Ultra-wideband positioning detection system and vehicle

Abstract

The application provides an ultra-wideband positioning detection system and a vehicle, and relates to the technical field of vehicle communication. The ultra-wideband positioning detection system comprises at least one first ultra-wideband (UWB) anchor point and at least two second UWB anchor points. The first UWB anchor point is arranged in the vehicle interior and is used at least for performing an object distance measurement function and a living body detection function on a vehicle interior area switching. The second UWB anchor point is arranged on a vehicle component and is used at least for performing an object distance measurement function and an object positioning function on a vehicle exterior area switching. The UWB positioning detection system can switch the functions through the first UWB anchor point and / or the second UWB anchor point, so as to realize multiple functions and support multiple function scenarios, and has high versatility.

Description

Technical Field

[0001] This application relates to the field of vehicle communication technology, and in particular to an ultra-wideband positioning and detection system and a vehicle. Background Technology

[0002] Ultra-wideband (UWB) technology is a wireless communication technology. UWB uses nanosecond-level non-sinusoidal narrow pulses to transmit data; its signal peaks are steep and narrow, making it relatively easy to identify even in noisy multi-channel environments. Therefore, UWB technology is suitable for precise positioning and object detection in dense, multipath environments. In vehicles, UWB technology is mainly used for digital key positioning, kick detection, and liveness detection.

[0003] Currently, to enable vehicles to support functions such as digital key positioning, foot kick detection, and liveness detection, multiple UWB positioning and detection systems are typically installed in vehicles, with each system supporting one function. Clearly, current UWB positioning and detection systems in vehicles occupy a large amount of space, cannot be universally applied to various functional scenarios, and have poor versatility. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this application provides an ultra-wideband positioning and detection system and a vehicle.

[0005] According to a first aspect of the embodiments of this application, an ultra-wideband positioning and detection system is provided, comprising: at least one first ultra-wideband UWB anchor point and at least two second UWB anchor points; The first UWB anchor point is set inside the vehicle and is used at least to perform object ranging and liveness detection functions when switching between areas inside the vehicle. The second UWB anchor point is set on the vehicle body component and is used at least for switching between the external area of ​​the vehicle to perform object ranging and object positioning functions.

[0006] Optionally, the first UWB anchor point includes: a first UWB module, a first switching module, a first omnidirectional UWB antenna, and a first directional UWB antenna; The first UWB module is connected to the first omnidirectional UWB antenna and is also connected to the first directional UWB antenna through the first switching module. The first directional UWB antenna covers the seat area inside the vehicle. The first switching module is used to connect or disconnect the first UWB module from the first directional UWB antenna; The first UWB module is used to control the first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state when the first UWB module is disconnected from the first directional UWB antenna, so as to realize the object ranging function.

[0007] Optionally, the first UWB module is further configured to control the first omnidirectional UWB antenna to be in a transmitting state and the first directional UWB antenna to be in a receiving state when the first UWB module is connected to the first directional UWB antenna, or to control the first omnidirectional UWB antenna to be in a receiving state and the first directional UWB antenna to be in a transmitting state, thereby realizing the liveness detection function.

[0008] Optionally, the number of the first omnidirectional UWB antennas in the first UWB anchor point is multiple, and the polarization direction combination of all the first omnidirectional UWB antennas covers multiple polarization directions. The first UWB module is used to control each of the first omnidirectional UWB antennas to be in a self-transmitting and self-receiving state when the first UWB module is disconnected from the first directional UWB antenna, so as to realize the object ranging function.

[0009] Optionally, the first switching module includes: a first connection port, a second connection port, and a third connection port; Of the plurality of first omnidirectional UWB antennas, at least one first omnidirectional UWB antenna is directly connected to the first UWB module, the remaining first omnidirectional UWB antennas are connected to the first connection port, the second connection port is connected to the first directional UWB antenna, and the third connection port is connected to the first UWB module.

[0010] Optionally, the first UWB module is further configured to control the first switching module to connect the first connection port and the third connection port, and disconnect the second connection port and the third connection port, and control the first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state when the object ranging function is triggered by the first UWB anchor point, so as to realize the object ranging function.

[0011] Optionally, the first UWB module is further configured to, when the liveness detection function is triggered at the first UWB anchor point, control the first switching module to disconnect the first connection port from the third connection port and connect the second connection port to the third connection port, and control the first omnidirectional UWB antenna connected to the first UWB module to be in a transmitting state and the first directional UWB antenna to be in a receiving state, or control the first omnidirectional UWB antenna connected to the first UWB module to be in a receiving state and the first directional UWB antenna to be in a transmitting state, thereby realizing the liveness detection function.

[0012] Optionally, the first UWB anchor point further includes: a first Bluetooth BT module and at least two first omnidirectional BT antennas, wherein the polarization direction combination of all the first omnidirectional BT antennas covers multiple polarization directions; The first BT module is connected to each of the first omnidirectional BT antennas and is used to control each of the first omnidirectional BT antennas to be in a self-transmitting and self-receiving state to realize the object ranging function.

[0013] Optionally, the second UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, and a directional UWB antenna unit; The second UWB module is connected to the second omnidirectional UWB antenna and the directional UWB antenna unit through the second switching module. The directional UWB antenna unit is used to measure the horizontal angle and pitch angle of an object. The second switching module is used to connect or disconnect the second UWB module and the second omnidirectional UWB antenna, and to connect or disconnect the second UWB module and the directional UWB antenna unit. The second UWB module is used to control the second omnidirectional UWB antenna to be in a self-transmitting and self-receiving state when the second omnidirectional UWB antenna is connected to the second UWB module, so as to realize the object ranging function.

[0014] Optionally, the second UWB module is further configured to control the second omnidirectional UWB antenna to be in a transmitting state and the directional UWB antenna unit to be in a receiving state when both the second omnidirectional UWB antenna and the directional UWB antenna unit are connected to the second UWB module, thereby realizing the measurement of the horizontal angle and pitch angle of the object, so as to realize the object positioning function in combination with the object ranging function.

[0015] Optionally, the directional UWB antenna unit includes: a second directional UWB antenna, a third directional UWB antenna, and a fourth directional UWB antenna; The second directional UWB antenna, the third directional UWB antenna, and the fourth directional UWB antenna are arranged in an L-shaped array, and the second directional UWB antenna is located at the corner of the L-shaped array; The second UWB module is also used to control the second omnidirectional UWB antenna to be in a transmitting state and the second directional UWB antenna and the third directional UWB antenna to be in a receiving state when the second omnidirectional UWB antenna, the second directional UWB antenna and the third directional UWB antenna are all connected to the second UWB module, so as to realize the measurement of the horizontal angle of the object.

[0016] Optionally, the second UWB module is further configured to control the second omnidirectional UWB antenna to be in a transmitting state and the second directional UWB antenna and the fourth directional UWB antenna to be in a receiving state when the second omnidirectional UWB antenna, the second directional UWB antenna and the fourth directional UWB antenna are all connected to the second UWB module, thereby realizing the measurement of the pitch angle of the object.

[0017] Optionally, the number of second omnidirectional UWB antennas in the second UWB anchor point is multiple, and the polarization direction combination of all second omnidirectional UWB antennas covers multiple polarization directions; The second UWB module is also used to control each second omnidirectional UWB antenna to be in a self-transmitting and self-receiving state when at least two second omnidirectional UWB antennas are connected to the second UWB module, so as to realize the object ranging function; or, to control at least one of the multiple second omnidirectional UWB antennas to be in a transmitting state and the remaining second omnidirectional UWB antennas to be in a receiving state, so as to realize the object ranging function.

[0018] Optionally, the second switching module includes: a fourth connection port, a fifth connection port, a sixth connection port, a seventh connection port, an eighth connection port, a ninth connection port, and a tenth connection port; The fourth connection port is connected to the first transceiver port of the second UWB module, and the fifth connection port is connected to the second transceiver port of the second UWB module. Of the plurality of second omnidirectional UWB antennas, at least one second omnidirectional UWB antenna is connected to the sixth connection port, the remaining second omnidirectional UWB antennas are connected to the seventh connection port, the eighth connection port is connected to the second directional UWB antenna, the ninth connection port is connected to the third directional UWB antenna, and the tenth connection port is connected to the fourth directional UWB antenna.

[0019] Optionally, the second UWB module is further configured to, when the object ranging function is triggered by the second UWB anchor point, control the second switching module to connect the fourth connection port and the sixth connection port, and connect the fifth connection port and the seventh connection port, and control each of the second omnidirectional UWB antennas to be in a self-transmitting and self-receiving state, or control the second omnidirectional UWB antenna connected to the sixth connection port to be in a transmitting state and the second omnidirectional UWB antenna connected to the seventh connection port to be in a receiving state, or control the second omnidirectional UWB antenna connected to the sixth connection port to be in a receiving state and the second omnidirectional UWB antenna connected to the seventh connection port to be in a transmitting state, thereby realizing the object ranging function.

[0020] Optionally, the second UWB module is further configured to, when the object positioning function is triggered by the second UWB anchor point, implement time-division control to perform object ranging, object horizontal angle measurement, and object pitch angle measurement functions. The second UWB module controls the second switching module to connect the fourth connection port and the sixth connection port in a time-division manner, connect the fourth connection port and the ninth connection port, continuously connect the fifth connection port and the eighth connection port, and control the second directional UWB antenna to be in a receiving state. When the fourth connection port is connected to the sixth connection port, the second omnidirectional UWB antenna connected to the sixth connection port is controlled to be in a transmitting state. When the fourth connection port is connected to the ninth connection port, the third directional UWB antenna is controlled to be in a receiving state, thereby realizing the function of measuring the horizontal angle of an object.

[0021] Optionally, the second UWB module is used to control the second switching module to connect the fifth connection port and the seventh connection port in a time-division manner, connect the fifth connection port and the eighth connection port, continuously connect the fourth connection port and the ninth connection port, and control the third directional UWB antenna to be in a receiving state. When the fifth connection port and the seventh connection port are connected, the second omnidirectional UWB antenna connected to the seventh connection port is controlled to be in a transmitting state. When the fifth connection port and the eighth connection port are connected, the second directional UWB antenna is controlled to be in a receiving state, thereby realizing the function of measuring the horizontal angle of the object.

[0022] Optionally, the second UWB module is used to control the second switching module to connect the fourth connection port and the sixth connection port in a time-division manner, connect the fourth connection port and the tenth connection port, continuously connect the fifth connection port and the eighth connection port, and control the second directional UWB antenna to be in a receiving state. When the fourth connection port and the sixth connection port are connected, the second omnidirectional UWB antenna connected to the sixth connection port is controlled to be in a transmitting state. When the fourth connection port and the tenth connection port are connected, the fourth directional UWB antenna is controlled to be in a receiving state to realize the object pitch angle measurement function.

[0023] Optionally, the second UWB module is used to control the second switching module to connect the fifth connection port and the seventh connection port in a time-division manner, connect the fifth connection port and the eighth connection port, continuously connect the fourth connection port and the tenth connection port, and control the fourth directional UWB antenna to be in a receiving state. When the fifth connection port and the seventh connection port are connected, the second omnidirectional UWB antenna connected to the seventh connection port is controlled to be in a transmitting state. When the fifth connection port and the eighth connection port are connected, the second directional UWB antenna is controlled to be in a receiving state, thereby realizing the object pitch angle measurement function.

[0024] Optionally, the second UWB anchor point further includes: a second BT module and at least one second omnidirectional BT antenna, wherein the polarization direction combination of all the second omnidirectional BT antennas covers multiple polarization directions; The second BT module is connected to the second omnidirectional BT antenna and is used to control the second omnidirectional BT antenna to be in a self-transmitting and self-receiving state to realize the object ranging function.

[0025] Optionally, the at least two second UWB anchor points include at least one rear bumper UWB anchor point located at the rear of the vehicle; The rear bumper UWB anchor point is also used to perform kicking action recognition function when switching the external area of ​​the vehicle.

[0026] Optionally, the rear-mounted UWB anchor point further includes: a fifth directional UWB antenna; The fifth directional UWB antenna is connected to the second UWB module through the second switching module; the second switching module is also used to connect or disconnect the second UWB module and the fifth directional UWB antenna. The second UWB module is also used to control the second omnidirectional UWB antenna to be in a transmitting state and the fifth directional UWB antenna to be in a receiving state, or to control the second omnidirectional UWB antenna to be in a receiving state and the fifth directional UWB antenna to be in a transmitting state, when both the second omnidirectional UWB antenna and the fifth directional UWB antenna are connected to the second UWB module, thereby realizing the kicking action recognition function.

[0027] Optionally, the at least one rear bumper UWB anchor point includes: at least one rear bumper UWB anchor point located in the middle of the rear of the vehicle, and two rear bumper UWB anchor points located at the two corners of the rear of the vehicle.

[0028] Optionally, the angle between the antenna surface of the rear bumper UWB anchor point and the vehicle's YZ plane is in the range of [20°, 30°], and the angle between the antenna surface and the vehicle's Z axis is less than 2°.

[0029] Optionally, the at least two second UWB anchor points also include at least one front bumper UWB anchor point located at the front of the vehicle.

[0030] Optionally, the at least one front bumper UWB anchor point includes: at least one front bumper UWB anchor point located at the middle of the front of the vehicle, and two front bumper UWB anchor points located at the two corners of the front of the vehicle.

[0031] Optionally, the angle between the antenna surface of the front bumper UWB anchor point and the vehicle's YZ plane is in the range of [20°, 30°], and the angle between the antenna surface and the vehicle's Z-axis is less than 15°.

[0032] Optionally, at least one of the first UWB anchor points includes at least one main UWB anchor point located in the front row inside the vehicle.

[0033] Optionally, at least one of the first UWB anchor points also includes at least one UWB anchor point located in the rear row inside the vehicle.

[0034] According to a second aspect of the embodiments of this application, a vehicle is provided, including: the ultra-wideband positioning detection system described in any of the first aspects.

[0035] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects: The UWB positioning and detection system includes at least one first UWB anchor point and at least two second UWB anchor points. The first UWB anchor point is located inside the vehicle and is used at least to switch between performing object ranging and liveness detection functions within the vehicle's interior area. The second UWB anchor points are located on vehicle body components and are used at least to switch between performing object ranging and object positioning functions outside the vehicle's exterior area. Therefore, the UWB positioning and detection system provided in this application can switch between performing functions through the first and / or second UWB anchor points to achieve multiple functions and support various functional scenarios, exhibiting high versatility.

