Digital key fusion positioning system and method

Abstract

This application provides a digital key fusion positioning system and method, belonging to the field of vehicle control technology. Both a first positioning module and a second positioning module are deployed on the vehicle. Each module includes an ultra-wideband (UWB) module and a Bluetooth module. The UWB module and the Bluetooth module's Bluetooth antennas are positioned opposite each other at different locations on the vehicle. The microcontroller establishes communication with the digital key via the first and second positioning modules to obtain a first UWB ranging value, a first Bluetooth ranging value, a second UWB ranging value, and a second Bluetooth ranging value, and fuses these values ​​to obtain the digital key's positioning coordinates. Based on the digital key's positioning coordinates, the vehicle is controlled to perform corresponding actions. This application achieves the effect of reducing the implementation cost of the digital key positioning system while ensuring the positioning accuracy of the digital key.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a digital key fusion positioning system and method. Background Technology

[0002] With the rapid development of intelligent connected vehicle technology, traditional mechanical keys are gradually being replaced by digital keys. A digital key is an identity recognition system based on wireless communication technology, encryption authentication mechanisms, and cloud services. It enables seamless unlocking, locking, and starting of a vehicle via mobile phone, wearable devices, or a physical digital key, greatly improving user convenience. However, in practical applications, the Bluetooth antenna signal of digital keys is easily blocked, leading to significant positioning errors by the vehicle, thus affecting the user experience.

[0003] In related technologies, to improve the positioning accuracy of digital keys, most manufacturers have introduced high-performance ranging technologies into digital keys. On the one hand, Ultra Wide Band (UWB) technology, due to its nanosecond-level pulse communication characteristics, has advantages such as high time resolution, strong anti-multipath interference capability, and high ranging accuracy, and its precise ranging performance has been introduced into digital keys. On the other hand, with the continuous evolution of Bluetooth Low Energy 6.0 (BLE 6.0), the Channel Sounding (CS) technology in BLE 6.0 supports high-precision distance measurement based on Phase Based Ranging (PBR) and Round-Trip Time (RTT), enabling BLE 6.0 to also have high-precision ranging capabilities. Therefore, the channel sounding technology of BLE 6.0 has also been introduced into digital keys. Therefore, current high-end models generally adopt digital keys that integrate UWB technology and BLE-CS technology for dual-mode ranging. They use multiple vehicle positioning nodes (such as 1 master node + 3 slave nodes) to perform bidirectional ranging with the user terminal, and then use triangulation or multi-point positioning algorithms to determine the precise location of the digital key, thereby achieving stable and reliable contactless control.

[0004] However, when improving the positioning accuracy of digital keys based on relevant technologies, there are problems such as high hardware costs and high system complexity. This will limit such digital keys to mid-to-high-end models and make it difficult to popularize them in mass-market models. Summary of the Invention

[0005] The purpose of this application is to provide a digital key fusion positioning system and method that can reduce the implementation cost of the digital key positioning system while ensuring the positioning accuracy of the digital key.

[0006] The embodiments of this application are implemented as follows:

[0007] A first aspect of this application provides a digital key fusion positioning system, which includes: a digital key and a first positioning module, a second positioning module, and a microcontroller deployed on a vehicle. The first positioning module includes: a first ultra-wideband module and a first Bluetooth module. The second positioning module includes: a second ultra-wideband module and a second Bluetooth module. The Bluetooth antennas of the first ultra-wideband module and the first Bluetooth module are disposed at different positions on the vehicle, and the Bluetooth antennas of the second ultra-wideband module and the second Bluetooth module are disposed at different positions on the vehicle. The signal measurement range of the first ultra-wideband module, the first Bluetooth module, the second ultra-wideband module, and the second Bluetooth module covers the operating area of ​​the vehicle.

[0008] The first ultra-wideband module, the first Bluetooth module, the second ultra-wideband module, and the second Bluetooth module are all connected to the microcontroller for communication.

[0009] The microcontroller establishes communication with the digital key through the first positioning module and the second positioning module, and obtains the first ultra-wideband ranging value of the digital key through the first ultra-wideband module, obtains the first Bluetooth ranging value of the digital key through the Bluetooth antenna in the first Bluetooth module, obtains the second ultra-wideband ranging value of the digital key through the second ultra-wideband module, and obtains the second Bluetooth ranging value of the digital key through the second Bluetooth module.

[0010] The microcontroller determines the location coordinates of the digital key based on the first ultra-wideband ranging value, the second ultra-wideband ranging value, the first Bluetooth ranging value, and the second Bluetooth ranging value.

[0011] The microcontroller determines whether the digital key is within the operating area based on its location coordinates. If so, it controls the vehicle to perform the corresponding action.

[0012] As one possible implementation, the first ultra-wideband module in the first positioning module and the Bluetooth chip in the first Bluetooth module are both deployed in the front area of ​​the vehicle, and the Bluetooth antenna in the first Bluetooth module is set in the rear area of ​​the vehicle. The Bluetooth antenna in the first Bluetooth module and the Bluetooth chip in the first Bluetooth module are connected through a communication cable.

[0013] As one possible implementation, the second ultra-wideband module in the second positioning module and the Bluetooth chip in the second Bluetooth module are both deployed in the driver's side area close to the vehicle's cockpit, while the Bluetooth antenna in the second Bluetooth module is set in the driver's opposite side area away from the vehicle's cockpit. The Bluetooth antenna in the second Bluetooth module and the Bluetooth chip in the second Bluetooth module are connected via a communication cable.

[0014] As one possible implementation, a first signal amplification and compensation circuit is deployed in the communication cable between the Bluetooth antenna in the first Bluetooth module and the Bluetooth chip in the first Bluetooth module. The first signal amplification and compensation circuit is used to compensate for the signal attenuation of the Bluetooth antenna in the first Bluetooth module.

