Method and device for determining distance value characterizing distance between vehicle transceiver on vehicle side and mobile device transceiver by exchanging messages

Abstract

The invention relates to a device (TRX1, TRX2, TRX3, TRX4, TRX5, 8a, SG1) and a method designed to determine at least one current distance value (d1, d2, d3) characterizing the distance (d1, d2, d3) between a mobile device transceiver (8a) and a vehicle transceiver (TRX1, TRX2, TRX3, TRX4, TRX5, TRX6) on the vehicle (7) side by exchanging messages (10-15), the distance value determination interval (I1, I2) being more than one second.

Description

TECHNICAL FIELD

[0001] The present application relates to a method and a device for determining a distance value of a distance of a spacing between a vehicle transceiver representing a respective vehicle side and a mobile device transceiver by exchanging messages. BACKGROUND

[0002] The acquisition of the distance between a vehicle transceiver and a mobile device transceiver (e.g. a smartphone, a smartwatch, an ID transmitter (e.g. a vehicle key, a key fob)) by UWB ToF (English: Time of Flight, Chinese: Time of Flight) can be organized, for example, in the form of a so-called "UWB ranging session", which can also define the time behavior (ranging period, repetition rate, etc.) of the message exchange for the distance acquisition.

[0003] The positioning of a mobile device transceiver, such as in particular a smart device (SO), by ultra-wideband (UWB) is based, for example, on a distance measurement by means of a so-called time-of-flight (ToF) measurement method, for example with so-called "ranging". Such a distance measurement can be used, for example, only for a limited time, for example 30 seconds. After this time, the positioning is paused, i.e. at least temporarily / intermittently ended. If the positioning is now to be resumed, for example after an action by the vehicle user (pulling the door handle, operating the start pedal or start button, etc.), it can take several seconds until the measurement is resumed and the positioning of the mobile device transceiver is completed.

[0004] According to the currently used standard (CCC TS-101, R3 V1.1.0), the establishment of a so-called ranging session is simplified by not transmitting or not completely transmitting certain parameters required for establishing the ranging session. In addition, the specification describes a possibility of determining a common time reference between the SO and the vehicle by another communication channel (Bluetooth Low Energy, BLE) before the start of the ranging session. SUMMARY

[0005] It is an object of the present application to optimize the determination of a distance value (representing a distance between a motor vehicle transceiver representing at least one motor vehicle side and a mobile device transceiver outside the motor vehicle). This object is accordingly achieved by the subject matter of the independent patent claims. Several particularly advantageous design schemes of the present application are given in the dependent claims and the description. The design schemes of the present application can be implemented as an alternative to existing solutions, enabling the determination of the spacing and / or the propagation time between a vehicle and a (mobile device) transceiver, which is more energy-efficient compared to the current standard and thus can not end / intermittently interrupt the ranging operation, etc.

[0006] According to the dependent claims, several design schemes of the present application are as follows: According to an embodiment of the application, the interval for the distance value determination exceeds one second only if a previous distance value has been determined using the vehicle transceiver before, while the interval is preferably less than one second, in particular 192 milliseconds, otherwise. For example, if the vehicle user has been detected to be located within the vehicle based on a distance determination, it can be sufficient (always or when detecting an action such as starting the vehicle) to perform a new distance determination with lower frequency every 1 to x (several) seconds.

[0007] For example, according to an embodiment of the application, the interval can exceed one second or exceed two seconds or exceed three seconds or exceed five seconds or exceed ten seconds or exceed thirty seconds, and / or the interval can be less than two seconds or less than three seconds or less than five seconds or less than ten seconds or less than thirty seconds.

[0008] According to a further embodiment of the application, the interval can be dynamically changed during an ongoing distance value determination (e.g. an ongoing ranging), in particular depending on whether the mobile device transceiver is moving towards the vehicle or away from the vehicle. This movement (approaching or moving away) can be informed for example by at least one message between the mobile device transceiver and the vehicle via a Bluetooth or Bluetooth-BLE channel or other channel. For example, if the mobile device transceiver is moving towards the vehicle, the interval can be shorter than if the mobile device transceiver is moving away from the vehicle, or vice versa. And / or if the mobile device transceiver is not moving (or hardly moving or moving with a speed not exceeding a threshold) relative to the vehicle, the interval can be longer. BRIEF DESCRIPTION OF DRAWINGS

