A method, device, equipment, medium and product for compensating for loss of ranging information

Abstract

This application discloses a method, apparatus, device, medium, and product for compensating for lost ranging information, relating to the field of intelligent vehicle technology. The method includes sending a ranging start command to a digital key and UWB anchor points, and detecting the synchronization status between the digital key and multiple UWB anchor points; if the synchronization detection result indicates a lack of synchronization, then activating the radio frequency identification (RFID) of the multiple UWB anchor points; using received pre-poll and poll frames to establish precise synchronization between the digital key and the multiple UWB anchor points; controlling each UWB anchor point to calculate ranging information; activating the RFID of the multiple UWB anchor points so that they receive the final-data frame sent by the digital key; determining the ranging information of the successful UWB anchor point that received the final-data frame as ranging success information; determining the ranging information of the failed UWB anchor point that did not receive the final-data frame as ranging failure information; and processing the ranging failure information using the final-data frame to obtain the lost ranging information of the failed UWB anchor point. This application can improve the security and reliability of automotive digital keys.

Description

Technical Field

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

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

[0003] However, UWB technology also faces some challenges in practical applications. Especially in complex vehicle environments, due to factors such as vehicle structure, human body obstruction, and long distance measurement, the transmission of UWB signals is often interfered with, leading to frequent occurrences of distance measurement information loss or distance measurement failure, which affects the security and reliability of car digital keys. Summary of the Invention

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

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

[0006] Firstly, this application provides a method for compensating for the loss of ranging information, including:

[0007] The domain controller installed on the smart car sends a ranging start command to the digital key and multiple UWB anchor points installed on the smart car, and detects the synchronization status of the digital key and the multiple UWB anchor points to obtain the synchronization detection result.

[0008] If the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchors, then the radio frequency identification of the multiple UWB anchors is enabled so that the multiple UWB anchors can receive the pre-poll frame and poll frame sent by the digital key.

[0009] Using the received pre-poll frame and the poll frame, establish 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 ranging information; wherein, the ranging information includes at least the distance between the UWB anchor point and the digital key;

[0011] Enable radio frequency identification of the plurality of UWB anchor points so that the plurality of UWB anchor points can receive the final-data frame sent by the digital key;

[0012] The ranging information of the successful UWB anchor point that received the final-data frame is determined as ranging success information;

[0013] The ranging information of the failed UWB anchor point that did not receive the final-data frame is determined as ranging failure information;

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

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

[0016] Detect the 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, then a 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 a reception status indicates that the first UWB anchor point has not received the pre-poll frame and the poll frame, then the first second UWB anchor point to receive the pre-poll frame is determined.

[0020] Obtain the broadcast frame of the second UWB anchor point; wherein, the broadcast frame includes at least the pre-poll reception time and ranging session key information of the second UWB anchor point, 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] The broadcast frame is broadcast through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame;

[0022] The broadcast frame is used to establish precise synchronization between the digital key and the first UWB anchor point.

[0023] Optionally, after broadcasting the broadcast frame through the second UWB anchor point to enable the first UWB anchor point to receive the broadcast frame, the method further includes:

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

[0025] The instruction ID is compared with the session ID to obtain the comparison result;

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

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

[0028] Obtain the first timestamp of the first UWB anchor point and the second timestamp of the second UWB anchor point, which are stored in advance;

[0029] The first pre-poll reception time of the first UWB anchor point is calculated using the first timestamp, the second timestamp, and the pre-poll reception time of the second UWB anchor point.

[0030] The first poll reception time of the first UWB anchor point is calculated using the preset signal gap time and the first pre-poll reception time of the first UWB anchor point.

[0031] The open detection time is calculated using a preset duration and the first poll reception time of the first UWB anchor point.

[0032] If the open detection time is not earlier than the current time, then the radio frequency identification of the first UWB anchor point is enabled 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 a precise synchronization has been established between the digital key and the first UWB anchor point.

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

[0035] The domain controller sends time synchronization commands to the multiple UWB anchor points, and the current time when the domain controller sends the time synchronization commands is determined as the initial time.

[0036] Obtain the current timestamp of each UWB anchor point when it receives the time synchronization command; wherein, the current timestamp of the first UWB anchor point is the first timestamp, and the current timestamp of the second UWB anchor point is the second timestamp;

[0037] Each UWB anchor point sends its current timestamp to the domain controller, so that the domain controller stores the current timestamp of each UWB anchor point.

[0038] Secondly, this application provides a ranging information loss compensation device, comprising:

[0039] The sending unit is used to send a ranging start command to the digital key and multiple UWB anchor points set on the intelligent vehicle through the domain controller set on the intelligent vehicle, and to detect the synchronization status of the digital key and the multiple UWB anchor points to obtain the synchronization detection result.