[0015] As one possible implementation, a second signal amplification and compensation circuit is deployed in the communication cable between the Bluetooth antenna in the second Bluetooth module and the Bluetooth chip in the second Bluetooth module. The second signal amplification and compensation circuit is used to compensate for the signal attenuation of the Bluetooth antenna in the second Bluetooth module.

[0016] As one possible implementation, the second positioning module also includes a near-field communication module, which is deployed in the driver's side area close to the vehicle's cockpit.

[0017] The near-field communication module is used to authenticate the digital key when it touches the second positioning module, and to perform corresponding actions after successful authentication.

[0018] As one possible implementation, the aforementioned digital key includes: a gravity sensor, a power management unit, a first encryption chip, a near-field communication chip, a third ultra-wideband module, and a third Bluetooth module;

[0019] The digital key establishes communication with the first positioning module and the second positioning module via the third ultra-wideband module and the third Bluetooth module, respectively.

[0020] The gravity sensor is used to monitor the movement state of the digital key and sends a low-power control command to the power management unit when the digital key remains stationary for more than a preset time threshold. Under the action of the low-power control command, the power management unit controls the digital key to enter a sleep state.

[0021] The near-field communication chip is used for near-field communication with the second positioning module, and the first encryption chip is used for vehicle authentication.

[0022] As one possible implementation, the vehicle also includes a second encryption chip, through which the microcontroller authenticates the digital key.

[0023] As one possible implementation, the vehicle also includes a vehicle connector and a power management chip, both of which are communicatively connected to the microcontroller.

[0024] A second aspect of this application provides a digital key fusion positioning method, applied to a microcontroller in the digital key fusion positioning system described in the first aspect above, the method comprising:

[0025] Communication is established with the digital key via the first positioning module and the second positioning module, and the first ultra-wideband ranging value of the digital key is obtained via the first ultra-wideband module, the first Bluetooth ranging value of the digital key is obtained via the Bluetooth antenna in the first Bluetooth module, the second ultra-wideband ranging value of the digital key is obtained via the second ultra-wideband module, and the second Bluetooth ranging value of the digital key is obtained via the second Bluetooth module.

[0026] The location coordinates of the digital key are determined based on the first ultra-wideband ranging value, the second ultra-wideband ranging value, the first Bluetooth ranging value, and the second Bluetooth ranging value.

[0027] Based on the location coordinates of the digital key, determine whether the digital key is within the operating area. If so, control the vehicle to perform the corresponding action.

[0028] The beneficial effects of the embodiments of this application include:

[0029] This application provides a digital key fusion positioning system. It deploys a first positioning module and a second positioning module, integrating ultra-wideband (UWB) technology and Bluetooth channel detection technology, on a vehicle. The UWB module and Bluetooth antenna in the Bluetooth module are positioned opposite each other at different locations on the vehicle. Both the first and second positioning modules are connected to a microprocessor in the vehicle. The microprocessor communicates with the corresponding digital key via the first and second positioning modules. It measures the distance of the digital key relative to the UWB module via the first UWB module in the first positioning module, and measures the distance of the digital key relative to the Bluetooth antenna in the first Bluetooth module via the first Bluetooth module in the first positioning module. The system measures the distance between the digital key and the second ultra-wideband module within the second positioning module, and the distance between the digital key and the Bluetooth antenna within the second Bluetooth module within the second positioning module. Based on the fusion results of the first ultra-wideband ranging values ​​between the first ultra-wideband measurement module and the digital key, the first Bluetooth ranging values ​​between the Bluetooth antenna in the first Bluetooth module and the digital key, the second ultra-wideband ranging values ​​between the second ultra-wideband module and the digital key, and the second Bluetooth ranging values ​​between the Bluetooth antenna in the second Bluetooth module and the digital key, the positioning coordinates of the digital key are determined. The microcontroller determines whether the positioning coordinates of the digital key fall within the vehicle's preset operating range, and when the digital key enters the vehicle's preset operating range, it controls the vehicle to perform corresponding actions based on the commands issued by the digital key. This system achieves full coverage measurement of the vehicle's operating area using only the first and second positioning modules. Furthermore, the external Bluetooth antenna not only widens the ranging range of the positioning module but also eliminates the need for separate integration and packaging, reducing the number of onboard positioning nodes. Thus, it achieves the effect of reducing the implementation cost of the digital key positioning system while ensuring the accuracy of digital key positioning. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the first digital key fusion positioning system provided in the embodiments of this application;

[0032] Figure 2 A schematic diagram illustrating a multi-mode ranging value fusion positioning method provided in an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the structure of a second digital key fusion positioning system provided in an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the structure of a second positioning module provided in an embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the structure of a digital key provided in an embodiment of this application;

[0036] Figure 6 A schematic diagram of the structure of the third digital key fusion positioning system provided in the embodiments of this application;

[0037] Figure 7 A schematic diagram of an existing digital key positioning system;

[0038] Figure 8 This is a schematic diagram illustrating the fusion of ultra-bandwidth ranging values ​​from an existing digital key positioning system.

[0039] Figure 9 This is a schematic diagram illustrating the fusion of Bluetooth ranging values ​​from an existing digital key positioning system.

[0040] Figure labels: 10: Digital key fusion positioning system; 101: Digital key; 1011: Gravity sensor; 1012: Power management unit; 1013: First encryption chip; 1014: Near-field communication chip; 1015: Third ultra-wideband module; 1016: Third Bluetooth module; 102: Vehicle; 1021: First positioning module; 211: First ultra-wideband module; 212: First Bluetooth module; 213: First signal amplification and compensation circuit; 1022: Second positioning module; 221: Second ultra-wideband module; 222: Second Bluetooth module; 223: Second signal amplification and compensation circuit; 224: Near-field communication module; 1023: Microcontroller; 1024: Second encryption chip; 1025: Vehicle connector; 1026: Power management chip. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0046] Currently, high-end vehicle digital key positioning systems often employ a fusion of ultra-wideband technology and Bluetooth channel detection technology to achieve high-precision digital key positioning. However, this approach requires the deployment of multiple on-board positioning nodes to enable bidirectional ranging between the digital key and each node, resulting in high hardware implementation costs and system complexity for digital key positioning systems.