[0009] Further features and advantages of several advantageous embodiments of the application result from the following description of several embodiments of the application with the aid of the drawings. Herein, several possible embodiments of the application are shown in a simplified and schematic manner: Figure 1 An embodiment of the message transmission between a mobile device transceiver and a vehicle transceiver for distance determination according to the application is shown, Figure 2 An embodiment of the distance determination in a simple ranging session based on for example three messages and here also possible sending / receiving time points of exchange according to the application is shown, Figures 3-8 An embodiment of the message transmission between a mobile device transceiver and one or more vehicle transceivers for distance determination according to the application is shown. DETAILED DESCRIPTION

[0010] Figure 1It is exemplarily shown how several messages 10, 11, 12; 30, 31, 32; 40, 41, 42; 13, 14, 15 can be exchanged (e.g. using UWB / Ultra-Wideband) between one (TRX1) of a plurality of vehicle transceivers (TRX1, TRX2, TRX3, TRX4, TRX5, TRX6) of the (motor) vehicle 7 and a mobile device transceiver 8a (e.g. mobile phone, smartphone, smartwatch, watch, ID transmitter, vehicle key, key fob, etc.) of a user (9) to determine at least one distance value d1 (e.g. distance d1 or message propagation time) characterizing a distance d1 from the mobile device transceiver 8a to the vehicle transceiver TRX1.

[0011] Correspondingly, if necessary, messages 13, 14, 15 can be exchanged (e.g. using UWB / Ultra-Wideband) between one other vehicle transceiver (TRX2) of the plurality of (also referred to as anchor points) vehicle transceivers of the (motor) vehicle 7 and the mobile device transceiver 8a to determine a distance value d2 (e.g. distance d2 or message propagation time) characterizing a distance d2 from the mobile device transceiver 8a to the vehicle transceiver TRX2.

[0012] From one or more distance values d1, d2,... the position of the mobile device transceiver 8a relative to at least one vehicle transceiver TRX1 and / or relative to / in the vehicle 7 (or relative to a vehicle center point) can be determined (e.g. by triangulation), e.g. by a control device SG1 which can receive information about signal propagation times (e.g. ToF or Figure 2 T_rnd1, T_rsp1, T_rnd2, T_rsp2,... etc.) or distance values d1, d2,... from the vehicle transceivers TRX1, TRX2, TRX3, TRX4,....

[0013] The position determination can e.g. comprise determining whether the mobile device transceiver 8a is located in an external space outside the vehicle 7 or in an internal space inside the vehicle 7. For example, the vehicle start can only be allowed when the mobile device transceiver 8a is located in the internal space of the vehicle 7.

[0014] The opening (or closing) of at least one door or the start of the vehicle 7 can e.g. occur when one or more distances d1, d2,... are below a value (or above a value for closing) and / or the distances decrease over time and / or if necessary other criteria are met.

[0015] The communication with different vehicle transceivers and / or different mobile device transceivers can e.g. be distinguished based on IDs or headers contained in the messages which differ for different transceivers and / or based on predetermined time slots or other means.

[0016] The acquisition of the distance between the vehicle transceiver on the vehicle side and the mobile device transceiver by means of the so-called time-of-flight (ToF) method has been described, for example, in DE 10 2021 207 725.0 (202104661) or DE 10 2019 211 152, which is incorporated into the disclosure of the present application by reference.

[0017] As shown in Figure 2 , for example, the calculation of the propagation time or the propagation time ratio (time of flight) ToF (and, if necessary, the calculation of the distances d1, d2, etc. (d1= c * ToF, etc.)) can be carried out (for example, in the vehicle transceiver and / or also in the mobile device transceiver or in the control device SG1) and / or based on the points in time at which the respective messages 10, 11, 12, etc. (corresponding further messages) are transmitted and received (or based on the time periods between the transmission points in time and the reception points in time, such as T_rnd1, T_rsp1, T_rnd2, T_rsp2), in particular when the transmission and / or reception points in time (several / mutual) are communicated between the mobile device transceiver 8a and the vehicle transceiver TRX1. For example, the formula given in Figure 2 can be used to calculate the propagation time or the distance d1, etc.: ToF= (T_rnd1 * T_rnd2 - T_rsp1 * T_rsp2) / (T_rnd1 + T_rnd2 + T_rsp1+T_rsp2) The distance d1 is, for example, d1= c * ToF (c = speed of light in air) Such a distance calculation is particularly secure against illegal opening attempts. Such a method is also referred to as "ranging" or "time-of-flight ranging".

[0018] For example, the three messages 10, 11, 12; 30, 31, 32; 40, 41, 42; communicated (between the mobile device transceiver 8a and the vehicle transceiver TRX1) in Figure 2 , for example, enable the calculation of the distance value d1 by means of these messages, which are referred to, for example, as a session (German: Sitzung) with a session index SI (German: Sitzungsindex) or SI1.

