Device and method for detecting a vehicle key position

Abstract

Device for detecting a vehicle key position, the device comprising: a vehicle key having an ultra-wideband (UWB) communication-based digital key (110); a plurality of anchors (121 - 128) configured to perform UWB communication with the vehicle key; and a processor (130) configured to detect a position of the digital key (110) using the plurality of anchors (121-128), perform a positioning algorithm selection based on the data acquired from the anchors, perform an anchor consistency check after the positioning algorithm selection, perform a cross-root calculation after the consistency check is completed, perform a cross-root consistency check after the cross-root calculation, perform a cross-root residual calculation after the cross-root consistency check, and perform a process (130) for determining a positioning coordinate when the cross-root residual calculation is performed.

Description

BACKGROUNDREGIONExemplary embodiments of the present disclosure relate to an apparatus and method for detecting vehicle key position, and more particularly, to an apparatus and method for detecting vehicle key position capable of detecting a position of a vehicle key using an ultra wide band (UWB) communication.BACKGROUND DISCUSSIONGenerally, a smart key system refers to a system that allows a driver to open or close a vehicle door and start a vehicle from the outside without having to insert a separate key into a keybox in the vehicle or perform special manipulation for operation. The smart key system uses a FOB key or a smart key in the form of a card so that the driver can easily carry the key.Recently, there is a trend to use digital keys via smartphones.In the present embodiment, a vehicle key includes a digital key.In order to use the digital key, it is necessary to recognize where the digital key is located inside or outside the vehicle. In order to determine a position of the digital key, a distance between an antenna and the digital key is measured using a wireless communication technology between the digital key and the vehicle-mounted antenna, and from the measurement result, it is determined where the digital key is located inside or outside the vehicle.However, the digital key using only near field communication (NFC) has a problem that it can be chopped. Therefore, it is necessary to accurately measure a user position by using a digital key using an ultra wide band (UWB) to improve security, and it is necessary to improve convenience for the user and recognize the accurate user position. Therefore, there is a need for a technology for accurately detecting the position of the digital key.The background technology of the present disclosure is disclosed in Korean Patent Application Laid-Open No. 10-2013-0089069 (published on Aug. 9, 2013, entitled "Intelligent Key Search System for Vehicle").DE 10 2018 130 876 A1 discloses a method and a system for locating a mobile identification transmitter of a vehicle. The method comprises: determining a travel time of at least one location signal from a plurality of location signals; determining a signal strength of at least one location signal from the plurality of location signals; and locating the mobile identification transmitter with respect to the vehicle using the determined travel time and the determined signal strength.SUMMARYVarious embodiments relate to an apparatus and method for detecting a vehicle key position capable of detecting a position of a vehicle key using Ultra Wide Band (UWB) communication.In one embodiment, an apparatus for detecting a vehicle key position includes: a vehicle key including an ultra wide band (UWB) communication-based digital key; a plurality of anchors configured to perform UWB communication with the vehicle key; and a processor configured to recognize a position of the digital key using the plurality of anchors. The processor is configured to perform positioning algorithm selection based on the data acquired from the anchors, perform an anchor consistency check after the positioning algorithm selection, perform a lateral root calculation after completion of the consistency check, perform a lateral root consistency check after the lateral root consistency check, perform a lateral root residual calculation after the lateral root consistency check, and perform a process (130) of determining a positioning coordinate when the lateral root residual calculation is performed.In the present disclosure, in an initialization step, the processor may perform coordinate setting for each of the anchors and perform calculation of a distance between the plurality of anchors, and a distance between the anchor 1 and the anchor 2 is calculated based on.In the present disclosure, in a data acquisition step after the initialization step, the processor may receive data acquired from the anchors and perform data filtering, the received data may include power (distance power) and distance (range distance) information input from the anchors, and the data filtering may be performed using a moving window average filter or a low pass filter (LPF).In the present disclosure, the processor may perform the selection of the positioning algorithm based on the data acquired from the anchors, perform an anchor consistency check after the selection of the positioning algorithm, perform a lateral root calculation after