[0047] To address this, this application provides a digital key fusion positioning system. This system deploys a first positioning module and a second positioning module on a vehicle. The first ultra-wideband (UWB) module in the first positioning module and the Bluetooth antenna in the first Bluetooth module are positioned opposite each other at different locations on the vehicle. Similarly, the second UWB module in the second positioning module and the Bluetooth antenna in the second Bluetooth module are positioned opposite each other at different locations on the vehicle. Both the first and second positioning modules are connected to a microprocessor in the vehicle. The microprocessor communicates with the digital key corresponding to the vehicle via the first and second positioning modules. It acquires the first UWB ranging value and the first Bluetooth ranging value of the digital key via the first positioning module, and simultaneously acquires the second UWB ranging value and the second Bluetooth ranging value of the digital key via the second positioning module. Based on the fusion result of the first UWB ranging value, the first Bluetooth ranging value, the second UWB ranging value, and the second Bluetooth ranging value, the positioning coordinates of the digital key are determined. The microcontroller determines whether the positioning coordinates of the digital key fall within a preset operating range of the vehicle. When the digital key enters the preset operating range, it controls the vehicle to perform corresponding actions based on the commands issued by the digital key. In this way, the implementation cost of the digital key positioning system can be reduced while ensuring the positioning accuracy of the digital key.

[0048] The digital key fusion positioning system and digital key fusion positioning method provided in this application will be explained in detail below with reference to the accompanying drawings.

[0049] Figure 1 See the schematic diagram of a digital key fusion positioning system provided in this application. Figure 1 This application provides a digital key fusion positioning system 10, including a digital key 101 and a first positioning module 1021, a second positioning module 1022, and a microcontroller 1023 deployed on a vehicle 102. The first positioning module 1021 includes a first ultra-wideband module 211 and a first Bluetooth module 212. The second positioning module 1022 includes a second ultra-wideband module 221 and a second Bluetooth module 222. The Bluetooth antennas in the first ultra-wideband module 211 and the first Bluetooth module 212 are arranged opposite each other at different positions on the vehicle 102. The Bluetooth antennas in the second ultra-wideband module 221 and the second Bluetooth module 222 are also arranged opposite each other at different positions on the vehicle 102. The signal measurement range of the first ultra-wideband module 211, the first Bluetooth module 212, the second ultra-wideband module 221, and the second Bluetooth module 222 covers the operating area of ​​the vehicle 102.

[0050] Among them, the digital key 101 is a key system that enables smart terminal devices to perform vehicle authentication and control without being noticed by the device, based on Bluetooth, ultra-wideband, near-field communication and other connection and positioning technologies and encrypted authentication processes. The digital key 101 can be a virtual key deployed on terminal devices such as smartphones and smart bracelets, or it can be a physical key in the form of a physical key. This application does not make any specific limitations on this.

[0051] Specifically, once an encrypted digital key credential is stored in a terminal device such as a smartphone or smart bracelet, the terminal device can use its built-in wireless communication module to authenticate the vehicle, interact with data, and remotely control it. In other words, the terminal device has the function of a digital key 101.

[0052] It is worth noting that regardless of the form in which the digital key 101 is presented, the digital key 101 can achieve remote vehicle control without key insertion.

[0053] Optionally, the vehicle 102 paired with the digital key 101 needs to be equipped with a first positioning module 1021 and a second positioning module 1022 capable of communicating with the digital key 101. Both the first positioning module 1021 and the second positioning module 1022 integrate ultra-wideband technology and Bluetooth technology, allowing the microcontroller 1023 in the vehicle 102 to establish wireless communication with the digital key 101 through the first positioning module 1021 and the second positioning module 1022.

[0054] Specifically, the first positioning module 1021 includes a first ultra-wideband module 211 and a first Bluetooth module 212, wherein the first ultra-wideband module 211 integrates ultra-wideband technology and the first Bluetooth module 212 integrates Bluetooth technology; the second positioning module 1022 includes a second ultra-wideband module 221 and a second Bluetooth module 222, wherein the second ultra-wideband module 221 integrates ultra-wideband technology and the second Bluetooth module 222 integrates Bluetooth technology.

[0055] In addition, the first ultra-wideband module 211 in the first positioning module 1021 and the Bluetooth antenna in the first Bluetooth module 212 are deployed at relative positions on the vehicle 102, and the second ultra-wideband module 221 in the second positioning module 1022 and the Bluetooth antenna in the second Bluetooth module 222 are deployed at relative positions on the vehicle 102, such as the front and rear of the vehicle, the driver's side and the opposite side of the vehicle, etc. This application does not make specific limitations on this.

[0056] Specifically, the Bluetooth antenna in the first Bluetooth module 212 is extended and positioned relative to the first ultra-wideband module 211 by externalizing the Bluetooth antenna. This spatially opposes the Bluetooth antenna in the first Bluetooth module 212 to the first ultra-wideband module 211. The first positioning module 1021 can perform ultra-wideband ranging on the digital key 101 via the first ultra-wideband module 211, and the first positioning module 1021 can also perform Bluetooth ranging via the Bluetooth antenna in the first Bluetooth module 212. It is worth noting that ultra-wideband ranging is used to measure the distance between the digital key 101 and the location of the first ultra-wideband module 211, while Bluetooth ranging is used to measure the distance between the digital key 101 and the Bluetooth antenna in the first Bluetooth module 212.