[0040] The first activation unit is configured to activate the radio frequency identification of the multiple UWB anchors if the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchors, so that the multiple UWB anchors can receive the pre-poll frame and poll frame sent by the digital key.

[0041] A synchronization unit is used 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 is configured to control each UWB anchor point to calculate ranging information based on the precise synchronization; wherein the ranging information includes at least the distance between the UWB anchor point and the digital key;

[0043] The second activation unit is used to activate the radio frequency identification of the plurality of UWB anchor points so that the plurality of UWB anchor points can receive the final-data frame sent by the digital key.

[0044] The first determining unit is used to determine the ranging information of the successful UWB anchor point that received the final-data frame as ranging success information;

[0045] The 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] The 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] Thirdly, this 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 the ranging information loss compensation method described in any one of the above.

[0048] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the ranging information loss compensation method described above.

[0049] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the ranging information loss compensation method described above.

[0050] In a sixth aspect, this application provides a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run a program or instructions, and the processor implementing the steps of the ranging information loss compensation method described above when executing the program or instructions.

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

[0052] This application provides a method, apparatus, device, medium, and product for compensating for lost ranging information. By using multiple UWB anchor points set on a smart car, precise synchronization between the digital key and these anchor points can be achieved. Based on this precise synchronization, each UWB anchor point can calculate ranging information including the distance between the UWB anchor point and the digital key. Furthermore, the final-data frames sent by the digital key can detect which UWB anchor points have lost ranging information, indicating ranging failure information. The final-data frames can then be used to process and compensate for this ranging failure information, obtaining the lost ranging information of the failed UWB anchor points. This improves the accuracy of ranging and enhances the security and reliability of the car's digital key. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0055] Figure 2 for Figure 1 A schematic diagram of the structure of an intelligent vehicle;

[0056] Figure 3 This is a flowchart illustrating a ranging information loss compensation method according to an embodiment of this application;

[0057] Figure 4 A schematic diagram illustrating the storage of the current timestamps of each UWB anchor point, provided as an embodiment of this application;

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

[0059] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] The ranging information loss compensation method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown. Please refer to it as well. Figure 2 , Figure 2 This is a schematic diagram of the structure of an intelligent vehicle. The intelligent vehicle 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, a positioning control module, a GATEWAY, etc., and can be connected via a CAN bus, based on either the CANFD or LIN protocol.

[0063] In one exemplary embodiment, such as Figure 3As shown, a ranging information loss compensation method is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, it includes the following steps 301 to 308. Wherein:

[0064] Step 301: Send a ranging start command to the digital key and multiple UWB anchor points set on the intelligent vehicle through the domain controller set on the intelligent vehicle, and detect the synchronization status of the digital key and the multiple UWB anchor points to obtain the synchronization detection result.

[0065] In this embodiment, the domain controller sends a ranging start command to the digital key to enable the digital key to broadcast a pre-poll frame. The digital key can be a mobile terminal, smartphone, electronic key, etc., and this embodiment does not limit its application to this type.

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

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

[0068] Step 303: Using the received pre-poll frame and the poll frame, establish precise synchronization between the digital key and the plurality of UWB anchor points.

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

[0070] Detect the 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, then a precise synchronization is established between the digital key and each UWB anchor point.

[0072] If a reception status indicates that the first UWB anchor point has not received the pre-poll frame and the poll frame, then the first second UWB anchor point to receive the pre-poll frame is determined.

[0073] Obtain the broadcast frame of the second UWB anchor point; wherein, the broadcast frame includes at least the pre-poll reception time and ranging session key information of the second UWB anchor point, 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 the session ID.

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

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

[0076] The instruction ID is compared with the session ID to obtain the comparison result;

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

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

[0079] Obtain the first timestamp TR1 of the first UWB anchor point and the second timestamp TR2 of the second UWB anchor point, which are stored in advance;

[0080] Using the first timestamp, the second timestamp, and the pre-poll reception time of the second UWB anchor point, the first pre-poll reception time Tprepoll1_0 of the first UWB anchor point is calculated.

[0081] The first poll reception time Tpoll1_0 of the first UWB anchor point is calculated using the preset signal gap time Tslot and the first pre-poll reception time of the first UWB anchor point.

[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, then the radio frequency identification of the first UWB anchor point is enabled 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 a precise synchronization has been established between the digital key and the first UWB anchor point.

[0085] For example, assuming that the vehicle's UWB anchor point 2 is the first to receive the pre-poll frame from the digital key, and the decryption and verification are successful, then it records the timestamp Tprepoll2_0 of receiving the pre-poll frame.