the completion of the consistency check, perform a lateral root consistency check after the lateral root calculation, perform a lateral root residual calculation after the lateral root consistency check, and perform a process for determining a positioning coordinate when the lateral root residual calculation is performed.In the present disclosure, the processor may match the distance information of the anchors in ascending order, perform filtering of the outer anchor, and perform determination of the positioning algorithm to select the positioning algorithm, and the processor may match the anchors in ascending order based on minimum distance (i.e., ranging distance) data, and perform filtering of the received anchor based on a plurality of set conditions to determine an outer anchor to be excluded from the determination of the positioning algorithm.In the present disclosure, the plurality of conditions for determining the outer anchor to be excluded from the determination of the positioning algorithm by performing filtering on the received anchor may include: condition 1: "reception of two or more inner anchor data", "reception of one or more outer anchor data", and min (inner anchor)<min (outer anchor); condition 2: "when Pmax is not A7", rn> 2_Dxymn+rm+10 (cm) (here: rn=result of the outer anchor ranging, rm=result of the inner anchor ranging, m=number of the inner anchors, n=number of the outer anchors, and Pmax=maximal power value among the power values); Condition 3: rn value has no cross root with Am1 and Am2 anchors (i.e., no cross root with at least the first and second anchors in all anchor distances according to anchor distance result); Condition 4: rn (anchor distance outside result)> (inner anchor distance average * 2); Condition 5-1: rmax anchor positioning logic is not applied when [reception of two or more inner + outer anchors], [reception of one or more outer anchors], and [outer anchors rmax-rmin> 600 (cm)] are satisfied; and condition 5-2: Outer anchors when [reception of two or more inner + outer anchors], [reception of two or more outer anchors], [outer anchors r2ndmax!=rmin], and [outer anchors r2ndmax-rmin>600 (cm)] are satisfied.In the present disclosure, in a received anchor calculation step of a positioning algorithm determination step, the processor may select the corresponding positioning algorithm based on four states including: state 1: when the number of the received anchors is 0, the positioning is not performed; state 2: when the number of the received anchors is 1, the positioning is performed in the presence of a previous positioning coordinate result, and the positioning is not formed when the previous positioning coordinate result is absent; state 3: the 2-side positioning is performed when the number of the received anchors is 2; and state 4: the 3-side positioning is performed when the number of the received anchors is 3 to 8.In the present disclosure, in the consistency check step, the processor may perform an indoor consistency check when an indoor positioning algorithm is selected, perform a fuselage consistency check when an fuselage positioning algorithm is selected, and perform an outdoor consistency check when an outdoor positioning algorithm is selected.In the present disclosure, the processor may perform 1-side positioning or 2-side positioning depending on the number of anchors when the number of the effective data anchors received is less than three during a selection and consistency checking process of the positioning algorithm.In one embodiment, a method for detecting a vehicle key position includes: performing, by a processor, a selection of a positioning algorithm based on data detected by an anchor; performing, by the processor, an anchor consistency check after performing the selection of the positioning algorithm; performing, by the processor, a lateral root calculation when the consistency check is completed; performing, by the processor, a lateral root consistency check after performing the lateral root calculation; performing, by the processor, a lateral root residual calculation after performing the lateral root consistency check; and performing, by the processor, a process for determining a positioning coordinate when performing the lateral root residual calculation.According to the present disclosure, the position of the vehicle key can be accurately detected by using the ultra wide band (UWB) communication, and security can be improved by greatly counteracting hacker attacks.BRIEF DESCRIPTION OF THE DRAWINGSFIG. 1 is an exemplary view showing a schematic configuration of a vehicle key position detection apparatus according to an embodiment of the present disclosure. FIG. 2 is an exemplary view showing a schematic position of a UWB anchor installed in a vehicle according to FIG. 1. FIG. 3 is a flowchart for explaining a method for recognizing a vehicle key position according to the embodiment of the present disclosure. FIG. 4 is an explanatory view for explaining a selection method for the positioning algorithm in FIG. 3. FIG. 5 is an explanatory view for explaining a state of a step for performing outer anchor filtering and for explaining a processing process in FIG. 4. FIG. 6 is an explanatory view for explaining a calculation step of positioning the received anchor in a step of determining the positioning algorithm in FIG. 4. FIG. 7 is an explanatory view