[0057] Furthermore, the Bluetooth antenna in the second Bluetooth module 222 is extended and positioned relative to the second ultra-wideband module 221 by externalizing the Bluetooth antenna. This spatially opposes the Bluetooth antenna in the second Bluetooth module 222 and the second ultra-wideband module 221. The second positioning module 1022 can perform ultra-wideband ranging on the digital key 101 via the second ultra-wideband module 221, and the second positioning module 1022 can also perform Bluetooth ranging via the Bluetooth antenna in the second Bluetooth module 222. It is worth noting that ultra-wideband ranging is used to measure the distance between the digital key 101 and the location of the second ultra-wideband module 221, while Bluetooth ranging is used to measure the distance between the digital key 101 and the Bluetooth antenna in the second Bluetooth module 222.

[0058] It should also be noted that the first positioning module 1021 and the second positioning module 1022 are set at different positions on the vehicle 102. That is, when the first positioning module 1021 is set at the relative position of the front and rear of the vehicle 102, the second positioning module 1022 is set at the relative position of the driver's side and the opposite side of the vehicle 102, thereby ensuring that the first positioning module 1021 and the second positioning module 1022 can cover the entire operating range of the vehicle 102.

[0059] Therefore, it can be seen that the digital key fusion positioning system 10 can achieve full coverage of the operating area of ​​the vehicle 102 by only using the first positioning module 1021 and the second positioning module 1022. Moreover, the external Bluetooth antenna can not only broaden the ranging range of the first positioning module 1021 and the second positioning module 1022, but also eliminates the need for separate integration and packaging. This can reduce the number of positioning nodes while ensuring the positioning accuracy of the digital key fusion positioning system 10, thereby reducing the hardware implementation cost of the digital key fusion positioning system 10.

[0060] Optionally, the vehicle's operating area is a vehicle control zone pre-set by the vehicle developer. When the owner enters the vehicle control zone with the digital key 101, the ultra-wideband antenna and Bluetooth antenna in the first positioning module 1021 and the second positioning module 1022 deployed on the vehicle 102 broadcast signals to the digital key 101. The digital key 101 is authenticated based on the signals fed back by the digital key 101. After successful authentication, the distance between the digital key 101 and the ultra-wideband antenna and the distance between the digital key 101 and the Bluetooth antenna are measured to lock the spatial coordinates of the digital key 101. The vehicle 102 is then controlled based on the control commands initiated by the digital key 101.

[0061] The operating area of ​​the vehicle can be a circle of 5 meters, 10 meters, etc., with the center of the vehicle 102 as the center point. This application does not make specific limitations on this.

[0062] The first ultra-wideband module 211, the first Bluetooth module 212, the second ultra-wideband module 221, and the second Bluetooth module 222 are all connected to the microcontroller 1023.

[0063] Optionally, the first ultra-wideband module 211 and the first Bluetooth module 212 in the first positioning module 1021 are both connected to the microcontroller 1023 in the vehicle 102 via a data bus, and the second ultra-wideband module 221 and the second Bluetooth module 222 in the second positioning module 1022 are both connected to the microcontroller 1023 in the vehicle 102 via a data bus, so as to realize data interaction between the first positioning module 1021, the second positioning module 1022 and the microcontroller 1023.

[0064] The microcontroller 1023 establishes communication with the digital key 101 via the first positioning module 1021 and the second positioning module 1022, and obtains the first ultra-wideband ranging value of the digital key 101 via the first ultra-wideband module 211, the first Bluetooth ranging value of the digital key 101 via the Bluetooth antenna in the first Bluetooth module 212, the second ultra-wideband ranging value of the digital key 101 via the second ultra-wideband module 221, and the second Bluetooth ranging value of the digital key 101 via the second Bluetooth module 222.

[0065] Optionally, the microcontroller 1023 communicates wirelessly with the digital key 101 via the ultra-wideband antenna in the first ultra-wideband module 211 of the first positioning module 1021 and the Bluetooth antenna in the first Bluetooth module 212. At the same time, the microcontroller 1023 also communicates wirelessly with the digital key 101 via the ultra-wideband antenna in the second ultra-wideband module 221 of the second positioning module 1022 and the Bluetooth antenna in the second Bluetooth module 222.

[0066] Specifically, when vehicle 102 is turned off and locked, most of the vehicle's in-vehicle systems enter a dormant state. However, since both the first Bluetooth module 212 in the first positioning module 1021 and the second Bluetooth module 222 in the second positioning module 1022 use low-power positioning technology, they broadcast signals intermittently with extremely low power consumption. At this time, if the owner enters the operating area of ​​vehicle 102 with digital key 101, the Bluetooth antenna in digital key 101 will receive broadcast signals from both the Bluetooth antenna in the first Bluetooth module 212 and the Bluetooth antenna in the second Bluetooth module 222, waking up digital key 101. The key 101 sends an authentication message to the microcontroller 1023 in the vehicle 102. The microcontroller 1023 authenticates the digital key 101. At the same time, the digital key 101 also authenticates the vehicle 102. After successful authentication, the microcontroller 1023 activates the first ultra-wideband module 211 and the second ultra-wideband module 221, and simultaneously activates the ultra-wideband module in the digital key 101. The microcontroller 1023 performs ultra-wideband ranging on the digital key 101 through the first ultra-wideband module 211 and the second ultra-wideband module 221, and performs Bluetooth ranging on the digital key 101 through the Bluetooth antenna in the first Bluetooth module 212 and the Bluetooth antenna in the second Bluetooth module 222.