[0036] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0038] Figure 1 This is one of the structural schematic diagrams of the UWB positioning and detection system provided in the embodiments of this application; Figure 2 This is a second schematic diagram of the UWB positioning and detection system provided in the embodiments of this application; Figure 3 This is the third schematic diagram of the UWB positioning and detection system provided in the embodiments of this application; Figure 4 This is one of the structural schematic diagrams of the first UWB anchor point provided in the embodiments of this application; Figure 5 This is a second structural schematic diagram of the first UWB anchor point provided in the embodiments of this application; Figure 6 This is the third structural schematic diagram of the first UWB anchor point provided in the embodiments of this application; Figure 7This is the fourth structural schematic diagram of the first UWB anchor point provided in the embodiments of this application; Figure 8 This is one of the structural schematic diagrams of the second UWB anchor point provided in the embodiments of this application; Figure 9 This is one of the structural schematic diagrams of the directional UWB antenna unit provided in the embodiments of this application; Figure 10 This is one of the schematic diagrams illustrating the calculation principles of pitch and horizontal angles provided in the embodiments of this application; Figure 11 This is the second structural schematic diagram of the second UWB anchor point provided in the embodiments of this application; Figure 12 This is the third structural schematic diagram of the second UWB anchor point provided in the embodiments of this application; Figure 13 This is the fourth structural schematic diagram of the second UWB anchor point provided in the embodiments of this application; Figure 14 This is the fifth structural schematic diagram of the second UWB anchor point provided in the embodiments of this application; Figure 15 This is one of the structural schematic diagrams of the rear-mounted UWB anchor point provided in the embodiments of this application; Figure 16 This is the second structural schematic diagram of the rear-mounted UWB anchor point provided in the embodiments of this application; Figure 17 This is the third structural schematic diagram of the rear-mounted UWB anchor point provided in the embodiments of this application; Figure 18 This is the fourth structural schematic diagram of the rear-mounted UWB anchor point provided in the embodiments of this application; Figure 19 This is one of the flowcharts of the positioning detection method provided in the embodiments of this application. Detailed Implementation

[0039] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0040] Please refer to Figure 1 The accompanying drawings illustrate a schematic diagram of a UWB positioning and detection system provided in an embodiment of this application. The UWB positioning and detection system can be applied to vehicles, and the drawings also illustrate the application of the UWB positioning and detection system to a vehicle. Figure 1As shown, the UWB positioning and detection system includes at least one first UWB anchor point 1 and at least two second UWB anchor points 2.

[0041] The first UWB anchor point 1 is located inside the vehicle. The first UWB anchor point 1 is used at least to perform object ranging and liveness detection functions when switching between areas inside the vehicle. The second UWB anchor point 2 is located on the vehicle body components. The second UWB anchor point 2 is used at least to perform object ranging and object positioning functions when switching between areas outside the vehicle. It should be noted that... Figure 1 The following is an example of a UWB positioning and detection system that includes one first UWB anchor point 1 and four second UWB anchor points 2. The number of first UWB anchor points 1 and second UWB anchor points 2 shown is not limited to the number of first UWB anchor points 1 and second UWB anchor points 2 that the UWB positioning and detection system may include.

[0042] In this context, "the first UWB anchor point 1 is located inside the vehicle" means that the first UWB anchor point 1 is installed on the vehicle body shell, and the antenna coverage surface faces the interior space of the vehicle. "The second UWB anchor point 2 is located on the vehicle body assembly" means that the second UWB anchor point 2 is installed on the vehicle body assembly, and the antenna coverage surface faces the outer side of the vehicle body. For example, the vehicle body assembly is the vehicle's bumper assembly. For instance, the vehicle body assembly can be either the front bumper assembly or the rear bumper assembly.

[0043] Object ranging refers to the function of measuring the distance between a target object and a first UWB anchor point (or a second UWB anchor point), used to detect the distance between a target object inside or outside the vehicle and the vehicle shell. Liveness detection refers to the function of detecting the presence of living beings inside the vehicle. Object positioning refers to the function of detecting the position of a target object outside the vehicle; position detection includes detecting the distance between the target object and the vehicle shell, the horizontal angle of the target object, and the pitch angle of the target object.

[0044] In some optional cases, the UWB positioning and detection system may have at least a first operating mode, a third operating mode, and a fourth operating mode, for a total of three operating modes. The UWB positioning and detection system can operate simultaneously in at least one operating mode. In the first operating mode, both the first UWB anchor point 1 and the second UWB anchor point 2 perform object ranging functions to detect the distance to the same target object inside and outside the vehicle. In the third operating mode, the second UWB anchor point 2 performs object ranging functions to detect the distance to the target object outside the vehicle. In the fourth operating mode, the second UWB anchor point 2 performs object positioning functions to detect the position of the target object outside the vehicle. Further optionally, the UWB positioning and detection system also has a second operating mode. In the second operating mode, the first UWB anchor point 1 performs a liveness detection function to detect living beings inside the vehicle. Of course, the UWB positioning and detection system may also have other operating modes so that the first UWB anchor point 1 and / or the second UWB anchor point 2 combine to perform corresponding functions, which is not limited in this application.

[0045] For example, the first operating mode can be the vehicle's digital key positioning mode. In digital key positioning mode, the UWB positioning and detection system performs object ranging through a first UWB anchor point 1 and a second UWB anchor point 2 to measure the distance to the vehicle's digital key (i.e., the target object) both inside and outside the vehicle. Specifically, for example, the first UWB anchor point 1 (second UWB anchor point 2) can be used to transmit a UWB signal inside (outside) the vehicle, so that the digital key located inside (outside) the vehicle, upon receiving the UWB signal, transmits a feedback UWB signal back to the first UWB anchor point 1 (second UWB anchor point 2). The first UWB anchor point 1 (second UWB anchor point 2), upon receiving the UWB signal transmitted by the digital key, calculates the distance to the digital key using Time of Flight (TOF) technology. The distance D1 of the digital key satisfies: D1 = C × (T1 - T0 - T2) / 2. C represents the propagation speed of the UWB signal. T1 represents the time when the first UWB anchor point 1 (second UWB anchor point 2) receives the UWB signal transmitted by the digital key. T0 represents the time when the first UWB anchor point 1 (second UWB anchor point 2) transmits the UWB signal. T2 represents the total time from when the digital key receives the UWB signal to when it sends back the UWB signal.

[0046] The second working mode can be Child Presence Detection (CPD) mode, also known as a liveness detection module. In CPD mode, the UWB positioning and detection system performs liveness detection through the first UWB anchor point 1 to detect children or other living beings inside the vehicle. Specifically, the first UWB anchor point 1 can be used to transmit UWB signals inside the vehicle and receive the reflected signals from a target object inside the vehicle. By analyzing the micro-motion characteristics of the reflected signals, it can determine whether the target object exhibits breathing and heartbeat characteristics characteristic of a living being, thus determining the presence of a living being inside the vehicle.

[0047] The third operating mode can be sentinel mode. In sentinel mode, the UWB positioning and detection system performs object ranging through the second UWB anchor point 2 to measure the distance to people or objects (i.e., target objects) within a specific range near the vehicle's exterior. Specifically, the second UWB anchor point 2 can be used to transmit UWB signals outside the vehicle and receive the reflected UWB signals from the target object outside the vehicle. The distance to the target object is calculated using Time-of-Flight (TOF) technology. The distance D2 to the target object satisfies: D2 = C × (T4 - T3) / 2. T4 represents the time it takes for the second UWB anchor point 2 to receive the reflected signal. T3 represents the time it takes for the second UWB anchor point 2 to transmit the UWB signal.

[0048] The fourth operating mode can be the Ultrasonic Parking Assistant (UPA) obstacle recognition mode. In UPA obstacle recognition mode, the UWB positioning and detection system performs object localization through the second UWB anchor point 2 to measure the position of obstacles (i.e., target objects) outside the vehicle. Specifically, the second UWB anchor point 2 can be used to emit UWB signals outside the vehicle and receive the reflected signals from the target object. The distance to the target object is calculated using Time-of-Flight (TOF) technology, and the pitch and horizontal angles of the target object are calculated using Angle of Arrival (AOA) ranging, thus achieving target object localization.

[0049] In some embodiments of this application, such as Figure 2 As shown, the UWB positioning and detection system includes at least two second UWB anchor points 2. These at least two second UWB anchor points 2 may include at least one rear bumper UWB anchor point 21 located at the rear of the vehicle. The rear bumper UWB anchor point 21 is also used to perform a kicking motion recognition function on the external area of ​​the vehicle. The kicking motion recognition function refers to the function of detecting whether there is a target object with a kicking motion in the external area of ​​the rear of the vehicle.

[0050] Optionally, the rear UWB anchor point 21 can be used to transmit UWB signals in the outer area of ​​the rear of the vehicle and receive the reflection signals of the UWB signals from the target object in the outer area of ​​the vehicle, so as to determine whether there is a target object with a kicking action in the outer area of ​​the rear of the vehicle by analyzing the reflection signals, thereby realizing kicking action recognition.

[0051] Optionally, the UWB positioning and detection system has a fifth operating mode. In the fifth operating mode, the rear bumper UWB anchor point 21 performs a kicking action recognition function to detect kicking actions in the external area of ​​the rear of the vehicle. For example, the fifth operating mode can be a kicking radar mode. In kicking radar mode, the UWB positioning and detection system performs a kicking action recognition function through the rear bumper UWB anchor point 21 to detect kicking actions in the external area of ​​the rear of the vehicle. This allows the vehicle to perform actions that can be triggered by the user's kicking action, such as opening the trunk or triggering an alarm, upon detection of a kicking action.

[0052] Further optionally, at least one rear bumper UWB anchor point 21 includes at least one rear bumper UWB anchor point 21 located in the middle of the rear of the vehicle, and two rear bumper UWB anchor points 21 located at the two corners of the rear of the vehicle, to meet the coverage requirement of the entire rear area of ​​the vehicle. As one example, the UWB positioning detection system includes two rear bumper UWB anchor points 21 located in the middle of the rear of the vehicle, and two rear bumper UWB anchor points 21 located at the two corners of the rear of the vehicle. As another example, the UWB positioning detection system includes three rear bumper UWB anchor points 21 located in the middle of the rear of the vehicle, and two rear bumper UWB anchor points 21 located at the two corners of the rear of the vehicle.

[0053] In some embodiments, the angle between the antenna surface of the rear bumper UWB anchor point 21 and the vehicle's YZ plane ranges from [20°, 30°], and the angle between the antenna surface and the vehicle's Z-axis is less than or equal to 2°. As an example, the rear bumper UWB anchor point 21 is mounted on a bracket inside the outer skin of the rear bumper (e.g., by a snap-fit ​​to the bracket, which can be fixed to the outer skin by heat fusion). The distance between the two rear bumper UWB anchor points at the two corners of the vehicle's rear end ranges from [1.6, 1.7] m. The distance from the rear bumper UWB anchor point 21 to the outer skin in the X direction ranges from [10, 20] cm, and the distance between the rear bumper UWB anchor point 21 and the far end of the vehicle body ranges from [25, 35] cm. The angle between the antenna of the rear bumper UWB anchor point 21 and the vehicle's Y-axis can be 24°, and the angle between the antenna surface and the vehicle's Z-axis is 0, i.e., parallel to the vehicle's Z-plane. The ground clearance of the rear bumper UWB anchor point 21 can range from [35, 45] cm. The distance between the rear bumper UWB anchor point 21 and other vehicle metal components needs to be at least 60 mm, and the distance between the rear bumper UWB anchor point 21 and a specific frequency band radio frequency module needs to be at least 20 cm to avoid signal interference. The specific frequency band can include 2.45 GHz ± 500 MHz, 6.5 GHz ± 250 MHz, 8 GHz ± 250 MHz, or other high-power radio frequency bands. As another example, the UWB positioning detection system includes two to three rear bumper UWB anchor points 21 located in the middle of the rear of the vehicle, and two rear bumper UWB anchor points 21 located at the two corners of the rear of the vehicle, so that the overall antenna FOV range of the rear bumper UWB anchor points 21 can reach ±60° to ±90°. Using the antenna probes at the two corners of the vehicle's rear as the starting and ending points, and a 90° angle perpendicular to the vehicle body as the FOV edge line, it can achieve full coverage of the rear of the vehicle with a blind spot distance of less than 10cm, significantly outperforming current ultrasonic reversing radar performance. Using a 1m long φ75mm standard PVC pipe as a reference, the UWB positioning and detection system can detect the vehicle from a distance of 3m away through the rear bumper UWB anchor point 21. It should be noted that the number and angle of the rear bumper UWB anchor points can be adjusted according to conditions such as vehicle size and detection requirements to meet the requirement of full coverage of the rear of the vehicle.

[0054] In some embodiments of this application, at least two second UWB anchor points 2 further include at least one front bumper UWB anchor point 22 disposed at the front end of the vehicle to meet the coverage requirements of the entire front area of ​​the vehicle. The front bumper UWB anchor point 22 is used at least to switch between object ranging and object positioning functions in the external area of ​​the vehicle. Optionally, at least one front bumper UWB anchor point 22 includes at least one front bumper UWB anchor point 22 distributed in the middle position of the front end of the vehicle, and two front bumper UWB anchor points 22 distributed at the two corners of the front end of the vehicle. As an example, the UWB positioning detection system includes two front bumper UWB anchor points 22 distributed in the middle position of the front end of the vehicle, and two front bumper UWB anchor points 22 distributed at the two corners of the front end of the vehicle. As another example, the UWB positioning detection system includes three front bumper UWB anchor points 22 distributed in the middle position of the front end of the vehicle, and two front bumper UWB anchor points 22 distributed at the two corners of the front end of the vehicle.

[0055] In some embodiments, the angle between the antenna surface of the front bumper UWB anchor point 22 and the vehicle's YZ plane ranges from [20°, 30°], and the angle between the antenna surface and the vehicle's Z-axis is less than 15°. For example, the front bumper UWB anchor point 22 is disposed on the inner side of the outer skin of the front bumper and located on a bracket at the upper outer corner of the headlight frame (e.g., it is snapped onto the bracket, which can be fixed to the headlight frame). The angle between the antenna surface of the front bumper UWB anchor point 22 and the vehicle's YZ plane is 25°, and the angle between the antenna surface and the vehicle's Z-axis is less than 15°. The ground clearance of the front bumper UWB anchor point 22 is at least 60cm. The distance between the front bumper UWB anchor point 22 and other vehicle metal components needs to be at least 60mm, and the distance between the front bumper UWB anchor point 22 and a specific frequency band radio frequency module needs to be at least 20cm to avoid signal interference.

[0056] In some embodiments of this application, at least one first UWB anchor point 1 includes at least one main UWB anchor point disposed in the front row inside the vehicle. Further optionally, at least one first UWB anchor point 1 also includes at least one secondary UWB anchor point disposed in the rear row inside the vehicle to achieve full coverage of the vehicle's interior area.

[0057] For example, the main UWB anchor point can be located near the reading light in front of the vehicle's roof (e.g., below the sunshade motor, and placed horizontally), preferably as low and forward as possible. The center of this main UWB anchor point should be at least 20mm away from the vehicle's centerline. The angle between the antenna surface of the main UWB anchor point and the vehicle's Y-axis should be less than or equal to 3° (e.g., the angle between the antenna surface of the main UWB anchor point and the vehicle's Y-axis is 0°, i.e., horizontally positioned), and the angle between the antenna surface of the main UWB anchor point and the vehicle's X-axis should be less than or equal to 10°. The distance between the main UWB anchor point and the sunshade motor in the vehicle's Z-axis direction should be at least 5mm, and the distance between the main UWB anchor point and other vehicle metal parts should also be at least 60mm to avoid signal interference. The secondary UWB anchor point can be located in the rear roof of the vehicle; other arrangement requirements can refer to the arrangement requirements of the main UWB anchor point, which will not be elaborated upon in this application.

[0058] Please refer to some embodiments of this application. Figure 2 The UWB positioning and detection system includes a first UWB anchor point 1 and four second UWB anchor points 2. The first UWB anchor point 1 is located in front of the front seats inside the vehicle, and its signal covers the seat area α inside the vehicle, which is used to switch between object ranging and liveness detection functions in the seat area α inside the vehicle.