[0019] Thus, in Figure 1 , Figure 2 , for example, the messages 10, 11, 12 (of the first mobile device transceiver 8a) form a session with the session index SI1.

[0020] The distance acquisition between the vehicle transceiver and the mobile device transceiver (e.g. smartphone, smartwatch, ID transmitter (e.g. vehicle key, key fob)) by e.g. UWB ToF (Time of Flight) can be organized for example in so-called "ranging sessions" or "UWB ranging sessions", which can also define time characteristics (ranging period, repetition rate) during the message exchange for the distance acquisition.

[0021] As an embodiment of the application, Figure 4 is illustratively shown How to exchange messages 10, 11, 12; 30, 31, 32; 40, 41, 42 etc. between one of the (multiple) vehicle transceivers (TRX3, TRX4, TRX5) of the (motor) vehicle 7 (TRX1) and the mobile device transceiver 8a (e.g. mobile phone, smartphone, smartwatch, wristwatch, ID transmitter, vehicle key, key fob etc.) of the user 9 (e.g. using UWB / Ultra-Wideband); 30, 31, 32; 40, 41, 42 etc. to determine at least one distance value d3 (e.g. distance d3 or message propagation time ToF) characterizing the distance d3 from the mobile device transceiver 8a to the vehicle transceiver TRX3.

[0022] The distance values, e.g. d1 (e.g. in Figure 1 and Figure 6 ) are determined repeatedly, for example with intervals I1, I2 (I1, I2 can be the same or different, for example).

[0023] The intervals I1, I2 etc. in which the distance value determination is carried out so far are 192 milliseconds.

[0024] However, the intervals I1, I2 etc. in which the distance value determination is carried out can exceed one second, in particular seconds, e.g. two or three or four or five or six or eight or nine or ten or twenty seconds.

[0025] For example, in order to carry out the distance determination, the time between the reception of a signal and the transmission of the next signal (T_rsp1 and / or T_rsp2 in Figure 3 ) can be at least one second. Likewise, the time between the end of the respective distance determination and the start of the next distance determination (T-1-2, T2-3) can be at least one second or seconds. Likewise, the time between the start of a distance determination and the start of the next distance determination (I1, I2) can be at least one second or seconds, respectively.

[0026] The positioning of the smart device (SO) 8a by Ultra-Wideband (UWB) is based on a distance measurement, for example by means of the so-called Time of Flight (ToF) measurement method ("ranging").

[0027] Since such a measurement requires energy, it can only be used for a limited time, for example 30 seconds, for example in a correspondingly equipped vehicle 7. After this time, the distance determination or localization can be paused, i.e. at least temporarily / phased out. If the distance determination or localization is now to be resumed, for example triggered by an action of the vehicle user (pulling the door handle of the doors 20, 21, 22, operating the start pedal or start button, etc.), it can take some time until the measurement is resumed and the localization of the mobile device transceiver (SO) 8a is completed (via d1, d2, etc.).

[0028] According to the currently used standard (CCC TS-101, R3 V1.1.0), the establishment of the so-called ranging session is simplified by not transmitting or not fully transmitting certain parameters required for establishing the ranging session. In addition, the specification describes a possibility to set a common time reference between the mobile device transceiver (SO) 8a and the vehicle 7 via another communication channel (Bluetooth Low Energy, BLE) before the current ranging session is started.

[0029] For example, the localization of the mobile device transceiver (SO) 8a has been successful at least once before, so that at least one (previous) distance d1 (and / or d2, d3, d4, d5, etc.) was determined at least once and / or the mobile device transceiver 8a can be unambiguously assigned to the interior space (space within the vehicle 7) and / or as Figure 4 the exterior space (area outside the vehicle 7).

[0030] Then, for example Figure 5 as shown, for example after detecting an action of the vehicle user 9, at least one current distance value d1, etc. (e.g. propagation time or distance) between the respective vehicle transceiver TRX1-TRX4 and the mobile device transceiver 8a in the exterior space (outside the vehicle 7) can be determined. For example, upon each determination of a distance value, it is also possible to always determine in sequence only the distance of the (mobile device transceiver 8a) to one further one of the vehicle transceivers TRX1-TRX4 (or TRX1-TRX5) in the exterior space, or for example also to determine the distance of (different from the last time) two further ones of the vehicle transceivers TRX1-TRX4 in the exterior space.

[0031] In addition, the controller (for example SG1) can monitor the status of the vehicle entries (doors 20, 21, trunk 22, etc.) 20, 21, 22 of the vehicle 7.