[0067] Optionally, the first ultra-wideband ranging value refers to the distance between the digital key 101 and the first ultra-wideband module 211 in the first positioning module 1021, the first Bluetooth ranging value refers to the distance between the digital key 101 and the Bluetooth antenna in the first Bluetooth module 212 in the first positioning module 1021, the second ultra-wideband ranging value refers to the distance between the digital key 101 and the second ultra-wideband module 221 in the second positioning module 1022, and the second Bluetooth ranging value refers to the distance between the digital key 101 and the Bluetooth antenna in the second Bluetooth module 222 in the second positioning module 1022.

[0068] Among them, the first ultra-wideband module 211 and the second ultra-wideband module 221 are based on ultra-wideband technology to realize the ranging of the digital key 101, and its core method is the time-of-flight measurement method.

[0069] It is worth noting that since the ranging methods of the first ultra-wideband module 211 and the second ultra-wideband module 221 are the same, the following explanation will take the first ultra-wideband module 211 as an example to illustrate the specific principle of ultra-wideband ranging, and this application will not make any specific limitations on this.

[0070] For example, when the first ultra-wideband module 211 sends a specific data packet to the digital key 101 at time T0, after receiving the specific data packet, the digital key 101 processes the specific data packet after a known processing time T1, and returns a response data packet to the first ultra-wideband module 211 at time T2. The first ultra-wideband module 211 receives this response data packet at time T3. The total data transmission time is T3-T0. Subtracting the time T1 for the digital key 101 to process the specific data packet, the round-trip flight time of the radio wave between the first ultra-wideband module 211 and the digital key 101 can be obtained as T3-T0-T1. The radio wave propagates between the digital key 101 and the first ultra-wideband module 211 at the speed of light c. The distance d1 between the first ultra-wideband module 211 and the digital key 101 is d1=[(T3-T0-T1)*c] / 2.

[0071] Among them, the first Bluetooth module 212 and the second Bluetooth module 222 are based on the channel detection technology introduced in Bluetooth 6.0 to realize the ranging of the digital key 101. Both the first Bluetooth module 212 and the second Bluetooth module 222 send measurement data packets through the Bluetooth channel and use a combination of phase ranging and round-trip time ranging to realize the Bluetooth ranging of the digital key 101.

[0072] It is worth noting that since the ranging methods of the first Bluetooth module 212 and the second Bluetooth module 222 are the same, the following explanation will use the first Bluetooth module 212 as an example to illustrate the specific principle of the ranging using the channel detection technology of Bluetooth 6.0. This application does not make any specific limitations on this.

[0073] For example, when the first Bluetooth module 212 sends a data packet containing a constant extended tone sequence to the digital key 101 at time T4, the digital key 101 samples the data packet stably to determine its phase and arrival time T5. After a known processing time T6, the digital key 101 processes the data packet and sends a response data packet back to the first Bluetooth module 212 at time T7. The first Bluetooth module 212 records the arrival time T8 of the response data packet. Simultaneously, the digital key 101, based on the standard Bluetooth data channel, feeds back its measured time difference T6 = T7 - ​​T5 to the first Bluetooth module 212. The first Bluetooth module 212 determines the total round-trip time of the data packet to be T8 - T4. Subtracting the data processing time T6 of the digital key 101, the round-trip time T8 - T4 - T6 of the data packet sent by the first Bluetooth module 212 on the Bluetooth channel can be obtained. Radio waves propagate between the digital key 101 and the first Bluetooth module 212 at the speed of light c. The distance d2 between the first Bluetooth module 212 and the digital key 101 is [( T8-T4-T6)*c] / 2.

[0074] The microcontroller 1023 determines the positioning coordinates of the digital key 101 based on the first ultra-wideband ranging value, the second ultra-wideband ranging value, the first Bluetooth ranging value, and the second Bluetooth ranging value.

[0075] Optionally, see Figure 2 The microcontroller 1023 uses the undifferentiated ultra-wideband ranging value and Bluetooth ranging value. It inputs the first ultra-wideband ranging value Ud1, the first Bluetooth ranging value Bd1, the second ultra-wideband ranging value Ud2, and the second Bluetooth ranging value Bd2 into the triangulation algorithm to obtain the positioning coordinates of the digital key 101. Here, the positioning coordinates refer to the spatial location of the digital key 101.

[0076] The microcontroller 1023 determines whether the digital key 101 is within the operating area based on the positioning coordinates of the digital key 101. If so, it controls the vehicle 102 to perform the corresponding action.

[0077] Optionally, the microcontroller 1023 determines whether the digital key 101 has entered the preset operating area of ​​the vehicle 102 based on the current positioning coordinates of the digital key 101. Only when the owner enters the preset operating area of ​​the vehicle 102 with the digital key 101 can the owner initiate a remote control command to the vehicle 102 through the digital key 101. The remote control command can be unlocking the vehicle, locking the vehicle, automatic parking, etc. This application does not make specific limitations on this.