[0059] The four second UWB anchor points 2 include: two front bumper UWB anchor points 22 and two rear bumper UWB anchor points 21. One of the two front bumper UWB anchor points 22 is located at the left end of the vehicle's front bumper, and its signal covers the left front side region β of the vehicle's exterior, used to switch between object ranging and object positioning functions in the left front side region β. The other front bumper UWB anchor point 22 is located at the right end of the vehicle's front bumper, and its signal covers the right front side region γ of the vehicle's exterior, used to switch between object ranging and object positioning functions in the right front side region γ of the vehicle's exterior.

[0060] One of the two rear bumper UWB anchor points 21 is located at the left end of the vehicle's rear bumper, and its signal covers the left rear side area δ of the vehicle's exterior. This anchor point is used to switch between object ranging and object positioning functions within the left rear side area δ. The other rear bumper UWB anchor point 21 is located at the right end of the vehicle's rear bumper, and its signal covers the right rear side area ε of the vehicle's exterior. This anchor point is used to switch between object ranging and object positioning functions within the right rear side area ε.

[0061] In other embodiments, such as Figure 3As shown, the UWB positioning and detection system includes two first UWB anchor points 1 and four second UWB anchor points 2. The two first UWB anchor points 1 include a primary UWB anchor point 11 and an auxiliary UWB anchor point 12. The primary UWB anchor point 11 is located in front of the front seats inside the vehicle, and its signal covers the seat area α inside the vehicle, used to switch between object ranging and liveness detection functions in the seat area α. The auxiliary UWB anchor points 12 are located behind the rear seats inside the vehicle, and their signals cover the seat area ζ inside the vehicle, used to switch between object ranging and liveness detection functions in the seat area ζ. Figure 3 The setting positions and functions of the four second UWB anchor points 2 are related to... Figure 2 The four second UWB anchor points 2 have the same location and function, which will not be described in detail here.

[0062] In this embodiment, the UWB positioning and detection system includes at least one first UWB anchor point and at least two second UWB anchor points. The first UWB anchor point is located inside the vehicle and is used at least to switch between performing object ranging and liveness detection functions within the vehicle's interior area. The second UWB anchor points are located on vehicle body components and are used at least to switch between performing object ranging and object positioning functions outside the vehicle's exterior area. Therefore, the UWB positioning and detection system provided in this application can switch between performing functions through the first and / or second UWB anchor points to achieve multiple functions and support various functional scenarios, exhibiting high versatility.

[0063] In this embodiment, the first UWB anchor point 1 is at least used to perform object ranging and liveness detection functions for switching the vehicle interior area. Optionally, as... Figure 4 As shown, the first UWB anchor point 1 may include: a first UWB module 101, a first switching module 102, a first omnidirectional UWB antenna 103, and a first directional UWB antenna 104.

[0064] The first UWB module 101 is connected to the first omnidirectional UWB antenna 103, and is also connected to the first directional UWB antenna 104 via the first switching module 102. The first directional UWB antenna 104 covers the seat area inside the vehicle.

[0065] The first switching module 102 is used to connect or disconnect the first UWB module 101 from the first directional UWB antenna 104. When the first UWB module 101 is disconnected from the first directional UWB antenna 104, the first omnidirectional UWB antenna 103 is controlled to be in a self-transmitting and self-receiving state, thus enabling object ranging. This self-transmitting and self-receiving state is also known as the self-excited and self-receiving state. The self-transmitting and self-receiving state of an antenna refers to the same antenna simultaneously or time-divisionally undertaking the functions of transmitting and receiving signals.

[0066] When the first UWB module 101 is disconnected from the first directional UWB antenna 104, the first UWB module 101 remains connected to the first omnidirectional UWB antenna 103. The first UWB anchor point 1 realizes the object ranging function through the first omnidirectional UWB antenna 103 in a self-transmitting and self-receiving state.

[0067] In some embodiments of this application, the number of first omnidirectional UWB antennas 103 within the first UWB anchor point 1 can be at least one; the number of first directional UWB antennas 104 can also be at least one. Each first omnidirectional UWB antenna 103 covers the seat area inside the vehicle.

[0068] Optionally, the number of first omnidirectional UWB antennas 103 in the first UWB anchor point 1 can be multiple. The polarization direction combination of all first omnidirectional UWB antennas 103 covers multiple polarization directions. For example, the polarization direction combination of all first omnidirectional UWB antennas 103 covers all polarization directions. The first UWB module 101 is used to control each first omnidirectional UWB antenna 103 to be in a self-transmitting and self-receiving state when the first UWB module 101 is disconnected from the first directional UWB antenna 104, thereby realizing the object ranging function.

[0069] Alternatively, the first UWB module 101 can also be used to control a portion of the first omnidirectional UWB antenna 103 to be in a transmitting state and another portion of the first omnidirectional UWB antenna 103 to be in a receiving state when the first UWB module 101 is disconnected from the first directional UWB antenna 104, thereby realizing the object ranging function.

[0070] For example, the first UWB anchor point 1 includes two first omnidirectional UWB antennas 103: a first omnidirectional UWB antenna UWB-ANT1 and a first omnidirectional UWB antenna UWB-AN2. The two first omnidirectional UWB antennas 103 achieve mutually perpendicular polarization coverage.

[0071] Since the target object served by the object ranging function supported by the first UWB anchor point 1 (such as a vehicle's digital key) may appear in any area inside the vehicle and be obstructed by items inside the vehicle, and if the target object is the vehicle's digital key, it may also be obstructed by being held by someone, two first omnidirectional UWB antennas 103 are set to achieve mutually perpendicular polarization coverage to enhance the signal reception capability of the first UWB anchor point 1 in all directions. This improves the overall signal coverage capability of the first UWB anchor point 1, thereby addressing the complex ranging scenarios inside the vehicle and improving the accuracy of the object ranging function supported by the first UWB anchor point 1.

[0072] In some embodiments, the first UWB module 102 is further configured to, when the first UWB module 101 is connected to the first directional UWB antenna 104, control the first omnidirectional UWB antenna 103 to be in a transmitting state and the first directional UWB antenna 104 to be in a receiving state, or control the first omnidirectional UWB antenna 103 to be in a receiving state and the first directional UWB antenna 104 to be in a transmitting state, thereby realizing a liveness detection function. Here, the transmitting state of the antenna refers to the antenna only performing the function of transmitting signals. The receiving state of the antenna refers to the antenna only performing the function of receiving signals.

[0073] When the first UWB module 101 is connected to the first directional UWB antenna 104, the first UWB module 101 maintains a connection with both the first directional UWB antenna 104 and the first omnidirectional UWB antenna 103. The first UWB anchor point 1 implements a liveness detection function through the first omnidirectional UWB antenna 103 in transmit (receive) mode and the first directional UWB antenna 104 in receive (transmit) mode. It should be noted that the liveness detection function is primarily designed for the vehicle interior. Therefore, the first directional UWB antenna 104, specifically designed to support the liveness detection function in the first UWB anchor point 1, needs to consider signal overflow from outside the vehicle to prevent misjudgment of living beings outside the vehicle, which could lead to false triggering of the liveness detection function.

[0074] In some embodiments, please refer to Figure 4 The number of first omnidirectional UWB antennas 103 in the first UWB anchor point 1 is at least two. The first switching module 102 may include: a first connection port P1, a second connection port P2, and a third connection port P3. Among the multiple first omnidirectional UWB antennas 103, at least one first omnidirectional UWB antenna 103 is directly connected to the first UWB module 101, and the remaining first omnidirectional UWB antennas 103 are connected to the first connection port P1. The second connection port P2 is connected to the first directional UWB antenna 104. The third connection port P3 is connected to the first UWB module 101. It should be noted that... Figure 4 Taking the first UWB anchor point 1, which includes two first omnidirectional UWB antennas 103, as an example. Accordingly, one of the two first omnidirectional UWB antennas 103 is directly connected to the first UWB module 101; the other first omnidirectional UWB antenna 103 is connected to the first connection port P1.

[0075] The first switching module 102 can be used to connect the third connection port P3 to the first connection port P1 by selecting the connection between the third connection port P3 and the first connection port P1, so as to disconnect the first UWB module 101 from the first directional UWB antenna 104, so that all the first omnidirectional UWB antennas 103 in the first UWB anchor point 1 are connected to the first UWB module 101.

[0076] Optionally, the first UWB module 101 is used to control each first omnidirectional UWB antenna 103 to be in a self-transmitting and self-receiving state when the first UWB module 101 is disconnected from the first directional UWB antenna 104, thereby realizing the object ranging function; or, control the portion of the first omnidirectional UWB antenna 103 directly connected to the first UWB module 101 to be in a transmitting state, and the portion of the first omnidirectional UWB antenna 103 connected to the first connection port P1 to be in a receiving state, thereby realizing the object ranging function; or, control the portion of the first omnidirectional UWB antenna 103 directly connected to the first UWB module 101 to be in a receiving state, and the portion of the first omnidirectional UWB antenna 103 connected to the first connection port P1 to be in a transmitting state, thereby realizing the object ranging function.

[0077] The first switching module 102 is also used to connect the first UWB module 101 and the first directional UWB antenna 104 by selecting and controlling the third connection port P3 to connect with the second connection port P2, and disconnect the first omnidirectional UWB antenna 103 connected to the first UWB module 101 and the first connection port P1.

[0078] When the first UWB anchor point 1 is connected to the first UWB module 101 and the first directional UWB antenna 104, it controls the first omnidirectional UWB antenna 103 connected to the first UWB module 101 to be in a transmitting state and the first directional UWB antenna 104 to be in a receiving state, or controls the first omnidirectional UWB antenna 103 connected to the first UWB module 101 to be in a receiving state and the first directional UWB antenna 104 to be in a transmitting state, thereby realizing the liveness detection function.

[0079] Optionally, the first UWB module 101 is further configured to, when the object ranging function is triggered at the first UWB anchor point 1, control the first switching module 102 to connect the first connection port P1 and the third connection port P3, and disconnect the second connection port P2 and the third connection port P3, and control the first omnidirectional UWB antenna 103 to be in a self-transmitting and self-receiving state to realize the object ranging function; or, control the portion of the first omnidirectional UWB antenna 103 directly connected to the first UWB module 101 to be in a transmitting state, and the portion of the first omnidirectional UWB antenna 103 connected to the first connection port P1 to be in a receiving state to realize the object ranging function; or, control the portion of the first omnidirectional UWB antenna 103 directly connected to the first UWB module 101 to be in a receiving state, and the portion of the first omnidirectional UWB antenna 103 connected to the first connection port P1 to be in a transmitting state to realize the object ranging function.

[0080] The first UWB module 101 is also used to control the first switching module 102 to disconnect the first connection port P1 and the third connection port P3 and connect the second connection port P2 and the third connection port P3 when the first UWB anchor point 1 triggers the execution of the liveness detection function. It also controls the first omnidirectional UWB antenna 103, which is connected to the first UWB module 101, to be in the transmitting state and the first directional UWB antenna 104 to be in the receiving state. Alternatively, it controls the first omnidirectional UWB antenna 103, which is connected to the first UWB module 101, to be in the receiving state and the first directional UWB antenna 104 to be in the transmitting state, thereby realizing the liveness detection function.

[0081] In some embodiments, the first UWB module 101 is used to send a first switching signal to the first switching module 102 when the first UWB anchor point 1 triggers the execution of the object ranging function. The first switching module 102 is used to connect the first connection port P1 and the third connection port P3 and disconnect the second connection port P2 and the third connection port P3 under the control of the first switching signal, so as to support the first UWB anchor point 1 to realize the object ranging function.

[0082] The first UWB module 101 is also used to send a second switching signal to the first switching module 102 when the first UWB anchor point 1 triggers the execution of the liveness detection function. The first switching module 102 is used to control the second switching signal to disconnect the first connection port P1 and the third connection port P3, and connect the second connection port P2 and the third connection port P3, so as to support the first UWB anchor point 1 to realize the liveness detection function.

[0083] As an example, the first switching module 102 may include a single-pole double-throw switch (SPDT). The three ports of the SPDT are connected to the first connection port P1, the second connection port P2, and the third connection port P3, respectively. Alternatively, the first switching module 102 may include two single-pole single-throw (SPST) switches. One SPST has its two ends connected to the first connection port P1 and the third connection port P3, respectively; the other SPST has its two ends connected to the second connection port P2 and the third connection port P3, respectively.

[0084] Another example, such as Figure 5As shown, the first UWB anchor point 1 includes: a first omnidirectional UWB antenna UWB-ANT1 103, a first omnidirectional UWB antenna UWB-ANT2 103, and a first directional UWB antenna UWB-ANT3 104. Furthermore, the first switching module 102 includes an SPDT S1. The first UWB module 101 has a first transceiver port TRX1 and a second transceiver port TRX2. The first transceiver port TRX1 is connected to the first omnidirectional UWB antenna UWB-ANT1 103. The second transceiver port TRX2 is connected to the SPDT S1 via a third connection port P3. The first connection port P1 of the first switching module 102 is connected to the first omnidirectional UWB antenna UWB-ANT2 103; the second connection port P2 is connected to the first directional UWB antenna UWB-ANT3 104.

[0085] In the UWB positioning and detection system in digital key positioning mode (i.e., the first working mode), SPDT S1 within the first UWB anchor point 1 connects the first omnidirectional UWB antenna UWB-ANT2 103 to the first UWB module 101, and disconnects the first directional UWB antenna UWB-ANT3 104 from the first UWB module 101. Both the first omnidirectional UWB antenna UWB-ANT1 103 and the first omnidirectional UWB antenna UWB-ANT2 103 are in a self-transmitting and self-receiving state, realizing the object ranging function of the first UWB anchor point 1.

[0086] When the UWB positioning and detection system is in CPD mode (i.e., the second working mode), SPDT S1 in the first UWB anchor point 1 disconnects the first omnidirectional UWB antenna UWB-ANT2 103 from the first UWB module 101, and connects the first directional UWB antenna UWB-ANT3 104 to the first UWB module 101. The first omnidirectional UWB antenna UWB-ANT1 103 is in transmitting (receiving) mode; the first omnidirectional UWB antenna UWB-ANT2 103 is in receiving (transmitting) mode, realizing the liveness detection function of the first UWB anchor point 1.

[0087] When the UWB positioning and detection system simultaneously meets the switching conditions for digital key positioning mode and CPD mode, the UWB positioning and detection system can enter digital key positioning mode and CPD mode in a time-division manner. Specifically, within the first UWB anchor point 1, SPDT S1 switches the first omnidirectional UWB antenna UWB-ANT2 103 and the first directional UWB antenna UWB-ANT3 104 to connect with the first UWB module 101 in a time-division manner. Furthermore, when the first omnidirectional UWB antenna UWB-ANT2 103 is connected to the first UWB module 101, both the first omnidirectional UWB antenna UWB-ANT1 103 and the first omnidirectional UWB antenna UWB-ANT2 103 are in a self-transmitting and self-receiving state, realizing the object ranging function of the first UWB anchor point 1. When the first directional UWB antenna UWB-ANT3 104 is connected to the first UWB module 101, the first omnidirectional UWB antenna UWB-ANT1 103 is in the transmitting state (receiving state); the first omnidirectional UWB antenna UWB-ANT2 103 is in the receiving state (transmitting state), realizing the liveness detection function of the first UWB anchor point 1.