[0032] If the vehicle entries 20, 21, 22 are closed and the mobile device transceiver (SO) 8a is sufficiently reliably detected in the exterior space, then for example only the current distance d3 to for example (at least) one transceiver ("anchor point") TRX3 assigned to or located in the exterior space is determined, as Figure 4and possibly a further distance d5, for example to a further transceiver TRX5 located in the exterior space or in the interior space.

[0033] For example, in the case of a closed vehicle entrance 20, 21, 22 and the mobile device transceiver 8a being sufficiently unambiguously detected in the interior space, for example for a function such as a vehicle entrance or a vehicle start (for example release of the driving lock), for example only the current distance d5 to one "anchor point" TRX5 arranged in the interior space of the UWB measuring system of the vehicle 7 is determined, as Figure 6 is shown. Thereby it can be determined, for example, whether the mobile device transceiver 8a is still in the interior space of the vehicle 7. Alternatively or additionally, it is also possible to determine the current distance d3 to, for example, (at least) one transceiver ("anchor point") TRX3 assigned to the exterior space or located in the exterior space.

[0034] Instead of a complete localization, for example only distance values (d1, d2, d3) are determined with distance measurements to one or a few (less than all) anchor points in the interior space or in the exterior space, or in the interior space and in the exterior space. Thereby it is possible to maintain the ranging session over a longer period of time or permanently or, for example, until the vehicle 7 departs, without the same energy as for a complete localization.

[0035] As long as the vehicle entrance 20-22 remains closed, the system, for example, assumes that the assignment of the mobile device transceiver (SO) 8a to the exterior space or to the interior space determined during the previous localization (determination of the position using previous distance values by triangulation, etc.) remains valid, i.e. for example the mobile device transceiver (SO) 8a continues to be localized or located in the exterior space or in the interior space. Thereby it is possible to shorten the reaction time of the system SG1 to actions of the vehicle user 9 (for example engine start, accelerator pedal, etc.).

[0036] Furthermore, it is also possible to consider (but generally not recommended for theft protection reasons) to completely stop the distance measurement and to rely only on the connection of the mobile device transceiver (SO) 8a to the vehicle 7 by BLE (Bluetooth, Bluetooth Low Energy) as a sufficient criterion that the mobile device transceiver (SO) 8a continues to be located in the previously determined area (exterior space or interior space).

[0037] Since the use of only one anchor point of the exterior space for distance measurement can also not be desirable in certain cases, advantageously the distance measurement of the exterior space can be distributed in rotation or alternation on the vehicle transceivers TRX1-TRX4 (anchor points) assigned to the exterior space.

[0038] As Figure 8As exemplarily shown, according to other designs of the invention, during the ongoing distance value determination (e.g., ongoing ranging), intervals I1, I2, and I3 can be dynamically changed, particularly depending on whether the mobile transceiver 8a is moving toward or away from the vehicle 7, or not moving / almost not moving. This movement (approaching or moving away) can be achieved, for example, through at least one message A, W between the mobile transceiver 8a and the vehicle 7 via Bluetooth or Bluetooth-BLE channels or other channels (e.g., also via channels used for ranging, such as UWB channels) (moving toward the vehicle: message A, moving away from the vehicle: message A). Figure 8 The interval I2 can be shorter than the interval I3 when the mobile transceiver 8a moves away from the vehicle 7 (W), or vice versa, if the mobile transceiver 8a moves towards the vehicle 7 (A). And / or if the mobile transceiver 8a does not move relative to the vehicle 7 (or moves almost nothing or moves at a speed not exceeding a threshold), the interval I3 can be longer.

Claims

1. An apparatus (TRXl, TRX2, TRX3, TRX4, TRX5, 8a, SG1) configured for determining at least one current distance value (dl, d2, d3) characterizing a distance (dl, d2, d3) between a mobile device transceiver (8a) and a vehicle transceiver (TRXl, TRX2, TRX3, TRX4, TRX5, TRX6) on a vehicle (7) side by exchanging messages (10, 11, 12; 30, 31, 32; 40, 41, 42), wherein the intervals (Il, 12) in which the distance value determination is performed exceed one second.

2. The apparatus according to claim 1, wherein the intervals (Il, 12) in which the distance value determination is performed exceed one second on average and / or all of them.

3. The apparatus according to any of the preceding claims, wherein the intervals (Il, 12) exceed one second or exceed two seconds or exceed three seconds or exceed five seconds or exceed ten seconds or exceed thirty seconds.

4. The apparatus according to any of the preceding claims, wherein the intervals (Il, 12) are less than two seconds or less than three seconds or less than five seconds or less than ten seconds or less than thirty seconds.