[0078] In this embodiment, a first positioning module and a second positioning module integrating ultra-wideband technology and Bluetooth channel detection technology are deployed on the vehicle. The ultra-wideband module and the Bluetooth antenna in the Bluetooth module are positioned opposite each other at different locations on the vehicle. Both the first and second positioning modules are connected to a microprocessor in the vehicle. The microprocessor communicates with the digital key corresponding to the vehicle via the first and second positioning modules. It measures the distance of the digital key relative to the first ultra-wideband module via the first ultra-wideband module in the first positioning module, and measures the distance of the digital key relative to the Bluetooth antenna in the first Bluetooth module via the first Bluetooth module in the first positioning module. The second positioning module then... The second ultra-wideband module in the positioning module measures the distance between the digital key and the second ultra-wideband module, and the distance between the digital key and the Bluetooth antenna in the second Bluetooth module is measured via the second Bluetooth module in the positioning module. Based on the fusion result of the first ultra-wideband ranging value between the first ultra-wideband measurement module and the digital key, the first Bluetooth ranging value between the Bluetooth antenna in the first Bluetooth module and the digital key, the second ultra-wideband ranging value between the second ultra-wideband module and the digital key, and the second Bluetooth ranging value between the Bluetooth antenna in the second Bluetooth module and the digital key, the positioning coordinates of the digital key are determined. The microcontroller determines whether the positioning coordinates of the digital key fall within the vehicle's preset operating range, and when the digital key enters the vehicle's preset operating range, it controls the vehicle to perform corresponding actions based on the commands issued by the digital key. This approach achieves full coverage measurement of the vehicle's operating area using only the first and second positioning modules, and the external Bluetooth antenna not only widens the ranging range of the positioning module but also eliminates the need for separate integration and packaging, reducing the number of onboard positioning nodes. Thus, the implementation cost of the digital key positioning system can be reduced while maintaining the accuracy of digital key positioning.

[0079] In one alternative implementation, see [link to implementation details]. Figure 3 In the digital key fusion positioning system 10 provided in this application embodiment, the first ultra-wideband module 211 in the first positioning module 1021 and the Bluetooth chip in the first Bluetooth module 212 are both deployed in the front area of ​​the vehicle 102. The Bluetooth antenna in the first Bluetooth module 212 is set in the rear area of ​​the vehicle 102. The Bluetooth antenna in the first Bluetooth module 212 and the Bluetooth chip in the first Bluetooth module 212 are connected through a communication cable.

[0080] Optionally, the rear area refers to the area where the trunk of vehicle 102 is located, and the front area refers to the area directly in front of the driver's cab of vehicle 102.

[0081] Optionally, the Bluetooth chip in the first Bluetooth module 212 and the first ultra-wideband module 211 are both encapsulated in the first positioning module 1021 and fixedly installed in the front area of ​​the vehicle 102. The Bluetooth antenna in the first Bluetooth module 212 is stretched to the rear area of ​​the vehicle 102 for installation, so that the first positioning module 1021 can cover the front and rear areas of the vehicle 102.

[0082] The Bluetooth chip in the first Bluetooth module 212 is encapsulated in the first positioning module 1021, which can effectively reduce the interference of external multipath communication on the Bluetooth channel detection accuracy. At the same time, the external Bluetooth antenna is not affected by the encapsulation and can still realize the Bluetooth ranging function in the rear area of ​​the vehicle.

[0083] In one alternative implementation, see [link to implementation details]. Figure 3 In the digital key fusion positioning system 10 provided in this application embodiment, the second ultra-wideband module 221 in the second positioning module 1022 and the Bluetooth chip in the second Bluetooth module 222 are both deployed in the driver's side area of ​​the cockpit close to the vehicle 102. The Bluetooth antenna in the second Bluetooth module 222 is set in the driver's opposite side area of ​​the cockpit away from the vehicle 102. The Bluetooth antenna in the second Bluetooth module 222 and the Bluetooth chip in the second Bluetooth module 222 are connected through a communication cable.

[0084] Optionally, the driver's side area near the driver's compartment of vehicle 102 refers to the area in vehicle 102 that is closer to the driver's seat, specifically the left front door near the driver's seat; the driver's opposite side area away from the driver's compartment of vehicle 102 refers to the area in vehicle 102 where the position next to the driver is located, specifically the right front door away from the driver's seat. This application does not make specific limitations on this.

[0085] Optionally, the Bluetooth chip in the second Bluetooth module 222 and the second ultra-wideband module 221 are both encapsulated in the second positioning module 1022 and fixedly installed on the door handle of the left front door near the driver's seat in the vehicle 102. The Bluetooth antenna in the first Bluetooth module 212 is stretched to the door handle of the right front door away from the driver's seat, so that the second positioning module 1022 can laterally cover the left and right sides of the vehicle 102.

[0086] The Bluetooth chip in the first Bluetooth module 212 is encapsulated in the first positioning module 1021, which can effectively reduce the interference of external multipath communication on the Bluetooth channel detection accuracy. At the same time, the external Bluetooth antenna is not affected by the encapsulation and can still realize the Bluetooth ranging function in the rear area of ​​the vehicle.

[0087] In one alternative implementation, see [link to implementation details]. Figure 3A first signal amplification and compensation circuit 213 is deployed in the communication cable between the Bluetooth antenna in the first Bluetooth module 212 and the Bluetooth chip in the first Bluetooth module 212. The first signal amplification and compensation circuit 213 is used to compensate for the signal attenuation of the Bluetooth antenna in the first Bluetooth module 212.

[0088] Optionally, the first signal amplification and compensation circuit 213 can be implemented by electronic components such as differential amplifiers and amplifiers to compensate for the signal attenuation caused by the line loss of the Bluetooth antenna in the first Bluetooth module 212 due to stretching, thereby ensuring the ranging accuracy of the Bluetooth antenna.

[0089] In one alternative implementation, see [link to implementation details]. Figure 3 A second signal amplification and compensation circuit 223 is deployed in the communication cable between the Bluetooth antenna in the second Bluetooth module 222 and the Bluetooth chip in the second Bluetooth module 222. The second signal amplification and compensation circuit 223 is used to compensate for the signal attenuation of the Bluetooth antenna in the second Bluetooth module 222.

[0090] Optionally, the second signal amplification and compensation circuit 223 can be implemented by electronic components such as differential amplifiers and amplifiers to compensate for the signal attenuation caused by the line loss of the Bluetooth antenna in the second Bluetooth module 222 due to stretching, thereby ensuring the ranging accuracy of the Bluetooth antenna.