[0088] In some embodiments, such as Figure 6 As shown, the first UWB anchor point 1 may further include: a first Bluetooth (BT) module 105 and at least two first omnidirectional BT antennas 106. The polarization direction combination of all the first omnidirectional BT antennas 106 covers multiple polarization directions. For example, the polarization direction combination of all the first omnidirectional BT antennas 106 covers all polarization directions. The first BT module 105 is connected to each first omnidirectional BT antenna 106. The first BT module 105 is used to control each first omnidirectional BT antenna 106 to be in a self-transmitting and self-receiving state to realize the object ranging function.

[0089] For example, the first UWB anchor point 1 includes a first omnidirectional BT antenna BT-ANT1 and a first omnidirectional BT antenna BT-ANT2, for a total of two first omnidirectional BT antennas 106. The two first omnidirectional BT antennas 106 achieve mutually perpendicular polarization coverage.

[0090] Similarly, since the target object served by the object ranging function supported by the first UWB anchor point 1 (such as a vehicle's digital key) may appear in any area inside the vehicle and be obstructed by items inside the vehicle, and if the target object is the vehicle's digital key, it may also be obstructed by being held by someone, the following measures are taken: By setting two first BT antennas 106 to achieve mutually perpendicular polarization coverage, the signal reception capability of the first UWB anchor point 1 in Bluetooth mode can be enhanced, thereby improving the overall signal coverage capability of the first UWB anchor point 1 in Bluetooth mode. This addresses the complex ranging scenarios inside the vehicle and improves the accuracy of the object ranging function supported by the first UWB anchor point 1 in Bluetooth mode.

[0091] In some embodiments, please refer to Figure 6 The first UWB anchor point 1 may further include a third switching module 107. The third switching module 107 is connected to the first BT module 105 and each first omnidirectional BT antenna 106. The third switching module 107 is used to connect or disconnect the first BT module 105 from each individual first omnidirectional BT antenna 106. The first BT module 105 is used for time-division control of the connection between each first omnidirectional BT antenna 106 and the first BT module 105.

[0092] For example, such as Figure 7 As shown, in Figure 5 Based on the first UWB anchor point 1 shown, the first UWB anchor point 1 further includes: a first omnidirectional BT antenna BT-ANT1 106 and a first omnidirectional BT antenna BT-ANT2 106. Furthermore, the first BT module 105 has a first transceiver port TRX1. The third switching module 107 includes an SPDT S2. The SPDT S2 is connected to the first transceiver port TRX1, the first omnidirectional BT antenna BT-ANT1 106, and the first omnidirectional BT antenna BT-ANT2 106.

[0093] In the UWB positioning and detection system in digital key positioning mode (i.e., the first working mode), the SPDT S1 within the first UWB anchor point 1 is time-division connected to the first omnidirectional BT antenna BT-ANT1 106 and the first BT module 105, and the first omnidirectional BT antenna BT-ANT2 106 and the first BT module 105, respectively. Both the first omnidirectional BT antenna BT-ANT1 108 and the first omnidirectional BT antenna BT-ANT2 106 are in a self-transmitting and self-receiving state, realizing the object ranging function of the first UWB anchor point 1 in Bluetooth mode.

[0094] Clearly, the first UWB anchor point 1 can be used to switch between performing object ranging in Bluetooth mode, object ranging in UWB mode, and liveness detection in UWB mode.

[0095] Specifically, optionally, in the first UWB anchor point 1, the first BT module 105 is used to control the third switching module 107 to connect multiple first omnidirectional BT antennas 106 to the first BT module 105 in a time-division manner when the object ranging function in Bluetooth mode is triggered at the first UWB anchor point, and to control the first omnidirectional BT antennas 106 connected to the first BT module 105 to be in a self-transmitting and self-receiving state to realize the object ranging function.

[0096] When the object ranging function in UWB mode is triggered at the first UWB anchor point, the first UWB module 101 controls the first switching module 102 to disconnect the first UWB module 101 from the first directional UWB antenna 104, connect the first UWB module 101 to the first omnidirectional UWB antenna 103, and control the first omnidirectional UWB antenna 103 to be in a self-transmitting and self-receiving state to realize the object ranging function.

[0097] When the first UWB module 101 triggers the execution of the liveness detection function in UWB mode at the first UWB anchor point, it controls the first switching module 102 to connect the first UWB module 101 and the first directional UWB antenna 104, and controls the first omnidirectional UWB antenna 103, which is connected to the first UWB module 101, to be in the transmitting state (receiving state), and the first directional UWB antenna 104 to be in the receiving state (transmitting state), thereby realizing the liveness detection function.

[0098] Alternatively, please continue to refer to Figure 5 and Figure 7 ,exist Figure 5 and Figure 7 Based on the first UWB anchor point 1 shown, the first UWB anchor point 1 also includes a first processing module 108. The first processing module 108 is connected to the first UWB module 101 and the first BT module 105.

[0099] The first processing module 108 is used to determine whether the UWB positioning and detection system meets the first working mode and the second working mode. If it is determined that at least one of the first working mode and the second working mode is met, the first UWB module 101 and the first BT module 105 are controlled to execute the functions corresponding to the target working mode. Where there are multiple target working modes, the first processing module 108 can control the first UWB module 101 to execute the functions corresponding to multiple target working modes in a time-sharing manner.

[0100] For example, the first processing module 108 can be used to receive vehicle status data to determine whether the UWB positioning and detection system meets the first operating mode and the second operating mode. Specifically, the first processing module 108 can be a single-board computer (SBC) and a microcontroller unit (MCU). The SBC includes a power module and a CAN transceiver. The power module is used to supply power to the devices on the second anchor point 2. The CAN transceiver is used to receive vehicle status data via the CAN bus and output vehicle status data to the MCU. The MCU is used to determine whether the UWB positioning and detection system meets the first operating mode and the second operating mode based on the vehicle status data.

[0101] In this embodiment, the second UWB anchor point 2 is at least used to perform object ranging and object positioning functions in the external area of ​​the vehicle. Optionally, as... Figure 8 As shown, the second UWB anchor point 2 includes: a second UWB module 201, a second switching module 202, a second omnidirectional UWB antenna 203, and a directional UWB antenna element 204.

[0102] The second UWB module 201 is connected to the second omnidirectional UWB antenna 203 and the directional UWB antenna unit 204 via the second switching module 202. The directional UWB antenna unit 204 is used to measure the horizontal and vertical angles of an object.

[0103] The second switching module 202 is used to connect or disconnect the second UWB module 201 and the second omnidirectional UWB antenna 203, and to connect or disconnect the second UWB module 201 and the directional UWB antenna element 204. The second UWB module 201, when connected to the second omnidirectional UWB antenna 203, controls the second omnidirectional UWB antenna 203 to be in a self-transmitting and self-receiving state, thereby achieving object ranging functionality.

[0104] When the second UWB anchor point 2 is connected to the second omnidirectional UWB antenna 203 and the second UWB module 201, the second UWB module 201 and the second omnidirectional UWB antenna 203 remain connected. The second UWB anchor point 2 realizes the object ranging function through the second omnidirectional UWB antenna 203 in a self-transmitting and self-receiving state.

[0105] In some embodiments of this application, within the second UWB anchor point 2, the number of second omnidirectional UWB antennas 203 can be at least one; the number of first directional UWB antennas 104 can also be at least one. Each second omnidirectional UWB antenna 203 covers the seat area inside the vehicle.

[0106] Optionally, the number of second omnidirectional UWB antennas 203 in the second UWB anchor point 2 can be multiple. The polarization direction combination of all second omnidirectional UWB antennas 203 covers multiple polarization directions. For example, the polarization direction combination of all second omnidirectional UWB antennas 203 covers all polarization directions. The second UWB module 201 is used to control each second omnidirectional UWB antenna 203 to be in a self-transmitting and self-receiving state when the second UWB module 201 is connected to multiple second omnidirectional UWB antennas 203, thereby realizing the object ranging function.

[0107] Optionally, the second UWB module 201 can also be used to control at least one of the multiple second omnidirectional UWB antennas 203 to be in a transmitting state and the remaining second omnidirectional UWB antennas 203 to be in a receiving state when the second UWB module 201 is connected to multiple second omnidirectional UWB antennas 203, thereby realizing the object ranging function.

[0108] For example, the second UWB anchor point 2 includes two second omnidirectional UWB antennas 203: a second omnidirectional UWB antenna UWB-ANT1 and a second omnidirectional UWB antenna UWB-AN2. The two second omnidirectional UWB antennas 203 achieve mutually perpendicular polarization coverage to enhance the signal reception capability of the second UWB anchor point 2 in all directions. This improves the overall signal coverage capability of the second UWB anchor point 2, thereby addressing complex ranging scenarios inside vehicles and enhancing the accuracy of the object ranging function supported by the second UWB anchor point 2.

[0109] The second UWB module 201 is also used to control the second omnidirectional UWB antenna 203 to be in a transmitting state and the directional UWB antenna unit 204 to be in a receiving state when both the second omnidirectional UWB antenna 203 and the directional UWB antenna unit 204 are connected to the second UWB module 201, so as to realize the measurement of the horizontal angle and pitch angle of the object, so as to realize the object positioning function in combination with the object ranging function.

[0110] With both the second omnidirectional UWB antenna 203 and the directional UWB antenna element 204 connected to the second UWB module 201, the second UWB module 201 remains connected to both the second omnidirectional UWB antenna 203 and the directional UWB antenna element 204. The second omnidirectional UWB antenna 203 in transmitting mode and the directional UWB antenna element 204 in receiving mode at the first UWB anchor point 2 measure the horizontal and vertical angles of the object, thereby achieving object positioning functionality in conjunction with object ranging.

[0111] Optionally, such as Figure 9As shown, the directional UWB antenna element 204 includes: a second directional UWB antenna 2041, a third directional UWB antenna 2042, and a fourth directional UWB antenna 2043. The second directional UWB antenna 2041, the third directional UWB antenna 2042, and the fourth directional UWB antenna 2043 are arranged in an L-shaped array, with the second directional UWB antenna 2041 located at one corner of the L-shaped array. That is, the second directional UWB antenna 2041 and the third directional UWB antenna 2042 are arranged horizontally; the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043 are arranged vertically.

[0112] The second UWB module 201 is also used to control the second omnidirectional UWB antenna 203 to be in a transmitting state and the second directional UWB antenna 2041 and the third directional UWB antenna 2042 to be in a receiving state when the second omnidirectional UWB antenna 203, the second directional UWB antenna 2041 and the third directional UWB antenna 2042 are all connected to the second UWB module 201, so as to realize the measurement of the horizontal angle of the object.

[0113] Optionally, the second UWB module 201 is further configured to control the second omnidirectional UWB antenna 203 to be in a transmitting state and the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043 to be in a receiving state when the second omnidirectional UWB antenna 203, the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043 are all connected to the second UWB module 201, thereby realizing the measurement of the pitch angle of the object.

[0114] Specifically, the second omnidirectional UWB antenna 203, in conjunction with the directional UWB antenna element 204, uses AOA (Optical Angle of View) to measure the horizontal and vertical angles of the object. More specifically, the second omnidirectional UWB antenna 203, in conjunction with the horizontally arranged second directional UWB antenna 2041 and third directional UWB antenna 2042, is used to calculate the horizontal angle of the object using AOA. The second omnidirectional UWB antenna 203, in conjunction with the horizontally arranged second directional UWB antenna 2041 and fourth directional UWB antenna 2043, is used to calculate the vertical angle of the object using AOA.

[0115] Taking the calculation of an object's horizontal angle using AOA as an example, the principle of measuring the object's horizontal and elevation angles using a directional UWB antenna element 204 is explained. Figure 10As shown, in the directional UWB antenna element 204, the second directional UWB antenna 2041 and the third directional UWB antenna 2042 are horizontally arranged. When using these two diversity antennas to receive UWB signals, based on the principle that the distances from the reflected UWB signal from the target object to points A and B are equal, the elevation angle θ1 of the target object satisfies: λ·φ1=2·π·d1·sin(θ1). Here, λ represents the wavelength of the UWB signal. φ1 represents the phase difference of the reflected signal to the two receiving points (i.e., the second directional UWB antenna 2041 and the third directional UWB antenna 2042). d1 represents the distance between the two receiving points, which is typically set to λ / 2. For example, if the UWB signal is a UWB Channel 9 signal, λ / 2 is approximately 1.875cm. θ1 represents the elevation angle of the target object.

[0116] Similarly, the horizontal angle θ2 of the target object satisfies: λ·φ2=2·π·d2·sin(θ2). Here, λ represents the wavelength of the UWB signal. Φ2 represents the phase difference between the reflected signal and the two receiving points (i.e., the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043). d2 represents the distance between the two receiving points, typically set to λ / 2. θ2 represents the horizontal angle of the target object.

[0117] In some embodiments, the number of second omnidirectional UWB antennas 203 is at least two. The directional UWB antenna element 204 includes: a second directional UWB antenna 2041, a third directional UWB antenna 2042, and a fourth directional UWB antenna 2043. Please refer to... Figure 11 The second switching module 202 includes: a fourth connection port P4, a fifth connection port P5, a sixth connection port P6, a seventh connection port P7, an eighth connection port P8, a ninth connection port P9, and a tenth connection port P10.

[0118] The fourth connection port P4 is connected to the first transceiver port of the second UWB module 201. The fifth connection port P5 is connected to the second transceiver port of the second UWB module 201. Of the plurality of second omnidirectional UWB antennas 203, at least one second omnidirectional UWB antenna 203 is connected to the sixth connection port P6, and the remaining second omnidirectional UWB antennas 203 are connected to the seventh connection port P7. The eighth connection port P8 is connected to the second directional UWB antenna 2041. The ninth connection port P9 is connected to the third directional UWB antenna 2042. The tenth connection port P10 is connected to the fourth directional UWB antenna 2043. It should be noted that... Figure 11Taking the second UWB anchor point 2 as an example, which includes two second omnidirectional UWB antennas 203. Accordingly, of the two second omnidirectional UWB antennas 203, one is connected to the sixth connection port P6, and the other is connected to the seventh connection port P7.

[0119] Optionally, the second switching module 202 can be used to connect the fourth connection port P4 to the sixth connection port P6 and the fifth connection port P5 to the seventh connection port P7, so that the second omnidirectional UWB antenna 203 is connected to the second UWB module 201.

[0120] The second switching module 202 can also be used to connect the second directional UWB antenna 2041 and the second UWB module 201 by selecting and controlling the fifth connection port P5 to connect with the eighth connection port P8, and by time-division controlling the sixth connection port P6 to connect with the fourth connection port P4 and the ninth connection port P9 to connect with the fourth connection port P4, so as to connect the second directional UWB antenna 2041 and the second UWB module 201, and by time-division connecting the third directional UWB antenna 2042 to connect with the second UWB module 201 and the second omnidirectional UWB antenna 203 to connect with the second UWB module 201.

[0121] The second switching module 202 can also be used to connect the second directional UWB antenna 2041 and the second UWB module 201 by selecting and controlling the fifth connection port P5 to connect with the eighth connection port P8, and by time-division controlling the sixth connection port P6 to connect with the fourth connection port P4 and the tenth connection port P10 to connect with the fourth connection port P4, and by time-division connecting the fourth directional UWB antenna 2043 to connect with the second UWB module 201 and the second omnidirectional UWB antenna 203 to connect with the second UWB module 201.