5. The apparatus according to any of the preceding claims, wherein all intervals (Il, 12) in which the distance value determination is performed exceed one second or at least from a certain point in time all intervals (Il, 12) exceed one second.

6. The apparatus according to any of the preceding claims, wherein, for performing the distance determination the time (T_rsp1 and / or T_rsp2) between the reception of a signal and the transmission of the next signal is at least one second.

7. The apparatus according to any of the preceding claims, wherein the time (T-1-2, T2-3) between the end of a distance determination and the beginning of the next distance determination is at least one second, respectively.

8. The apparatus according to any of the preceding claims, wherein the intervals (Il, 12) in which the distance value determination is performed exceed one second only in the case that at least one previous distance value (dl, d2, d3) has been determined using the vehicle transceivers (TRXl, TRX2, TRX3, TRX4, TRX5, TRX6) and / or in the case that the mobile device transceiver (8a) is detected as being located within the motor vehicle (7) and / or in the case that the mobile device transceiver (8a) is detected as being located at a certain distance (dl, d2, d3) from the motor vehicle (7).

9. The apparatus according to any of the preceding claims, wherein in the case that one previous distance value (dl, d2, d3) has been determined using the vehicle transceivers (TRXl, TRX2, TRX3, TRX4, TRX5, TRX6), the apparatus is configured to determine the current distance value (dl, d2, d3) using more than one but less than all of the vehicle transceivers (TRXl, TRX2, TRX3, TRX4, TRX5, TRX6).

10. The apparatus according to any of the preceding claims, wherein in the case of a previous distance value (d1, d2, d3) having been determined using vehicle transceivers (TRX1, TRX2, TRX3, TRX4, TRX5) and the determination of a subsequent distance value (d1, d2, d3) being suspended, the device is configured to determine the current distance value (d1, d2, d3) using less than all and / or less than the last used vehicle transceivers (TRX1, TRX2, TRX3, TRX4, TRX5).

11. The device according to one of the preceding claims, wherein the device is configured to determine the current distance value (d1, d2, d3) by means of time-of-flight determination and / or distance finding.

12. The device according to one of the preceding claims, wherein, the device is configured such that an assignment relationship of the mobile device transceiver (8a) to an external space outside the vehicle (7) or to an internal space inside the vehicle (7), which was set in a previous distance value determination and / or positioning, is defined as continuing to be valid in the current distance value determination.

13. The device according to one of the preceding claims, wherein the device is configured to take into account the current distance value (d1, d2, d3) determined using less than all and / or less than the last used vehicle transceivers (TRX1, TRX2, TRX3, TRX4, TRX5) only in the case of a vehicle entrance (20-22) of the vehicle (7) being detected as being closed, and / or in a specific position in the internal space or the external space, and to ignore the current distance value (d1, d2, d3) in other cases, and / or to determine the current distance value (d1, d2, d3) using a plurality of or all vehicle transceivers (TRX1, TRX2, TRX3, TRX4, TRX5, TRX6).

14. The device according to one of the preceding claims, wherein, the device is configured to determine the current distance value (d1, d2, d3) on the basis of a detected action of a user (9) of the vehicle (7), in particular after a vehicle engine start is detected, or a door handle is detected as being pulled, or a start pedal or a start button of the vehicle (7) is detected as being operated.

15. The device according to one of the preceding claims, wherein, the device is configured to perform a plurality of determinations of the current distance value (d1, d2, d3) outside the vehicle (7) each time using a different vehicle transceiver or anchor point of the vehicle transceivers (TRX1, TRX2, TRX3, TRX4, TRX5, TRX6) located outside the vehicle (7).

16. The device according to one of the preceding claims, wherein the device is configured such that the mobile device transceiver (8a) is a cellular mobile terminal device and / or a smartphone and / or a vehicle key.

17. The device according to one of the preceding claims, wherein, the device is configured for the interval (11, 12, 13) to change dynamically during an ongoing distance value determination, preferably during an ongoing distance finding, In particular depending on whether the mobile device transceiver (8a) is moving towards the vehicle (7) or away from the vehicle, The movement is preferably notified by at least one message (A, W) between the mobile device transceiver (8a) and the vehicle (7) via a Bluetooth channel or other channel.

18. A method for determining a current distance value (d1, d2, d3) characterizing a distance (d1, d2, d3) between a vehicle transceiver (TRX1, TRX2, TRX3, TRX4, TRX5, TRX6) on the vehicle (7) side and a mobile device transceiver (8a) by exchanging messages (10, 11, 12; 30, 31, 32; 40, 41, 42), In particular using an apparatus according to one of the preceding claims, wherein The interval (II, I2) in which the distance value determination (d1, d2, d3) is carried out exceeds one second.

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