[0091] In one alternative implementation, see [link to implementation details]. Figure 4 The second positioning module 1022 in the digital key fusion positioning system 10 provided in this application embodiment further includes: a near-field communication module 224, which is deployed in the driver's side area of ​​the cockpit near the vehicle 102;

[0092] The near-field communication module 224 is used to authenticate the digital key 101 when it touches the second positioning module 1022, and to perform corresponding actions after successful authentication.

[0093] Optionally, the near-field communication module 224 is specifically implemented by a near-field communication (NFC) chip. When the car owner touches the second positioning module 1022 with the digital key 101, the second positioning module 1022 authenticates the digital key 101 via the near-field communication module 224 to determine whether the digital key 101 is a valid digital key 101 relative to the current vehicle 102. After successful authentication, the module executes the action corresponding to the control command issued by the digital key 101, such as unlocking or locking the car door.

[0094] In one alternative implementation, see [link to implementation details]. Figure 5The digital key 101 in the digital key fusion positioning system 10 provided in this application embodiment includes: a gravity sensor 1011, a power management unit 1012, a first encryption chip 1013, a near-field communication chip 1014, a third ultra-wideband module 1015, and a third Bluetooth module 1016.

[0095] The digital key 101 establishes communication with the first positioning module 1021 and the second positioning module 1022 via the third ultra-wideband module 1015 and the third Bluetooth module 1016, respectively.

[0096] Optionally, the digital key 101 communicates wirelessly with the first ultra-wideband module 211 in the first positioning module 1021 and the second ultra-wideband module 221 in the second positioning module 1022 via the third ultra-wideband module 1015, and the digital key 101 communicates wirelessly with the first Bluetooth module 212 in the first positioning module 1021 and the second Bluetooth module 222 in the second positioning module 1022 via the third Bluetooth module 1016.

[0097] The gravity sensor 1011 is used to monitor the motion state of the digital key 101. When the static time of the digital key 101 exceeds a preset time threshold, it sends a low-power control command to the power management unit 1012. Under the action of the low-power control command, the power management unit 1012 controls the digital key 101 to enter a sleep state.

[0098] Optionally, the gravity sensor 1011 is used to monitor the acceleration of the digital key 101 in real time to determine whether the digital key 101 is currently stationary. When the stationary time of the digital key 101 exceeds a preset time threshold, a low-power control command is sent to the power management unit 1012 to control the digital key 101 to enter a sleep state. Here, "stationary state" refers to the state in which the digital key 101 is left in one place without moving for a long time; "stationary time" refers to the time during which the digital key 101 remains stationary; and the preset time threshold is a user-preset stationary time limit, which can be 5 minutes, 10 minutes, etc., and this application does not specifically limit it.

[0099] Optionally, the low-power control command refers to the command that controls the battery of the digital key 101 to operate with extremely low power consumption.

[0100] The near-field communication chip 1014 is used to communicate with the second positioning module 1022 in the near field, and the first encryption chip 1013 is used to authenticate the vehicle 102.

[0101] In one alternative implementation, see [link to implementation details]. Figure 6The vehicle 102 in the digital key fusion positioning system 10 provided in this application embodiment further includes: a second encryption chip 1024, and the microcontroller 1023 performs identity authentication of the digital key 101 via the second encryption chip 1024.

[0102] Optionally, the second encryption chip 1024 is used to verify the identity of the digital key 101, that is, to determine whether the digital key 101 matches the current vehicle 102.

[0103] In one alternative implementation, see [link to implementation details]. Figure 6 The vehicle 102 in the digital key fusion positioning system 10 provided in this application embodiment also includes: a vehicle connector 1025 and a power management chip 1026, both of which are communicatively connected to the microcontroller 1023.

[0104] Optionally, vehicle connector 1025 refers to the physical connection point on vehicle 102, i.e. the connection path between vehicle 102 and charging pile. Based on the connection status of vehicle connector 1025, microcontroller 1023 can determine whether vehicle 102 is currently connected to charging pile, so as to determine whether vehicle 102 is currently charging.

[0105] Optionally, the microcontroller 1023 is connected to the power management chip 1026 in the vehicle 102 to determine the power status of the vehicle 102. Only when the power status of the vehicle 102 meets the control requirements will the microcontroller 102 send the corresponding control command to the vehicle 102 in response to the control of the digital key 101.

[0106] Figure 7 Here is a schematic diagram of the structure of an existing digital key positioning system. (See attached diagram) Figure 7 Existing digital key positioning systems require the deployment of one master node and three slave nodes on the vehicle to locate the digital key. Furthermore, both the master node and each slave node need to possess ultra-wideband technology and Bluetooth technology. (See also...) Figure 8 and Figure 9 Digital key positioning requires solving the ultra-wideband ranging fusion result and the Bluetooth ranging fusion result separately, and then selecting one of the ultra-wideband ranging fusion result and the Bluetooth ranging fusion result as the positioning coordinate of the digital key. This method will greatly increase the hardware implementation cost of the digital key positioning system.

[0107] In an optional embodiment, this application also provides a flowchart of a digital key fusion positioning method, which is applied to the microcontroller 1023 in the digital key fusion positioning system 10 mentioned in the above embodiments. The digital key fusion positioning method provided in this application includes:

[0108] Communication is established with the digital key via the first positioning module and the second positioning module, and the first ultra-wideband ranging value of the digital key is obtained via the first ultra-wideband module, the first Bluetooth ranging value of the digital key is obtained via the Bluetooth antenna in the first Bluetooth module, the second ultra-wideband ranging value of the digital key is obtained via the second ultra-wideband module, and the second Bluetooth ranging value of the digital key is obtained via the second Bluetooth module.

[0109] The location coordinates of the digital key are determined based on the first ultra-wideband ranging value, the second ultra-wideband ranging value, the first Bluetooth ranging value, and the second Bluetooth ranging value.