[0122] Correspondingly, the second UWB module 201 is used to control the second omnidirectional UWB antenna 203 to be in a self-transmitting and self-receiving state to realize the object ranging function when each second omnidirectional UWB antenna 203 is connected to the second UWB module 201; or, control the part of the second omnidirectional UWB antenna 203 connected to the sixth connection port P6 to be in a transmitting state and the part of the second omnidirectional UWB antenna 203 connected to the seventh connection port P7 to be in a receiving state to realize the object ranging function; or, control the part of the second omnidirectional UWB antenna 203 connected to the sixth connection port P6 to be in a receiving state and the part of the second omnidirectional UWB antenna 203 connected to the seventh connection port P7 to be in a transmitting state to realize the object ranging function.

[0123] The second UWB module 201 is used to control the second omnidirectional UWB antenna 203 to be in a transmitting state when the second omnidirectional UWB antenna 203 is connected to the second UWB module 201; and then, when the second directional UWB antenna 2041 and the third directional UWB antenna 2042 are both connected to the second UWB module 201, to control the second directional UWB antenna 2041 and the third directional UWB antenna 2042 to be in a receiving state, so as to realize the measurement of the horizontal angle of the object.

[0124] The second UWB module 201 is used to control the second omnidirectional UWB antenna 203 to be in a transmitting state when the second omnidirectional UWB antenna 203 is connected to the second UWB module 201; and then, when the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043 are both connected to the second UWB module 201, to control the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043 to be in a receiving state, so as to realize the measurement of the pitch angle of the object.

[0125] Optionally, the second UWB module 201 is further configured to, when the object ranging function is triggered at the second UWB anchor point 2, control the second switching module 202 to connect the fourth connection port P4 and the sixth connection port P6, and to connect the fifth connection port P5 and the seventh connection port P7, and control each second omnidirectional UWB antenna 203 to be in a self-transmitting and self-receiving state, or control the second omnidirectional UWB antenna 203 connected to the sixth connection port P6 to be in a transmitting state and the second omnidirectional UWB antenna 203 connected to the seventh connection port P7 to be in a receiving state, or control the second omnidirectional UWB antenna 203 connected to the sixth connection port P6 to be in a receiving state and the second omnidirectional UWB antenna 203 connected to the seventh connection port P7 to be in a transmitting state, thereby realizing the object ranging function.

[0126] Optionally, the second UWB module 201 is also used to implement the object ranging function, the object horizontal angle measurement function, and the object pitch angle measurement function in a time-division control when the object positioning function is triggered by the second UWB anchor point 2.

[0127] The second UWB module 201 controls the second switching module 202 to connect the fourth connection port P4 and the sixth connection port P6, the fourth connection port P4 and the ninth connection port P9 in a time-division manner, and continuously connect the fifth connection port P5 and the eighth connection port P8. It also controls the second directional UWB antenna 2041 to be in a receiving state. When the fourth connection port P4 is connected to the sixth connection port P6, it controls the second omnidirectional UWB antenna 203 connected to the sixth connection port P6 to be in a transmitting state. When the fourth connection port P4 is connected to the ninth connection port P9, it controls the third directional UWB antenna 2042 to be in a receiving state, thereby realizing the function of measuring the horizontal angle of an object.

[0128] Alternatively, the second UWB module 201h controls the second switching module 202 to connect the fifth connection port P5 and the seventh connection port P7, the fifth connection port P5 and the eighth connection port P8 in a time-division manner, and continuously connect the fourth connection port P4 and the ninth connection port P9. It also controls the third directional UWB antenna 2042 to be in a receiving state. When the fifth connection port P5 is connected to the seventh connection port P7, it controls the second omnidirectional UWB antenna 203 connected to the seventh connection port P7 to be in a transmitting state. When the fifth connection port P5 is connected to the eighth connection port P8, it controls the second directional UWB antenna 2041 to be in a receiving state, thereby realizing the function of measuring the horizontal angle of the object.

[0129] Optionally, the second UWB module 201 controls the second switching module 202 to connect the fourth connection port P4 and the sixth connection port P6 in a time-division manner, connect the fourth connection port P4 and the tenth connection port P10, and continuously connect the fifth connection port P5 and the eighth connection port P8. It also controls the second directional UWB antenna 2041 to be in a receiving state. When the fourth connection port P4 and the sixth connection port P6 are connected, it controls the second omnidirectional UWB antenna 203 connected to the sixth connection port P6 to be in a transmitting state. When the fourth connection port P4 and the tenth connection port P10 are connected, it controls the fourth directional UWB antenna 2043 to be in a receiving state, thereby realizing the object pitch angle measurement function.

[0130] Alternatively, the second UWB module 201 controls the second switching module 202 to connect the fifth connection port P5 and the seventh connection port P7, the fifth connection port P5 and the eighth connection port P8 in a time-division manner, and continuously connect the fourth connection port P4 and the tenth connection port P10. It also controls the fourth directional UWB antenna 2043 to be in a receiving state. When the fifth connection port P5 is connected to the seventh connection port P7, it controls the second omnidirectional UWB antenna 203 connected to the seventh connection port P7 to be in a transmitting state. When the fifth connection port P5 is connected to the eighth connection port P8, it controls the second directional UWB antenna 2041 to be in a receiving state, thereby realizing the object pitch angle measurement function.

[0131] For example, such as Figure 12 As shown, the second UWB anchor point 2 includes: a second omnidirectional UWB antenna UWB-ANT1 203, a second omnidirectional UWB antenna UWB-ANT2 203, a second directional UWB antenna UWB-ANT3 2041, a third directional UWB antenna UWB-ANT4 2042, and a fourth directional UWB antenna UWB-ANT5 2043. Furthermore, the second switching module 202 includes a single-pole triple-throw (SP3T) switch S3 and an SPDT switch S4.

[0132] The second UWB module 201 has a first transceiver port TRX1 and a second transceiver port TRX2. The first transceiver port TRX1 is connected to SP3T S3 via a fourth connection port P4. SP3T S3 is also connected to the second omnidirectional UWB antenna UWB-ANT1 203 via a sixth connection port P6. SP3T S3 is connected to the third directional UWB antenna UWB-ANT4 2042 via a ninth connection port P9. SP3T S3 is also connected to the fourth directional UWB antenna UWB-ANT5 2043 via a tenth connection port P10. The second transceiver port TRX2 is connected to SPDT S4 via a fifth connection port P5. SPDT S4 is also connected to the second omnidirectional UWB antenna UWB-ANT2 203 via a seventh connection port P7. SPDT S4 is also connected to the second directional UWB antenna UWB-ANT3 2041 via an eighth connection port P8.

[0133] In the digital key positioning mode (i.e., the first working mode) of the UWB positioning and detection system, SP3T S3 within the second UWB anchor point 2 connects the second omnidirectional UWB antenna UWB-ANT1 203 to the second UWB module 201, and SPDT S4 connects the second omnidirectional UWB antenna UWB-ANT2 203 to the second UWB module 201. Both the second omnidirectional UWB antennas UWB-ANT1 203 and UWB-ANT2 203 are in a self-transmitting and self-receiving state, realizing the object ranging function of the second UWB anchor point 2.

[0134] In sentry mode (i.e., the third working mode) of the UWB positioning and detection system, SP3T S3 within the second UWB anchor point 2 connects the second omnidirectional UWB antenna UWB-ANT1 203 to the second UWB module 201, and SPDT S4 connects the second omnidirectional UWB antenna UWB-ANT2 203 to the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in transmitting (receiving) mode, and the second omnidirectional UWB antenna UWB-ANT2 203 is in receiving (transmitting) mode, thus realizing the object ranging function of the second UWB anchor point 2.

[0135] In the UWB positioning and detection system in UPA obstacle recognition mode (i.e., the fourth working mode), SP3T S3 within the second UWB anchor point 2 is time-division connected to the second omnidirectional UWB antenna UWB-ANT1 203, the third directional UWB antenna UWB-ANT4 2042, and the second UWB module 201, while SPDT S4 is continuously connected to the second omnidirectional UWB antenna UWB-ANT2 203 and the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in transmitting mode, the third directional UWB antenna UWB-ANT4 2042 is in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 is in receiving mode, thus realizing the object ranging function and the object horizontal angle measurement function of the second UWB anchor point 2.

[0136] Subsequently, SP3T S3 connects the second omnidirectional UWB antenna UWB-ANT1 203, the fourth directional UWB antenna UWB-ANT5 2043, and the second UWB module 201 in a time-division manner, while SPDT S4 continuously connects the second omnidirectional UWB antenna UWB-ANT2 203 and the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in transmitting mode, the fourth directional UWB antenna UWB-ANT5 204 is in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 is in receiving mode, realizing the object ranging function and object pitch angle measurement function of the second UWB anchor point 2, so as to achieve the object positioning function.

[0137] When the UWB positioning and detection system simultaneously meets the switching conditions for Digital Key Positioning Mode and Sentry Mode, it can switch between these modes in a time-sharing manner. Similarly, when the UWB positioning and detection system simultaneously meets the switching conditions for Digital Key Positioning Mode and UPA Obstacle Recognition Mode, it can switch between these modes in a time-sharing manner. Likewise, when the UWB positioning and detection system simultaneously meets the switching conditions for Sentry Mode and UPA Obstacle Recognition Mode, it can switch between these modes in a time-sharing manner. Similarly, when the UWB positioning and detection system simultaneously meets the switching conditions for Digital Key Positioning Mode, Sentry Mode, and UPA Obstacle Recognition Mode, it can switch between these modes in a time-sharing manner.

[0138] In some embodiments, such as Figure 13As shown, the second UWB anchor point 2 may further include: a second BT module 205 and at least one second omnidirectional BT antenna 206. The second BT module 205 is connected to the second omnidirectional BT antenna 206. The polarization direction combination of all the second omnidirectional BT antennas 206 covers multiple polarization directions. For example, the polarization direction combination of all the second omnidirectional BT antennas 206 covers all polarization directions.

[0139] The second BT module 205 is used to control the second omnidirectional BT antenna 206 to be in a self-transmitting and self-receiving state to realize the object ranging function. Alternatively, the first UWB anchor point 1 has a first BT module 105 and a first omnidirectional BT antenna 106. The second BT module 205 can be used to control the second omnidirectional BT antenna 206 to be in a receiving state to receive the UWB signal transmitted by the first omnidirectional BT antenna 106 in the first UWB anchor point 1, thereby realizing the object ranging function by listening to the UWB signal of the first UWB anchor point 1. Alternatively, the second BT module 205 can also be used to control the second omnidirectional BT antenna 206 to be in a receiving state to directly listen to the first BT module 105 using the Received Signal Strength Indication (RSSI) listening method to obtain the object ranging result of the first BT module 105.

[0140] For example, such as Figure 14 As shown, the second UWB anchor point 2 includes a second omnidirectional BT antenna BT-ANT1 206. The second BT module 205 has a first transceiver port TRX1. The first transceiver port TRX1 is connected to the second omnidirectional BT antenna BT-ANT1 206.

[0141] When the UWB positioning and detection system is in digital key positioning mode (i.e., the first working mode), both the second UWB anchor point 2 and the second omnidirectional BT antenna BT-AN1 206 are in a self-transmitting and self-receiving state, realizing the object ranging function of the second UWB anchor point 2 in Bluetooth mode. Alternatively, the second UWB anchor point 2 listens to the object ranging result of the first BT module 105 through the second omnidirectional BT antenna BT-AN1 206, realizing the object ranging function of the second UWB anchor point 2 in Bluetooth mode.

[0142] Obviously, the second UWB anchor point 2 can also be used to switch between performing object ranging in Bluetooth mode, object ranging in UWB mode, and object positioning in UWB mode.

[0143] Specifically, optionally, in the second UWB anchor point 2, the second BT module 205 is used to control the second omnidirectional BT antenna 206 to be in a self-transmitting and self-receiving state when the object ranging function in Bluetooth mode is triggered at the second UWB anchor point 2, so as to realize the object ranging function.

[0144] The second BT module 205 is used to control the second switching module 202 to connect the second omnidirectional UWB antenna 203 and the second UWB module 201 when the object ranging function in UWB mode is executed at the second UWB anchor point 2, and to control the second omnidirectional UWB antenna 203 to be in a self-transmitting and self-receiving state, or to have at least one of the multiple second omnidirectional UWB antennas 203 in a transmitting state and the rest in a receiving state, so as to realize the object ranging function.

[0145] When the second UWB anchor point 2 triggers the execution of the object positioning function in UWB mode, the second BT module 205 controls the second switching module 202 to connect the second omnidirectional UWB antenna 203, the second directional UWB antenna 2041, and the fourth directional UWB antenna 2043 to the second UWB module 201, and controls the second omnidirectional UWB antenna 203 to be in the transmitting state, and the second directional UWB antenna 2041 and the fourth directional UWB antenna 2043 to be in the receiving state, so as to realize the measurement of the pitch angle of the object.

[0146] Alternatively, please continue to refer to Figure 12 and Figure 14 The second UWB anchor point 2 also includes a second processing module 208. The second processing module 208 is connected to the second UWB module 201 and the second BT module 205.

[0147] The second processing module 208 is used to determine whether the UWB positioning and detection system meets the first working mode, the second working mode, the third working mode, and the fourth working mode. If it is determined that at least one target working mode among the first, second, third, and fourth working modes is met, the second processing module 208 controls the second UWB module 201 and the second BT module 205 to execute the functions corresponding to the target working mode. Where there are multiple target working modes, the second processing module 208 can control the second UWB module 201 to execute the functions corresponding to multiple target working modes in a time-sharing manner.

[0148] For example, the second processing module 208 can be used to receive vehicle status data to determine whether the UWB positioning and detection system meets the first, second, third, and fourth operating modes. Specifically, the first processing module 108 can be an SBC and an MCU. The SBC includes a power module and a CAN transceiver. The power module supplies power to the devices on the second anchor point 2. The CAN transceiver receives vehicle status data via the CAN bus and outputs the vehicle status data to the MCU. The MCU uses the vehicle status data to determine whether the UWB positioning and detection system meets the first, second, third, and fourth operating modes.

[0149] In some embodiments, as described above, at least two second UWB anchor points 2 may include at least one rear bumper UWB anchor point 21 located at the rear of the vehicle. The rear bumper UWB anchor point 21 is also used to perform a kicking motion recognition function when switching between external areas of the vehicle.

[0150] Optionally, such as Figure 15 As shown, the rear UWB anchor point 21 is as follows Figure 8 Based on the second UWB anchor point 2 shown, a fifth directional UWB antenna 207 is also included. The fifth directional UWB antenna 207 is connected to the second UWB module 201 through the second switching module 202.

[0151] The second switching module 202 is also used to connect or disconnect the second UWB module 201 and the fifth directional UWB antenna 207. The second UWB module 201 is also used to control the second omnidirectional UWB antenna 203 to be in a transmitting state and the fifth directional UWB antenna 207 to be in a receiving state when both the second omnidirectional UWB antenna 203 and the fifth directional UWB antenna 207 are connected to the second UWB module 201, or to control the second omnidirectional UWB antenna 203 to be in a receiving state and the fifth directional UWB antenna 207 to be in a transmitting state, thereby realizing the kicking action recognition function.

