruction; wherein the current timestamp of the first UWB anchor point is a first timestamp, and the current timestamp of the second UWB anchor point is a second timestamp; The current timestamp of each UWB anchor point is sent to the domain controller through each UWB anchor point, so that the domain controller stores the current timestamp of each UWB anchor point.

7. A distance measurement information loss compensation device, characterized in that: The ranging information loss compensation device comprises: A sending unit, configured to send a ranging start instruction to a digital key and a plurality of UWB anchor points set on the smart car through a domain controller set on the smart car, and detect a synchronization state between the digital key and the plurality of UWB anchor points to obtain a synchronization detection result; a first enabling unit, configured to enable radio frequency identification of the multiple UWB anchor points if the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchor points, so that the multiple UWB anchor points receive pre-poll frames and poll frames sent by the digital key; a synchronization unit, configured to establish precise synchronization between the digital key and the plurality of UWB anchor points using the received pre-poll frame and the poll frame; A control unit, configured to control each UWB anchor point to calculate and obtain ranging information based on the precise synchronization; wherein the ranging information at least includes a distance between the UWB anchor point and the digital key; A second opening unit, configured to open the radio frequency identification of the plurality of UWB anchor points, so that the plurality of UWB anchor points receive the final-data frame sent by the digital key; A first determining unit, configured to determine the ranging information of the successful UWB anchor point receiving the final-data frame as ranging success information; A second determining unit is used to determine the ranging information of the failed UWB anchor point that has not received the final-data frame as ranging failure information; A processing unit is used to process the ranging failure information using the final-data frame to obtain the lost ranging information of the failed UWB anchor point.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the ranging information loss compensation method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the ranging information loss compensation method described in any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the ranging information loss compensation method described in any one of claims 1 to 6 are implemented.

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