[0110] Based on the location coordinates of the digital key, determine whether the digital key is within the operating area. If so, control the vehicle to perform the corresponding action.

[0111] The implementation process and technical effects of the digital key fusion positioning method provided in this application are exactly the same as the working principle and technical effects of the digital key fusion positioning system provided in the above embodiments, and will not be repeated here.

[0112] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0113] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A digital key fusion positioning system, characterized in that, The digital key fusion positioning system includes: a digital key and a first positioning module, a second positioning module, and a microcontroller deployed on the vehicle. The first positioning module includes: a first ultra-wideband module and a first Bluetooth module. The second positioning module includes: a second ultra-wideband module and a second Bluetooth module. The Bluetooth antennas of the first ultra-wideband module and the first Bluetooth module are disposed at different positions on the vehicle, and the Bluetooth antennas of the second ultra-wideband module and the second Bluetooth module are disposed at different positions on the vehicle, respectively. The signal measurement range of the first ultra-wideband module, the first Bluetooth module, the second ultra-wideband module, and the second Bluetooth module covers the operating area of ​​the vehicle. The first ultra-wideband module, the first Bluetooth module, the second ultra-wideband module, and the second Bluetooth module are all communicatively connected to the microcontroller; The microcontroller establishes communication with the digital key via the first positioning module and the second positioning module, and obtains the first ultra-wideband ranging value of the digital key via the first ultra-wideband module, obtains the first Bluetooth ranging value of the digital key via the Bluetooth antenna in the first Bluetooth module, obtains the second ultra-wideband ranging value of the digital key via the second ultra-wideband module, and obtains the second Bluetooth ranging value of the digital key via the second Bluetooth module. The microcontroller determines the positioning coordinates of the digital key based on the first ultra-wideband ranging value, the second ultra-wideband ranging value, the first Bluetooth ranging value, and the second Bluetooth ranging value. The microcontroller determines whether the digital key is within the operating area based on its location coordinates. If so, it controls the vehicle to perform the corresponding action.

2. The digital key fusion positioning system according to claim 1, characterized in that, The first ultra-wideband module in the first positioning module and the Bluetooth chip in the first Bluetooth module are both deployed in the front area of ​​the vehicle. The Bluetooth antenna in the first Bluetooth module is located in the rear area of ​​the vehicle. The Bluetooth antenna in the first Bluetooth module and the Bluetooth chip in the first Bluetooth module are connected through a communication cable.

3. The digital key fusion positioning system according to claim 1, characterized in that, The second ultra-wideband module in the second positioning module and the Bluetooth chip in the second Bluetooth module are both deployed in the driver's side area close to the driver's cabin of the vehicle. The Bluetooth antenna in the second Bluetooth module is set in the driver's opposite side area away from the driver's cabin of the vehicle. The Bluetooth antenna in the second Bluetooth module and the Bluetooth chip in the second Bluetooth module are connected through a communication cable.

4. The digital key fusion positioning system according to claim 2, characterized in that, A first signal amplification and compensation circuit is deployed in the communication cable between the Bluetooth antenna in the first Bluetooth module and the Bluetooth chip in the first Bluetooth module. The first signal amplification and compensation circuit is used to compensate for the signal attenuation of the Bluetooth antenna in the first Bluetooth module.

5. The digital key fusion positioning system according to claim 3, characterized in that, A second signal amplification and compensation circuit is deployed in the communication cable between the Bluetooth antenna in the second Bluetooth module and the Bluetooth chip in the second Bluetooth module. The second signal amplification and compensation circuit is used to compensate for the signal attenuation of the Bluetooth antenna in the second Bluetooth module.

6. The digital key fusion positioning system according to claim 3, characterized in that, The second positioning module further includes a near-field communication module, which is deployed in the driver's side area close to the driver's cabin of the vehicle; The near-field communication module is used to authenticate the digital key when the digital key touches the second positioning module, and to perform corresponding actions after the authentication is successful.

7. The digital key fusion positioning system according to claim 1, characterized in that, The digital key includes: a gravity sensor, a power management unit, a first encryption chip, a near-field communication chip, a third ultra-wideband module, and a third Bluetooth module; The digital key establishes communication with the first positioning module and the second positioning module via the third ultra-wideband module and the third Bluetooth module, respectively; The gravity sensor is used to monitor the movement state of the digital key, and when the static time of the digital key exceeds a preset time threshold, it sends a low-power control command to the power management unit. Under the action of the low-power control command, the power management unit controls the digital key to enter a sleep state. The near-field communication chip is used to communicate with the second positioning module in the near field, and the first encryption chip is used to authenticate the vehicle.

8. The digital key fusion positioning system according to claim 1, characterized in that, The vehicle also includes a second encryption chip, through which the microcontroller authenticates the digital key.

9. The digital key fusion positioning system according to claim 1, characterized in that, The vehicle also includes a vehicle connector and a power management chip, both of which are communicatively connected to the microcontroller.

10. A digital key fusion positioning method, characterized in that, The method, applied to a microcontroller in the digital key fusion positioning system according to any one of claims 1-9, comprises: The system establishes communication with the digital key via the first positioning module and the second positioning module, and obtains the first ultra-wideband ranging value of the digital key via the first ultra-wideband module, the first Bluetooth ranging value of the digital key via the Bluetooth antenna in the first Bluetooth module, the second ultra-wideband ranging value of the digital key via the second ultra-wideband module, and the second Bluetooth ranging value of the digital key via the second Bluetooth module. The location coordinates of the digital key are determined based on the first ultra-wideband ranging value, the second ultra-wideband ranging value, the first Bluetooth ranging value, and the second Bluetooth ranging value. Based on the location coordinates of the digital key, determine whether the digital key is within the operating area; if so, control the vehicle to perform the corresponding action.

Images