[0152] In some embodiments, within the rear UWB anchor point 21, the number of second omnidirectional UWB antennas 203 is at least two. The directional UWB antenna element 204 includes: a second directional UWB antenna 2041, a third directional UWB antenna 2042, and a fourth directional UWB antenna 2043. Please continue to refer to... Figure 16 In addition to the fourth connection port P4, the fifth connection port P5, the sixth connection port P6, the seventh connection port P7, the eighth connection port P8, the ninth connection port P9, and the tenth connection port P10, the second switching module 202 also includes an eleventh connection port P11. The eleventh connection port P11 is connected to the fifth directional UWB antenna 207.

[0153] The second switching module 202 can be used to connect the fourth connection port P4 to the sixth connection port P6, and the fifth connection port P5 to the eleventh connection port P11, so that both the second omnidirectional UWB antenna 203 and the fifth directional UWB antenna 207 are connected to the second UWB module 201. Alternatively, the second switching module 202 can be used to connect the fifth connection port P5 to the sixth connection port P6, and the fourth connection port P4 to the eleventh connection port P11, so that both the second omnidirectional UWB antenna 203 and the fifth directional UWB antenna 207 are connected to the second UWB module 201.

[0154] For example, such as Figure 17 As shown, the rear UWB anchor point 21 includes: a second omnidirectional UWB antenna UWB-ANT1 203, a second omnidirectional UWB antenna UWB-ANT2 203, a second directional UWB antenna UWB-ANT3 2041, a third directional UWB antenna UWB-ANT4 2042, a fourth directional UWB antenna UWB-ANT5 2043, and a fifth directional UWB antenna UWB-ANT6 207. Furthermore, the second switching module 202 includes an SP3T S3 and an SP3T S5.

[0155] The second UWB module 201 has a first transceiver port TRX1 and a second transceiver port TRX2. The first transceiver port TRX1 is connected to SP3T S3 through a fourth connection port P4. SP3T S3 is also connected to the second omnidirectional UWB antenna UWB-ANT1 203 through a sixth connection port P6. SP3T S3 is connected to the third directional UWB antenna UWB-ANT4 2042 through a ninth connection port P9. SP3T S3 is connected to the fourth directional UWB antenna UWB-ANT5 2043 through a tenth connection port P10.

[0156] The second transceiver port TRX2 is connected to SP3T S5 via the fifth connection port P5. SP3T S5 is also connected to the second omnidirectional UWB antenna UWB-ANT2 203 via the seventh connection port P7. SP3T S5 is connected to the second directional UWB antenna UWB-ANT3 2041 via the eighth connection port P8. SP3T S5 is connected to the fifth directional UWB antenna UWB-ANT6 207 via the eleventh connection port P11.

[0157] In the digital key positioning mode (i.e., the first working mode) of the UWB positioning and detection system, SP3T S3 within the second UWB anchor point 2 connects the second omnidirectional UWB antenna UWB-ANT1 203 to the second UWB module 201, and SP3T S3 also connects the second omnidirectional UWB antenna UWB-ANT2 203 to the second UWB module 201. Both the second omnidirectional UWB antenna UWB-ANT1 203 and the second omnidirectional UWB antenna UWB-ANT2 203 are in a self-transmitting and self-receiving state, realizing the object ranging function of the second UWB anchor point 2.

[0158] In sentry mode (i.e., the third working mode) of the UWB positioning and detection system, SP3T S3 within the second UWB anchor point 2 connects the second omnidirectional UWB antenna UWB-ANT1 203 to the second UWB module 201, and SP3T S3 also connects the second omnidirectional UWB antenna UWB-ANT2 203 to the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in transmitting (receiving) mode, and the second omnidirectional UWB antenna UWB-ANT2 203 is in receiving (transmitting) mode, thus realizing the object ranging function of the second UWB anchor point 2.

[0159] In the UWB positioning and detection system operating in UPA obstacle recognition mode (i.e., the fourth working mode), SP3T S3 within the second UWB anchor point 2 is time-division connected to the second omnidirectional UWB antenna UWB-ANT1 203, the third directional UWB antenna UWB-ANT4 2042, and the second UWB module 201, while SP3T S3 is continuously connected to the second omnidirectional UWB antenna UWB-ANT2 203 and the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in transmitting mode, the third directional UWB antenna UWB-ANT4 2042 is in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 is in receiving mode, thus realizing the object ranging function and the object horizontal angle measurement function of the second UWB anchor point 2.

[0160] Subsequently, SP3T S3 connects the second omnidirectional UWB antenna UWB-ANT1 203, the fourth directional UWB antenna UWB-ANT5 2043, and the second UWB module 201 in a time-division manner, while SPDT S4 continuously connects the second omnidirectional UWB antenna UWB-ANT2 203 and the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in transmitting mode, the fourth directional UWB antenna UWB-ANT5 204 is in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 is in receiving mode, realizing the object ranging function and object pitch angle measurement function of the second UWB anchor point 2, so as to achieve the object positioning function.

[0161] In the kicking radar mode (i.e., the fifth working mode) of the UWB positioning and detection system, SP3T S3 connects the second omnidirectional UWB antenna UWB-ANT1 203 to the second UWB module 201, and SP3T S5 connects the fifth directional UWB antenna 207 to the second UWB module 201. The second omnidirectional UWB antenna UWB-ANT1 203 is in the transmitting state, and the fifth directional UWB antenna UWB-ANT6 207 is in the receiving state, realizing the kicking action detection function of the second UWB anchor point 2.

[0162] When the UWB positioning and detection system simultaneously meets the switching conditions for digital key positioning mode and sentry mode, it can switch between these modes in a time-sharing manner. Similarly, when the UWB positioning and detection system simultaneously meets the switching conditions for digital key positioning mode and UPA obstacle recognition mode, it can switch between these modes in a time-sharing manner. Likewise, when the UWB positioning and detection system simultaneously meets the switching conditions for digital key positioning mode and kick-to-the-foot radar mode, it can switch between these modes in a time-sharing manner.

[0163] Similarly, when the UWB positioning and detection system simultaneously meets the switching conditions for Sentinel mode and UPA obstacle recognition mode, the UWB positioning and detection system can switch between Sentinel mode and UPA obstacle recognition mode in a time-sharing manner. Likewise, when the UWB positioning and detection system simultaneously meets the switching conditions for Sentinel mode and kicker radar mode, the UWB positioning and detection system can switch between Sentinel mode and kicker radar mode in a time-sharing manner.

[0164] Similarly, when the UWB positioning and detection system simultaneously meets the switching conditions for digital key positioning mode, sentry mode, UPA obstacle recognition mode and kicker radar mode, the UWB positioning and detection system can enter digital key positioning mode, sentry mode, UPA obstacle recognition mode and kicker radar mode in a time-sharing manner.

[0165] As a further example, such as Figure 18 As shown, in Figure 17 Based on the rear-protection UWB anchor point 21 shown, the rear-protection UWB anchor point 21 further includes: a second omnidirectional BT antenna BT-ANT1 206. The second BT module 205 has a first transceiver port TRX1. The first transceiver port TRX1 is connected to the second omnidirectional BT antenna BT-ANT1 206.

[0166] In the UWB positioning and detection system in digital key positioning mode (i.e., the first working mode), both the second UWB anchor point 2 and the second omnidirectional BT antenna BT-AN1 206 are in a self-transmitting and self-receiving state, realizing the object ranging function of the second UWB anchor point 2 in Bluetooth mode. Alternatively, the second UWB anchor point 2 listens to the object ranging result of the first BT module 105 through the second omnidirectional BT antenna BT-AN1 206, realizing the object ranging function of the second UWB anchor point 2 in Bluetooth mode. Obviously, the rear UWB anchor point 21 can be used to switch between executing the object ranging function in Bluetooth mode, the object ranging function in UWB mode, the object positioning function in UWB mode, and the kicking action detection function in UWB mode.

[0167] Alternatively, please continue to refer to Figure 17 and Figure 18 The rear UWB anchor point 21 also includes a second processing module 208. The second processing module 208 is connected to the second UWB module 201 and the second BT module 205.

[0168] The second processing module 208 is used to determine whether the UWB positioning and detection system meets the first, second, third, fourth, and fifth working modes. If at least one of the target working modes is met, the second UWB module 201 and the second BT module 205 control the second UWB module 201 to execute the functions corresponding to that target working mode. Where there are multiple target working modes, the second processing module 208 can control the second UWB module 201 to execute the functions corresponding to multiple target working modes in a time-sharing manner.

[0169] For example, the second processing module 208 can be used to receive vehicle status data to determine whether the UWB positioning and detection system meets the first, second, third, fourth, and fifth operating modes. Specifically, the first processing module 108 can be an SBC and an MCU. The SBC includes a power module and a CAN transceiver. The power module is used to supply power to the devices on the second anchor point 2. The CAN transceiver is used to receive vehicle status data via the CAN bus and output vehicle status data to the MCU. The MCU is used to determine whether the UWB positioning and detection system meets the first, second, third, fourth, and fifth operating modes based on the vehicle status data.

[0170] In some embodiments, the UWB positioning detection system fulfilling a first operating mode may include: the vehicle being in an Adaptive Cruise Control (ACC) activated state, and the vehicle entering an unlocked and locked state while stationary. The UWB positioning detection system fulfilling a second operating mode may include: the vehicle being in an ACC activated state, and within 10 seconds of the vehicle locking. The UWB positioning detection system fulfilling a third operating mode may include: the vehicle being in an ACC activated state, and the vehicle entering a locked state while stationary. The UWB positioning detection system fulfilling a fourth operating mode may include: the vehicle entering the ON position while stationary or in motion. The UWB positioning detection system fulfilling a fifth operating mode may include: the vehicle being in an ACC activated state, and the vehicle entering an unlocked and locked state while stationary. Clearly, the first, second, third, and fifth operating modes may overlap in operation.

[0171] In this embodiment, the UWB positioning and detection system includes at least one first UWB anchor point and at least two second UWB anchor points. The first UWB anchor point is located inside the vehicle and is used at least to switch between performing object ranging and liveness detection functions within the vehicle's interior area. The second UWB anchor points are located on vehicle body components and are used at least to switch between performing object ranging and object positioning functions outside the vehicle's exterior area. Therefore, the UWB positioning and detection system provided in this application can switch between performing functions through the first and / or second UWB anchor points to achieve multiple functions and support various functional scenarios, exhibiting high versatility.

[0172] For ease of understanding, the UWB positioning and detection system provided in the embodiments of this application will be further described below with examples. For example, as... Figure 3 As shown, the UWB positioning and detection system includes two first UWB anchor points 1 and four second UWB anchor points 2. The two first UWB anchor points 1 include a primary UWB anchor point 11 and auxiliary UWB anchor points 12. The primary UWB anchor point 11 is... Figure 7 The first UWB anchor point 1 is shown. The secondary UWB anchor point 12 is... Figure 5 The secondary UWB anchor point 12 is shown. The four second UWB anchor points 2 include: two front UWB anchor points 22 and two rear UWB anchor points 21. The two front UWB anchor points 22 are... Figure 14 The second UWB anchor point 2 is shown. The two rear UWB anchor points 21 are... Figure 18The second UWB anchor point 2 is shown. The first UWB module 101 in the first UWB anchor point 1 and the second UWB module 201 in the second UWB anchor point 2 may include NXP's NCJ29D6 series chips. The first BT module 105 in the first UWB anchor point 1 and the second BT module 205 in the second UWB anchor point 2 may include Bluetooth Low Energy (BLE) chips.

[0173] The main UWB anchor point 11 operates in digital key positioning mode and CPD mode. The antenna activation status in each operating mode is shown in Table 1.

[0174]

[0175] Table 1 As shown in Table 1, in digital key positioning mode, both the first omnidirectional UWB antenna UWB-ANT1103 and the first omnidirectional UWB antenna UWB-ANT2103 within the main UWB anchor point 11 are in a self-transmitting and self-receiving state to achieve object ranging function of the first UWB anchor point 1. In CPD mode, the first omnidirectional UWB antenna UWB-ANT1103 within the main UWB anchor point 11 is in a transmitting state (receiving state); the first omnidirectional UWB antenna UWB-ANT2103 is in a receiving state (transmitting state), realizing the liveness detection function of the first UWB anchor point 1.

[0176] The front UWB anchor point 22 operates in digital key positioning mode, sentry mode, and UPA obstacle recognition mode. The antenna activation status in each operating mode is shown in Table 2.

[0177]

[0178] Table 2 As shown in Table 2, in digital key positioning mode, both the second omnidirectional UWB antennas UWB-ANT1 203 and UWB-ANT2 203 within the front UWB anchor point 22 are in a self-transmitting and self-receiving state, realizing the object ranging function of the second UWB anchor point 2. In sentry mode, the second omnidirectional UWB antenna UWB-ANT1 203 within the front UWB anchor point 22 is in a transmitting state (receiving state), and the second omnidirectional UWB antenna UWB-ANT2 203 is in a receiving state (transmitting state), realizing the object ranging function of the second UWB anchor point 2. In UPA obstacle recognition mode, the second omnidirectional UWB antenna UWB-ANT1 203 within the front UWB anchor point 22 is in transmitting mode, the third directional UWB antenna UWB-ANT4 2042 is in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 is in receiving mode, enabling the object ranging and horizontal angle measurement functions of the second UWB anchor point 2. Additionally, with the second omnidirectional UWB antenna UWB-ANT1 203 in transmitting mode, the fourth directional UWB antenna UWB-ANT5 204 in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 in receiving mode, the second UWB anchor point 2 performs object ranging and pitch angle measurement functions, thereby achieving object positioning.

[0179] The rear UWB anchor point 21 operates in digital key positioning mode, sentry mode, UPA obstacle recognition mode, and kicker radar mode. The antenna activation status in each operating mode is shown in Table 3.

[0180]

[0181] Table 3 As shown in Table 3, in digital key positioning mode, both the second omnidirectional UWB antennas UWB-ANT1 203 and UWB-ANT2 203 within the rear UWB anchor point 21 are in a self-transmitting and self-receiving state, realizing the object ranging function of the second UWB anchor point 2. In sentry mode, the second omnidirectional UWB antenna UWB-ANT1 203 within the rear UWB anchor point 21 is in a transmitting state (receiving state), and the second omnidirectional UWB antenna UWB-ANT2 203 is in a receiving state (transmitting state), realizing the object ranging function of the second UWB anchor point 2. In UPA obstacle recognition mode, the second omnidirectional UWB antenna UWB-ANT1 203 within the rear UWB anchor point 21 is in transmitting mode, the third directional UWB antenna UWB-ANT4 2042 is in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 is in receiving mode, enabling the object ranging and horizontal angle measurement functions of the second UWB anchor point 2. Additionally, with the second omnidirectional UWB antenna UWB-ANT1 203 in transmitting mode, the fourth directional UWB antenna UWB-ANT5 204 in receiving mode, and the second directional UWB antenna UWB-ANT3 2041 in receiving mode, the second UWB anchor point 2 also performs object ranging and pitch angle measurement functions, thus achieving object positioning. Within the rear UWB anchor point 21, the second omnidirectional UWB antenna UWB-ANT1203 is in the transmitting state, and the fifth directional UWB antenna UWB-ANT6207 is in the receiving state, realizing the kicking action detection function of the second UWB anchor point 2.