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

[0087] Other UWB anchors that successfully receive the pre-poll frame can choose to broadcast or not (if the time to send the broadcast is later than that of UWB anchor 2 due to factors such as time or bus arbitration, and the broadcast information is consistent with the information of UWB anchor 2, then this broadcast can be ignored to reduce the occupancy rate of the bus or communication method).

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

[0089] First, it checks if the session ID of the broadcast frame matches the instruction ID in the ranging start command. If they match, it extracts and saves the key information of the ranging session, and uses UWB anchor point 2 to receive the first pre-poll timestamp Tprepoll2_0. Based on the pre-established time synchronization relationship, it calculates the expected time Tprepoll1_0 when the pre-poll frame arrives at UWB anchor point 1.

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

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

[0092] Furthermore, the formula for calculating the reception time Tpoll1_0 of the next ranging slot (poll) is as follows:

[0093] Tpoll1_0 = Tprepoll1_0 + Tslot

[0094] Start receiving by pre-setting the duration Tmargin and setting the timeout Tpoll_timeout, and start a time window to capture the next poll frame.

[0095] If time constraints (such as delays caused by broadcasting, or time less than the slot length Tslot) cause the time to start calculating the poll frame, Tpoll1_0 - Tmargin, to be earlier than the current time, then the current ranging is abandoned, and the time for the next ranging wheel (Ranging block) pre-poll, Tprepoll1_1 = Tprepoll1_0 + Tblock, is calculated to establish coarse synchronization.

[0096] In Tprepoll1_1–Tmargin, reception is initiated to wait for the capture of the pre-poll frame of the next ranging wheel. If capture is successful, precise synchronization is established, and the subsequent process continues to receive and transmit subsequent ranging frames. If the capture of the pre-poll frame fails, i.e., synchronization has been achieved but the pre-poll frame is lost, it is classified into the following cases:

[0097] If synchronization has already been established, and a pre-poll frame of a ranging wheel is lost at UWB anchor point 1, the timing of subsequent ranging frames and the arrival time of the next pre-poll frame can still be calculated due to the previously established synchronization time. Therefore, the error of the lost pre-poll frame can be ignored, and the subsequent process can continue.

[0098] The last pre-poll frame time of the ranging wheel was Tpre poll1_n-1. The time that the pre-poll frame that has been lost in this ranging wheel should have arrived at is: Tpre poll1_n = Tpre poll1_n-1 + Tblock.

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

[0100] The estimated time for the next ranging wheel is: Tpre poll1_n+1 = Tpre poll1_n + Tblock.

[0101] In this embodiment of the 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 can specifically be as follows:

[0102] The domain controller sends time synchronization commands to the multiple UWB anchor points, and the current time when the domain controller sends the time synchronization commands is determined as the initial time.

[0103] Obtain the current timestamp of each UWB anchor point when it receives the time synchronization command; wherein, the current timestamp of the first UWB anchor point is the first timestamp, and the current timestamp of the second UWB anchor point is the second timestamp;

[0104] Each UWB anchor point sends its current timestamp to the domain controller, so that the domain controller stores the current timestamp of each UWB anchor point.

[0105] Please also refer to Figure 4 , Figure 4 This diagram illustrates the storage of the current timestamps for each UWB anchor point. The UWB anchor point time synchronization can be initiated once after the domain controller starts the ranging function or after the bus wakes up.

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

[0107] Synchronization methods can include wired synchronization (such as via a car bus), wireless synchronization, or even hard-wired coaxial cable synchronization, etc. The effect of establishing synchronization is that a relative relationship at time 0 is established between each anchor point.

[0108] Since the clock sources for each UWB anchor point are internal to their respective products, and the wake-up times and timer start times vary between different UWB anchor points (due to different implementation schemes, different chips, differences between suppliers, etc.), after establishing time synchronization, a time 0 T0 (i.e., the initial time) can be defined for this ranging session. The current timestamps TR0, TR1, TR2, etc., corresponding to time T0 for each UWB anchor point will be recorded.

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

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

[0111] In this embodiment, UWB bilateral ranging can specifically be achieved as follows: the physical digital key, acting as the UWB anchor point initiator, first broadcasts pre-poll frames to each UWB anchor point in SPI format, carrying ranging control information data. This is mainly used for data and time slot synchronization.

[0112] For the anchor point, after starting ranging, it will start receiving pre-poll frames and wait for the pre-poll frames from the digital key. After the anchor point receives the pre-poll frame for the first time, if the verification 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 certain pre-poll frame, the time of each ranging slot in each subsequent ranging round will be fixed.