[0182] The auxiliary UWB anchor point 12 operates in digital key positioning mode and CPD mode. The antenna activation status in each operating mode is shown in Table 4.

[0183]

[0184] Table 4 As shown in Table 4, in digital key positioning mode, both the first omnidirectional UWB antenna UWB-ANT1103 and the first omnidirectional UWB antenna UWB-ANT2 103 within the auxiliary UWB anchor point 11 are in a self-transmitting and self-receiving state to achieve object ranging function of the first UWB anchor point 1. In CPD mode, the first omnidirectional UWB antenna UWB-ANT1 103 within the auxiliary UWB anchor point 11 is in a transmitting state (receiving state); the first omnidirectional UWB antenna UWB-ANT2 103 is in a receiving state (transmitting state), realizing the liveness detection function of the first UWB anchor point 1.

[0185] In this embodiment, the UWB positioning and detection system includes at least one first UWB anchor point and at least two second UWB anchor points. The first UWB anchor point is located inside the vehicle and is used at least to switch between performing object ranging and liveness detection functions within the vehicle's interior area. The second UWB anchor points are located on vehicle body components and are used at least to switch between performing object ranging and object positioning functions outside the vehicle's exterior area. Therefore, the UWB positioning and detection system provided in this application can switch between performing functions through the first and / or second UWB anchor points to achieve multiple functions and support various functional scenarios, exhibiting high versatility.

[0186] Please refer to Figure 19 The diagram illustrates a flowchart of a positioning detection method provided in an embodiment of this application. The positioning detection method is applied to the UWB positioning detection system provided in this embodiment. Figure 19 As shown, the positioning detection method includes: Step 1901: Under the condition that the switching conditions of the first working mode of the ultra-wideband positioning and detection system are met, control the first UWB anchor point to perform the object ranging function, and control the second UWB anchor point to perform the object ranging function.

[0187] Step 1902: Under the condition that the switching conditions of the third working mode of the ultra-wideband positioning and detection system are met, control the second UWB anchor point to perform the object ranging function.

[0188] Step 1903: Under the condition that the switching conditions of the fourth working mode of the ultra-wideband positioning and detection system are met, control the second UWB anchor point to perform the object positioning function.

[0189] In this embodiment, by determining whether the ultra-wideband positioning detection system meets the switching conditions of the first working module, the second working module, the third working mode, and the fourth working mode, the UWB positioning detection system controls the first UWB anchor point and the second UWB anchor point in the UWB positioning detection system to switch to execute the function corresponding to the working mode, so that the UWB positioning detection system can realize multiple functions and support multiple functional scenarios, thus having high versatility.

[0190] Optionally, the positioning detection method further includes: controlling the first UWB anchor point to perform a liveness detection function when the switching conditions of the second working mode of the ultra-wideband positioning detection system are met.

[0191] Optionally, at least two second UWB anchor points include at least one rear bumper UWB anchor point located at the rear of the vehicle, which is also used to perform kicking motion recognition function when switching external areas of the vehicle.

[0192] The positioning detection method also includes: under the condition that the switching conditions of the fifth working mode of the ultra-wideband positioning detection system are met, controlling the back UWB anchor point to perform the kicking action recognition function.

[0193] Optionally, the first UWB anchor point includes: a first UWB module, a first switching module, a first omnidirectional UWB antenna, and a first directional UWB antenna. Controlling the first UWB anchor point to perform object ranging functions includes: The first switching module is controlled to disconnect the first UWB module from the first directional UWB antenna, and the first omnidirectional UWB antenna is controlled to be in a self-transmitting and self-receiving state to perform the object ranging function.

[0194] Optionally, the number of first omnidirectional UWB antennas in the first UWB anchor point is multiple. Controlling the first omnidirectional UWB antennas to be in a self-transmitting and self-receiving state to perform object ranging function includes: controlling each first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state to perform object ranging function.

[0195] Optionally, the first UWB anchor point includes: a first UWB module, a first switching module, a first omnidirectional UWB antenna, and a first directional UWB antenna. Controlling the first UWB anchor point to perform a liveness detection function includes: The first switching module is controlled to connect the first UWB module and the first directional UWB antenna, and the first omnidirectional UWB antenna is controlled to be in the transmitting state and the first directional UWB antenna is controlled to be in the receiving state, or the first omnidirectional UWB antenna is controlled to be in the receiving state and the first directional UWB antenna is in the transmitting state, thereby performing the liveness detection function.

[0196] Optionally, the second UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, and a directional UWB antenna unit. When the switching conditions of the first operating mode of the ultra-wideband positioning and detection system are met, the second UWB anchor point is controlled to perform object ranging functions, including: When the switching conditions of the first working mode of the ultra-wideband positioning and detection system are met, the second switching module is controlled to connect the second UWB module and the second omnidirectional UWB antenna, and the second omnidirectional UWB antenna is controlled to be in a self-transmitting and self-receiving state to perform the object ranging function.

[0197] Optionally, the number of second omnidirectional UWB antennas in the second UWB anchor point is multiple. Controlling the second omnidirectional UWB antennas to be in a self-transmitting and self-receiving state includes: controlling each second omnidirectional UWB antenna to be in a self-transmitting and self-receiving state.

[0198] Optionally, the number of second omnidirectional UWB antennas in the second UWB anchor point is multiple. When the switching conditions for the third operating mode of the ultra-wideband positioning and detection system are met, the second UWB anchor point is controlled to perform object ranging functions, including: When the switching conditions of the third working mode of the ultra-wideband positioning and detection system are met, the second switching module is controlled to connect the second UWB module and the second omnidirectional UWB antenna, and at least one of the multiple second omnidirectional UWB antennas is controlled to be in the transmitting state, while the remaining second omnidirectional UWB antennas are in the receiving state, to perform the object ranging function.

[0199] Optionally, the second UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, and a directional UWB antenna unit. Controlling the second UWB anchor point to perform object localization functions includes: The second switching module is controlled to connect the second UWB module and the second omnidirectional UWB antenna, and to connect the second UWB module and the directional UWB antenna unit. The second omnidirectional UWB antenna is controlled to be in the transmitting state and the directional UWB antenna unit is controlled to be in the receiving state, and the horizontal angle and pitch angle of the object are measured. Control the second UWB anchor point to perform object ranging function in order to perform object positioning function.

[0200] Optionally, the directional UWB antenna unit includes: a second directional UWB antenna, a third directional UWB antenna, and a fourth directional UWB antenna. A second switching module controlling the second UWB anchor point connects the second UWB module to the second omnidirectional UWB antenna, and connects the second UWB module to the directional UWB antenna unit, and controls the second omnidirectional UWB antenna to be in a transmitting state and the directional UWB antenna unit to be in a receiving state, performing measurements of the object's horizontal and vertical angles, including: The second switching module connects the second UWB module with the second omnidirectional UWB antenna, the second directional UWB antenna, and the third directional UWB antenna, and controls the second omnidirectional UWB antenna to be in the transmitting state, and the second directional UWB antenna and the third directional UWB antenna to be in the receiving state, and performs the measurement of the horizontal angle of the object. The second switching module connects the second UWB module to the fourth directional UWB antenna and disconnects the second UWB module from the third directional UWB antenna. It also controls the second omnidirectional UWB antenna to be in the transmitting state and the second and fourth directional UWB antennas to be in the receiving state, thereby performing the measurement of the object's pitch angle.

[0201] Optionally, the rear-side UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, a directional UWB antenna unit, and a fifth directional UWB antenna. Controlling the rear-side UWB anchor point to perform a kicking action recognition function includes: The second switching module connects the second UWB module with the second omnidirectional UWB antenna and the fifth directional UWB antenna, and controls the second omnidirectional UWB antenna to be in the transmitting state and the fifth directional UWB antenna to be in the receiving state, and performs the kicking action recognition function.

[0202] Optionally, the rear-side UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, a directional UWB antenna unit, and a fifth directional UWB antenna. Controlling the rear-side UWB anchor point to perform a kicking action recognition function includes: The second switching module connects the second UWB module with the second omnidirectional UWB antenna and the fifth directional UWB antenna, and controls the second omnidirectional UWB antenna to be in receiving mode and the fifth directional UWB antenna to be in transmitting mode, and performs the kicking action recognition function.

[0203] Optionally, the positioning detection method further includes: when the switching conditions of multiple working modes of the ultra-wideband positioning detection system are met simultaneously, controlling the first UWB anchor point and / or the second UWB anchor point to perform the functions corresponding to multiple working modes in a time-division manner.

[0204] Optionally, the first working mode is the digital key positioning mode, the second working mode is the liveness detection mode, the third working mode is the sentry detection mode, and the fourth working mode is the obstacle detection mode; when the switching conditions of the first working mode, the second working mode, and the third working mode are met simultaneously, the first UWB anchor point is controlled in a time-division manner to perform the object ranging function and the liveness detection function, and the second UWB anchor point is controlled to perform the object ranging function.

[0205] It should be noted that the explanation and implementation of each step of the method can be found in the corresponding description of the aforementioned device, and will not be repeated here in the embodiments of this application.

[0206] In this embodiment, by determining whether the ultra-wideband positioning detection system meets the switching conditions of the first working module, the second working module, the third working mode, and the fourth working mode, the UWB positioning detection system controls the first UWB anchor point and the second UWB anchor point in the UWB positioning detection system to switch to execute the function corresponding to the working mode, so that the UWB positioning detection system can realize multiple functions and support multiple functional scenarios, thus having high versatility.

[0207] This application provides a positioning detection device, which is applied to the UWB positioning detection system provided in this application. The positioning detection device includes a control module.

[0208] The control module is used to control the first UWB anchor point to perform object ranging function and control the second UWB anchor point to perform object ranging function when the switching conditions of the first working mode of the ultra-wideband positioning and detection system are met. It is also used to control the second UWB anchor point to perform object ranging function when the switching conditions of the third working mode of the ultra-wideband positioning and detection system are met. It is also used to control the second UWB anchor point to perform object positioning function when the switching conditions of the fourth working mode of the ultra-wideband positioning and detection system are met.

[0209] In this embodiment, by determining whether the ultra-wideband positioning detection system meets the switching conditions of the first working module, the second working module, the third working mode, and the fourth working mode, the UWB positioning detection system controls the first UWB anchor point and the second UWB anchor point in the UWB positioning detection system to switch to execute the function corresponding to the working mode, so that the UWB positioning detection system can realize multiple functions and support multiple functional scenarios, thus having high versatility.

[0210] Optionally, the control module is also used to control the first UWB anchor point to perform a liveness detection function when the switching conditions of the second working mode of the ultra-wideband positioning and detection system are met.

[0211] Optionally, at least two second UWB anchor points include at least one rear UWB anchor point located at the rear of the vehicle. The rear UWB anchor point is also used to perform a kicking motion recognition function when switching between external areas of the vehicle. The control module is also used to control the rear UWB anchor point to perform the kicking motion recognition function when the switching conditions of the fifth operating mode of the ultra-wideband positioning detection system are met.

[0212] Optionally, the first UWB anchor point includes: a first UWB module, a first switching module, a first omnidirectional UWB antenna, and a first directional UWB antenna. The control module is also used to control the first switching module to disconnect the first UWB module from the first directional UWB antenna, and to control the first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state to perform object ranging function.

[0213] Optionally, the number of first omnidirectional UWB antennas in the first UWB anchor point can be multiple. The control module is also used to control each first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state, performing object ranging function.

[0214] Optionally, the first UWB anchor point includes: a first UWB module, a first switching module, a first omnidirectional UWB antenna, and a first directional UWB antenna. The control module is further configured to: The first switching module is controlled to connect the first UWB module and the first directional UWB antenna, and the first omnidirectional UWB antenna is controlled to be in the transmitting state and the first directional UWB antenna is controlled to be in the receiving state, or the first omnidirectional UWB antenna is controlled to be in the receiving state and the first directional UWB antenna is in the transmitting state, thereby performing the liveness detection function.

[0215] Optionally, the second UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, and a directional UWB antenna unit; the control module is also used for: When the switching conditions of the first working mode of the ultra-wideband positioning and detection system are met, the second switching module is controlled to connect the second UWB module and the second omnidirectional UWB antenna, and the second omnidirectional UWB antenna is controlled to be in a self-transmitting and self-receiving state to perform the object ranging function.

[0216] Optionally, the number of second omnidirectional UWB antennas in the second UWB anchor point can be multiple. The control module is also used to control each second omnidirectional UWB antenna to be in a self-transmitting and self-receiving state.

[0217] Optionally, the number of second omnidirectional UWB antennas in the second UWB anchor point can be multiple. The control module is also used for: When the switching conditions of the third working mode of the ultra-wideband positioning and detection system are met, the second switching module is controlled to connect the second UWB module and the second omnidirectional UWB antenna, and at least one of the multiple second omnidirectional UWB antennas is controlled to be in the transmitting state, while the remaining second omnidirectional UWB antennas are in the receiving state, to perform the object ranging function.

[0218] Optionally, the second UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, and a directional UWB antenna unit. The control module is also used for: The second switching module is controlled to connect the second UWB module and the second omnidirectional UWB antenna, and to connect the second UWB module and the directional UWB antenna unit. The second omnidirectional UWB antenna is controlled to be in the transmitting state and the directional UWB antenna unit is controlled to be in the receiving state, and the horizontal angle and pitch angle of the object are measured. Control the second UWB anchor point to perform object ranging function in order to perform object positioning function.

[0219] Optionally, the directional UWB antenna unit includes: a second directional UWB antenna, a third directional UWB antenna, and a fourth directional UWB antenna. The control module is also used for: The second switching module connects the second UWB module with the second omnidirectional UWB antenna, the second directional UWB antenna, and the third directional UWB antenna, and controls the second omnidirectional UWB antenna to be in the transmitting state, and the second directional UWB antenna and the third directional UWB antenna to be in the receiving state, and performs the measurement of the horizontal angle of the object. The second switching module connects the second UWB module to the fourth directional UWB antenna and disconnects the second UWB module from the third directional UWB antenna. It also controls the second omnidirectional UWB antenna to be in the transmitting state and the second and fourth directional UWB antennas to be in the receiving state, thereby performing the measurement of the object's pitch angle.

[0220] Optionally, the rear-mounted UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, a directional UWB antenna element, and a fifth directional UWB antenna. The control module is also used for: The second switching module connects the second UWB module with the second omnidirectional UWB antenna and the fifth directional UWB antenna, and controls the second omnidirectional UWB antenna to be in the transmitting state and the fifth directional UWB antenna to be in the receiving state, and performs the kicking action recognition function.

[0221] Optionally, the rear-mounted UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, a directional UWB antenna element, and a fifth directional UWB antenna. The control module is also used for: The second switching module connects the second UWB module with the second omnidirectional UWB antenna and the fifth directional UWB antenna, and controls the second omnidirectional UWB antenna to be in receiving mode and the fifth directional UWB antenna to be in transmitting mode, and performs the kicking action recognition function.

[0222] Optionally, the control module is also used to control the first UWB anchor point and / or the second UWB anchor point to perform the functions corresponding to the multiple working modes in a time-division manner, provided that the switching conditions of multiple working modes of the ultra-wideband positioning and detection system are met simultaneously.

[0223] Optionally, the first working mode is a digital key positioning mode, the second working mode is a liveness detection mode, the third working mode is a sentry detection mode, and the fourth working mode is an obstacle detection mode. The control module is also used to, in a time-division manner, control the first UWB anchor point to perform object ranging and liveness detection functions, and control the second UWB anchor point to perform object ranging functions, provided that the switching conditions for the first, second, and third working modes are simultaneously met.

[0224] In this embodiment, by determining whether the ultra-wideband positioning detection system meets the switching conditions of the first working module, the second working module, the third working mode, and the fourth working mode, the UWB positioning detection system controls the first UWB anchor point and the second UWB anchor point in the UWB positioning detection system to switch to execute the function corresponding to the working mode, so that the UWB positioning detection system can realize multiple functions and support multiple functional scenarios, thus having high versatility.

[0225] This application also provides a vehicle including any of the UWB positioning and detection systems provided in this application. In the vehicle, the UWB positioning and detection system includes at least one first UWB anchor point and at least two second UWB anchor points. The first UWB anchor point is located inside the vehicle and is used at least to switch between performing object ranging and liveness detection functions within the vehicle's interior area. The second UWB anchor points are located on vehicle body components and are used at least to switch between performing object ranging and object positioning functions outside the vehicle's exterior area. Therefore, the UWB positioning and detection system provided in this application can switch between performing functions through the first UWB anchor point and / or the second UWB anchor point to achieve multiple functions and support multiple functional scenarios, exhibiting high versatility.

[0226] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A super-bandwidth positioning and detection system, characterized in that, include: At least one first ultra-wideband UWB anchor point and at least two second UWB anchor points; The first UWB anchor point is set inside the vehicle and is used at least to perform object ranging and liveness detection functions when switching between areas inside the vehicle. The second UWB anchor point is set on the vehicle body component and is used at least for switching between the external area of ​​the vehicle to perform object ranging and object positioning functions.

2. The ultra-wideband positioning and detection system according to claim 1, characterized in that, The first UWB anchor point includes: a first UWB module, a first switching module, a first omnidirectional UWB antenna, and a first directional UWB antenna; The first UWB module is connected to the first omnidirectional UWB antenna and is also connected to the first directional UWB antenna through the first switching module. The first directional UWB antenna covers the seat area inside the vehicle. The first switching module is used to connect or disconnect the first UWB module from the first directional UWB antenna; The first UWB module is used to control the first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state when the first UWB module is disconnected from the first directional UWB antenna, so as to realize the object ranging function.

3. The ultra-wideband positioning and detection system according to claim 2, characterized in that, The first UWB module is also used to control the first omnidirectional UWB antenna to be in a transmitting state and the first directional UWB antenna to be in a receiving state when the first UWB module is connected to the first directional UWB antenna, or to control the first omnidirectional UWB antenna to be in a receiving state and the first directional UWB antenna to be in a transmitting state, so as to realize the liveness detection function.

4. The ultra-wideband positioning and detection system according to claim 2 or 3, characterized in that, The number of first omnidirectional UWB antennas in the first UWB anchor point is multiple, and the polarization direction combination of all first omnidirectional UWB antennas covers multiple polarization directions. The first UWB module is used to control each of the first omnidirectional UWB antennas to be in a self-transmitting and self-receiving state when the first UWB module is disconnected from the first directional UWB antenna, so as to realize the object ranging function.

5. The ultra-wideband positioning and detection system according to claim 4, characterized in that, The first switching module includes: a first connection port, a second connection port, and a third connection port; Of the plurality of first omnidirectional UWB antennas, at least one first omnidirectional UWB antenna is directly connected to the first UWB module, the remaining first omnidirectional UWB antennas are connected to the first connection port, the second connection port is connected to the first directional UWB antenna, and the third connection port is connected to the first UWB module.

6. The ultra-wideband positioning and detection system according to claim 5, characterized in that, The first UWB module is also used to control the first switching module to connect the first connection port and the third connection port and disconnect the second connection port and the third connection port when the object ranging function is triggered by the first UWB anchor point, and to control the first omnidirectional UWB antenna to be in a self-transmitting and self-receiving state to realize the object ranging function.

7. The ultra-wideband positioning and detection system according to claim 5, characterized in that, The first UWB module is further configured to, when the liveness detection function is triggered at the first UWB anchor point, control the first switching module to disconnect the first connection port from the third connection port and connect the second connection port from the third connection port, and control the first omnidirectional UWB antenna connected to the first UWB module to be in a transmitting state and the first directional UWB antenna to be in a receiving state, or control the first omnidirectional UWB antenna connected to the first UWB module to be in a receiving state and the first directional UWB antenna to be in a transmitting state, thereby realizing the liveness detection function.

8. The ultra-wideband positioning and detection system according to any one of claims 2 to 7, characterized in that, The first UWB anchor point further includes: a first Bluetooth BT module and at least two first omnidirectional BT antennas, wherein the polarization direction combination of all the first omnidirectional BT antennas covers multiple polarization directions; The first BT module is connected to each of the first omnidirectional BT antennas and is used to control each of the first omnidirectional BT antennas to be in a self-transmitting and self-receiving state to realize the object ranging function.

9. The ultra-wideband positioning and detection system according to any one of claims 1 to 8, characterized in that, The second UWB anchor point includes: a second UWB module, a second switching module, a second omnidirectional UWB antenna, and a directional UWB antenna unit; The second UWB module is connected to the second omnidirectional UWB antenna and the directional UWB antenna unit through the second switching module. The directional UWB antenna unit is used to measure the horizontal angle and pitch angle of an object. The second switching module is used to connect or disconnect the second UWB module and the second omnidirectional UWB antenna, and to connect or disconnect the second UWB module and the directional UWB antenna unit. The second UWB module is used to control the second omnidirectional UWB antenna to be in a self-transmitting and self-receiving state when the second omnidirectional UWB antenna is connected to the second UWB module, so as to realize the object ranging function.

10. The ultra-wideband positioning and detection system according to claim 9, characterized in that, The second UWB module is also used to control the second omnidirectional UWB antenna to be in a transmitting state and the directional UWB antenna unit to be in a receiving state when both the second omnidirectional UWB antenna and the directional UWB antenna unit are connected to the second UWB module, so as to realize the measurement of the horizontal angle and pitch angle of the object, so as to realize the object positioning function in combination with the object ranging function.

11. The ultra-wideband positioning and detection system according to claim 9 or 10, characterized in that, The directional UWB antenna unit includes: a second directional UWB antenna, a third directional UWB antenna, and a fourth directional UWB antenna; The second directional UWB antenna, the third directional UWB antenna, and the fourth directional UWB antenna are arranged in an L-shaped array, and the second directional UWB antenna is located at the corner of the L-shaped array; The second UWB module is also used to control the second omnidirectional UWB antenna to be in a transmitting state and the second directional UWB antenna and the third directional UWB antenna to be in a receiving state when the second omnidirectional UWB antenna, the second directional UWB antenna and the third directional UWB antenna are all connected to the second UWB module, so as to realize the measurement of the horizontal angle of the object.

12. The ultra-wideband positioning and detection system according to claim 11, characterized in that, The second UWB module is also used to control the second omnidirectional UWB antenna to be in a transmitting state and the second directional UWB antenna and the fourth directional UWB antenna to be in a receiving state when the second omnidirectional UWB antenna, the second directional UWB antenna and the fourth directional UWB antenna are all connected to the second UWB module, so as to realize the measurement of the pitch angle of the object.

13. The ultra-wideband positioning and detection system according to any one of claims 9 to 12, characterized in that, The number of second omnidirectional UWB antennas in the second UWB anchor point is multiple, and the polarization direction combination of all second omnidirectional UWB antennas covers multiple polarization directions; The second UWB module is also used to control each of the second omnidirectional UWB antennas to be in a self-transmitting and self-receiving state when multiple second omnidirectional UWB antennas are connected to the second UWB module, so as to realize the object ranging function; or, to control at least one of the multiple second omnidirectional UWB antennas to be in a transmitting state and the remaining second omnidirectional UWB antennas to be in a receiving state, so as to realize the object ranging function.

14. The ultra-wideband positioning and detection system according to claim 13, characterized in that, The second switching module includes: a fourth connection port, a fifth connection port, a sixth connection port, a seventh connection port, an eighth connection port, a ninth connection port, and a tenth connection port; The fourth connection port is connected to the first transceiver port of the second UWB module, and the fifth connection port is connected to the second transceiver port of the second UWB module. Of the plurality of second omnidirectional UWB antennas, at least one second omnidirectional UWB antenna is connected to the sixth connection port, the remaining second omnidirectional UWB antennas are connected to the seventh connection port, the eighth connection port is connected to the second directional UWB antenna, the ninth connection port is connected to the third directional UWB antenna, and the tenth connection port is connected to the fourth directional UWB antenna.

15. The ultra-wideband positioning and detection system according to claim 14, characterized in that, The second UWB module is also used to control the second switching module to connect the fourth connection port and the sixth connection port, and the fifth connection port and the seventh connection port, when the object ranging function is triggered by the second UWB anchor point, and to control each of the second omnidirectional UWB antennas to be in a self-transmitting and self-receiving state, or to control the second omnidirectional UWB antenna connected to the sixth connection port to be in a transmitting state and the second omnidirectional UWB antenna connected to the seventh connection port to be in a receiving state, or to control the second omnidirectional UWB antenna connected to the sixth connection port to be in a receiving state and the second omnidirectional UWB antenna connected to the seventh connection port to be in a transmitting state, thereby realizing the object ranging function.

16. The ultra-wideband positioning and detection system according to claim 14, characterized in that, The second UWB module is also used to implement object ranging, horizontal angle measurement, and pitch angle measurement functions in a time-division manner when the object positioning function is triggered by the second UWB anchor point. The second UWB module controls the second switching module to connect the fourth connection port and the sixth connection port in a time-division manner, connect the fourth connection port and the ninth connection port, continuously connect the fifth connection port and the eighth connection port, and control the second directional UWB antenna to be in a receiving state. When the fourth connection port is connected to the sixth connection port, the second omnidirectional UWB antenna connected to the sixth connection port is controlled to be in a transmitting state. When the fourth connection port is connected to the ninth connection port, the third directional UWB antenna is controlled to be in a receiving state, thereby realizing the function of measuring the horizontal angle of an object.

17. The ultra-wideband positioning and detection system according to claim 14, characterized in that, The second UWB module is used to control the second switching module to connect the fifth connection port and the seventh connection port in a time-division manner, connect the fifth connection port and the eighth connection port, continuously connect the fourth connection port and the ninth connection port, and control the third directional UWB antenna to be in a receiving state. When the fifth connection port and the seventh connection port are connected, the second omnidirectional UWB antenna connected to the seventh connection port is controlled to be in a transmitting state. When the fifth connection port and the eighth connection port are connected, the second directional UWB antenna is controlled to be in a receiving state, thereby realizing the function of measuring the horizontal angle of an object.

18. The ultra-wideband positioning and detection system according to claim 14, characterized in that, The second UWB module is used to control the second switching module to connect the fourth connection port and the sixth connection port in a time-division manner, connect the fourth connection port and the tenth connection port, and continuously connect the fifth connection port and the eighth connection port. It also controls the second directional UWB antenna to be in a receiving state. When the fourth connection port and the sixth connection port are connected, it controls the second omnidirectional UWB antenna connected to the sixth connection port to be in a transmitting state. When the fourth connection port and the tenth connection port are connected, it controls the fourth directional UWB antenna to be in a receiving state, thereby realizing the object pitch angle measurement function.

19. The ultra-wideband positioning and detection system according to claim 14, characterized in that, The second UWB module is used to control the second switching module to connect the fifth connection port and the seventh connection port in a time-division manner, connect the fifth connection port and the eighth connection port, continuously connect the fourth connection port and the tenth connection port, and control the fourth directional UWB antenna to be in a receiving state. When the fifth connection port and the seventh connection port are connected, the second omnidirectional UWB antenna connected to the seventh connection port is controlled to be in a transmitting state. When the fifth connection port and the eighth connection port are connected, the second directional UWB antenna is controlled to be in a receiving state, thereby realizing the object pitch angle measurement function.

20. The ultra-wideband positioning and detection system according to any one of claims 9 to 19, characterized in that, The second UWB anchor point also includes: a second BT module and at least one second omnidirectional BT antenna, wherein the polarization direction combination of all the second omnidirectional BT antennas covers multiple polarization directions; The second BT module is connected to the second omnidirectional BT antenna and is used to control the second omnidirectional BT antenna to be in a self-transmitting and self-receiving state to realize the object ranging function.

21. The ultra-wideband positioning and detection system according to any one of claims 9 to 20, characterized in that, The at least two second UWB anchor points include at least one rear bumper UWB anchor point located at the rear of the vehicle; The rear bumper UWB anchor point is also used to perform kicking action recognition function when switching the external area of ​​the vehicle.

22. The ultra-wideband positioning and detection system according to claim 21, characterized in that, The rear-mounted UWB anchor point also includes: a fifth directional UWB antenna; The fifth directional UWB antenna is connected to the second UWB module through the second switching module; the second switching module is also used to connect or disconnect the second UWB module and the fifth directional UWB antenna. The second UWB module is also used to control the second omnidirectional UWB antenna to be in a transmitting state and the fifth directional UWB antenna to be in a receiving state, or to control the second omnidirectional UWB antenna to be in a receiving state and the fifth directional UWB antenna to be in a transmitting state, when both the second omnidirectional UWB antenna and the fifth directional UWB antenna are connected to the second UWB module, thereby realizing the kicking action recognition function.

23. The ultra-wideband positioning and detection system according to claim 21 or 22, characterized in that, The at least one rear bumper UWB anchor point includes: at least one rear bumper UWB anchor point located in the middle of the rear of the vehicle, and two rear bumper UWB anchor points located at the two corners of the rear of the vehicle.

24. The ultra-wideband positioning and detection system according to any one of claims 21 to 23, characterized in that, The angle between the antenna surface of the rear bumper UWB anchor point and the vehicle's YZ plane is in the range of [20°, 30°], and the angle between the antenna surface and the vehicle's Z axis is less than or equal to 2°.

25. The ultra-wideband positioning and detection system according to any one of claims 9 to 23, characterized in that, The at least two second UWB anchor points also include at least one front bumper UWB anchor point located at the front of the vehicle.

26. The ultra-wideband positioning and detection system according to claim 25, characterized in that, The at least one front bumper UWB anchor point includes: at least one front bumper UWB anchor point located in the middle of the front of the vehicle, and two front bumper UWB anchor points located at the two corners of the front of the vehicle.

27. The ultra-wideband positioning and detection system according to claim 25 or 26, characterized in that, The angle between the antenna surface of the front bumper UWB anchor point and the vehicle's YZ plane is in the range of [20°, 30°], and the angle between the antenna surface and the vehicle's Z axis is less than 15°.

28. The ultra-wideband positioning and detection system according to any one of claims 1 to 27, characterized in that, At least one of the first UWB anchor points includes at least one main UWB anchor point located in the front row inside the vehicle.

29. The ultra-wideband positioning and detection system according to claim 28, characterized in that, At least one of the first UWB anchor points also includes at least one UWB anchor point located in the rear row inside the vehicle.

30. A vehicle, characterized in that, include: The ultra-wideband positioning and detection system according to any one of claims 1 to 28.

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