[0114] For receiving frames, 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 a transmission frame, the anchor point will initiate transmission according to the time of the corresponding transmission slot.

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

[0117] If the pre-poll frame reception fails, time synchronization will also be problematic, and the reception and transmission times of subsequent frames cannot be determined, which will ultimately lead to ranging failure.

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

[0119] Table 1 lists the sensitivity performance of mainstream domestic and international UWB chips in the SP0 and SP3 frames of the UWB BPRF PHY defined by IEEE 802.15.4 and 4z. A horizontal comparison of the SP0 and SP3 frame sensitivities of various chips shows that the SP3 frame sensitivity is generally 4-6 dB higher than the SP0 sensitivity, and a 3 dB difference represents a doubling of power. Based on industry consensus in RF devices, it can be concluded that the SP0 frame is more susceptible to interference / blockage and loss than the SP3 frame.

[0120] Table 1. Sensitivity performance of SP0 and SP3 frames.

[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: Enable radio frequency identification of the plurality of UWB anchor points so that the plurality of UWB anchor points can receive the final-data frame sent by the digital key.

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

[0124] Step 307: The ranging information of the failed UWB anchor point that did not receive the final-data frame is determined 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 this embodiment of the 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, Range_Block, Final_STS_Index, next Round_Index, Range_Timestamp_FINAL_TX, Range_Timestamp_Responder) is broadcast.

[0127] For UWB anchor points that lose final-data frames, if SP3 bilateral ranging is successful, record the cached ranging failure information for this round (session id, Rangeing_Block, STS INDEX, and three timestamps for bilateral SP3 ranging: Ts poll, Ts respondse, and Ts final).

[0128] If broadcast information from other anchor points is received, and if the broadcast information matches 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 extracted. Combined with the three timestamps Ts poll, Ts respondse, and Ts final of the cached UWB anchor point, the final ranging distance of the lost ranging wheel is calculated.

[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 steps 301 to 308 above, precise synchronization between the digital key and multiple UWB anchor points can be achieved through the multiple UWB anchor points set on the intelligent vehicle. Based on this precise synchronization, each UWB anchor point can calculate ranging information including the distance between the UWB anchor point and the digital key. Furthermore, the final-data frames sent by the digital key can detect which UWB anchor points have lost ranging information, i.e., ranging failure information. At this point, the final-data frames can be used to process the ranging failure information, thereby compensating for the lost ranging information of the failed UWB anchor points and improving the accuracy of ranging. This also enhances the security and reliability of the vehicle's digital key.

[0135] Based on the same inventive concept, this application also provides a ranging information loss compensation device for implementing the ranging information loss compensation method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more ranging information loss compensation device embodiments provided below can be found in the limitations of the ranging information loss compensation method described above, and will not be repeated here.

[0136] In one exemplary embodiment, such as 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 command to the digital key and multiple UWB anchor points set on the intelligent vehicle through the domain controller set on the intelligent vehicle, and to detect the synchronization status of the digital key and the multiple UWB anchor points to obtain the synchronization detection result.

[0138] The first activation unit 502 is configured to activate the radio frequency identification of the multiple UWB anchors if the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchors, so that the multiple UWB anchors can receive the pre-poll frame and poll frame sent by the digital key.

[0139] Synchronization unit 503 is used 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] Control unit 504 is used to control each UWB anchor point to calculate distance information based on the precise synchronization; wherein the distance information includes at least the distance between the UWB anchor point and the digital key;

[0141] The second activation unit 505 is used to activate the radio frequency identification of the plurality of UWB anchor points so that the plurality of UWB anchor points can receive the final-data frame sent by the digital key.

[0142] The first determining unit 506 is used to determine the ranging information of the successful UWB anchor point that received the final-data frame as ranging success information.

[0143] The second determining unit 507 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.

[0144] The processing unit 508 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.

[0145] By implementing the above methods, precise synchronization between the digital key and multiple UWB anchor points can be achieved through multiple UWB anchor points set on the intelligent vehicle. Based on this precise synchronization, each UWB anchor point can calculate ranging information including the distance between the UWB anchor point and the digital key. Furthermore, the final-data frames sent by the digital key can detect which UWB anchor points have lost ranging information, i.e., ranging failure information. The final-data frames can then be used to process and compensate for the ranging failure information, obtaining the lost ranging information of the failed UWB anchor points. This improves the accuracy of ranging and enhances the security and reliability of the vehicle's digital key.

[0146] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 6As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores ranging information loss compensation data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a ranging information loss compensation method.

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

[0148] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0149] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0150] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0151] In one exemplary embodiment, a chip is provided, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the steps in the above method embodiments and achieve the same technical effect, and will not be described again here to avoid repetition.

[0152] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0154] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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 can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0155] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0156] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for compensating for the loss of ranging information, characterized in that, The ranging information loss compensation method includes: The domain controller installed on the smart car sends a ranging start command to the digital key and multiple UWB anchor points installed on the smart car, and detects the synchronization status of the digital key and the multiple UWB anchor points to obtain the synchronization detection result. If the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchors, then the radio frequency identification of the multiple UWB anchors is enabled so that the multiple UWB anchors can receive the pre-poll frame and poll frame sent by the digital key. Using the received pre-poll frame and the poll frame, establish 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 ranging information; wherein, the ranging information includes at least the distance between the UWB anchor point and the digital key; Enable radio frequency identification of the plurality of UWB anchor points so that the plurality of UWB anchor points can receive the final-data frame sent by the digital key; The ranging information of the successful UWB anchor point that received the final-data frame is determined as ranging success information; The ranging information of the failed UWB anchor point that did not receive the final-data frame is determined as ranging failure information; The final-data frame is used to process the ranging failure information 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 step of establishing precise synchronization between the digital key and the plurality of UWB anchor points using the received pre-poll frames and poll frames specifically includes: Detect the 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, then a 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 also includes: If a reception status indicates that the first UWB anchor point has not received the pre-poll frame and the poll frame, then the first second UWB anchor point to receive the pre-poll frame is determined. Obtain the broadcast frame of the second UWB anchor point; wherein, the broadcast frame includes at least the pre-poll reception time and ranging session key information of the second UWB anchor point, 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; The broadcast frame is broadcast through the second UWB anchor point so that the first UWB anchor point receives the broadcast frame; The broadcast frame is used to establish precise synchronization 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 from the ranging start instruction; The command ID is compared with the session ID to obtain the comparison result; If the comparison result indicates that the instruction ID is the same as the session ID, then the step of using the broadcast frame to establish precise synchronization between the digital key and the first UWB anchor point is executed.

5. The ranging information loss compensation method according to claim 3 or 4, characterized in that, The step of using the broadcast frame to establish precise synchronization between the digital key and the first UWB anchor point specifically includes: Obtain the first timestamp of the first UWB anchor point and the second timestamp of the second UWB anchor point, which are stored in advance; The first pre-poll reception time of the first UWB anchor point is calculated using the first timestamp, the second timestamp, and the pre-poll reception time of the second UWB anchor point. The first poll reception time of the first UWB anchor point is calculated using the preset signal gap time and the first pre-poll reception time of the first UWB anchor point. The open detection time is calculated using a preset duration and the first poll reception time of the first UWB anchor point. If the open detection time is not earlier than the current time, then the radio frequency identification of the first UWB anchor point is enabled 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 a precise synchronization has been 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 specific method for pre-storing the first timestamp of the first UWB anchor point and the second timestamp of the second UWB anchor point is as follows: The domain controller sends time synchronization commands to the multiple UWB anchor points, and the current time when the domain controller sends the time synchronization commands is determined as the initial time. Obtain the current timestamp of each UWB anchor point when it receives the time synchronization command; wherein, the current timestamp of the first UWB anchor point is the first timestamp, and the current timestamp of the second UWB anchor point is the second timestamp; Each UWB anchor point sends its current timestamp to the domain controller, so that the domain controller stores the current timestamp of each UWB anchor point.

7. A ranging information loss compensation device, characterized in that, The ranging information loss compensation device includes: The sending unit is used to send a ranging start command to the digital key and multiple UWB anchor points set on the intelligent vehicle through the domain controller set on the intelligent vehicle, and to detect the synchronization status of the digital key and the multiple UWB anchor points to obtain the synchronization detection result. The first activation unit is configured to activate the radio frequency identification of the multiple UWB anchors if the synchronization detection result indicates that the digital key is not synchronized with the multiple UWB anchors, so that the multiple UWB anchors can receive the pre-poll frame and poll frame sent by the digital key. A synchronization unit is used 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 is configured to control each UWB anchor point to calculate ranging information based on the precise synchronization; wherein the ranging information includes at least the distance between the UWB anchor point and the digital key; The second activation unit is used to activate the radio frequency identification of the plurality of UWB anchor points so that the plurality of UWB anchor points can receive the final-data frame sent by the digital key. The first determining unit is used to determine the ranging information of the successful UWB anchor point that received the final-data frame as ranging success information; The 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. The 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, characterized in that the processor executes the computer program to implement the steps of the ranging information loss compensation method according to any one of claims 1-6.

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

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

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