for explaining a consistency verification process for verifying a positioning calculation result after a positioning algorithm in FIG. 3 is selected. FIGS. 8A and 8B are exemplary views for explaining a relationship between consistency and the presence of an intersection in FIG. 7.DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTSThe components described in the embodiments may be implemented by hardware components, for example, at least one digital signal processor (DSP), a processor, a controller, an application specific integrated circuit (ASIC), a programmable logic element such as an FPGA, other electronic devices, or combinations thereof. At least some of the functions or processes described in the embodiments may be implemented by software, and the software may be recorded on a recording medium. The components, functions, and processes described in the embodiments may be implemented by a combination of hardware and software.The method according to the embodiments may be embodied as a computer-executable program, and may be implemented on various recording media such as a magnetic storage medium, an optical read medium, and a digital storage medium.Various techniques described herein may be implemented as digital electronic circuits or as computer hardware, firmware, software, or combinations thereof. The techniques may be implemented as a computer program product, i.e., a computer program tangibly embodied in an information carrier, e.g., a machine readable storage medium (e.g., a computer readable medium), or in a transmitted signal for processing by a computing device, or for controlling the operation of a computing device, e.g., a programmable processor, a computer, or multiple computers. A computer program may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including a stand-alone program or module, component, subroutine, or other device suitable for use in a computing environment. A computer program may be distributed and interconnected via a communication network for execution on one computer or on multiple computers at one site or via multiple sites.Processors suitable for executing a computer program include, for example, both general and special purpose microprocessors and one or more processors of all types of digital computers. Generally, a processor receives instructions and data from a read-only memory or a random access memory, or both. Elements of a computer may include at least one processor for executing instructions and one or more memories for storing instructions and data. Generally, a computer also includes or is coupled to one or more mass storage devices for storing data, e.g., magnetic, magneto-optical, or optical disks, to receive data from, transmit data to, or execute both data from them. Examples of information carriers suitable for embodying computer program instructions and data include semiconductor memory devices, for example, magnetic media such as a hard disk, a floppy disk, and a magnetic tape, optical media such as a compact disk read only memory (CD-ROM), a digital video disk (DVD), etc., and magneto-optical media such as a floppy disk, a read only memory (ROM), a random access memory (RAM), a flash memory, an erasable programmable ROM (EPROM), and an electrically erasable programmable ROM (EEPROM), as well as any other known computer readable medium. A processor and a memory can be supplemented by a special logic circuit or integrated into it.The processor may execute an operating system (OS) and one or more software applications running on the OS. The processor device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience, the description of a processor device will be used as a singular; however, one skilled in the art will appreciate that a processor device may include multiple processing elements and / or multiple types of processing elements. For example, a processor device may include multiple processors or a processor and a controller. Moreover, various processing configurations are possible, such as parallel processors.Nontransmissive computer readable media can be any available media accessible by a computer and can include both computer storage media and transmission media.The present specification contains details on a number of specific embodiments, but it should be understood that the details do not limit the invention or what may be claimed in the specification, but rather describe features of the specific example embodiment. Features which are described in the description in connection with individual exemplary embodiments can be realized in combination in a single exemplary embodiment. In contrast, various features described in the specification in connection with a single embodiment may be implemented in multiple embodiments individually or in a suitable sub-combination. Moreover, the features may act in a particular combination and be described first as a claimed combination, but one or more features may in some cases be excluded from the claimed combination, and the claimed combination may be changed to a sub-combination or a variation of a sub-combination.Although the operations are described in the drawings in a particular order, it is not to be understood that the operations must be performed in that order or in the proper order to achieve the desired results, or that all operations must be performed. In a particular case, multitasking and parallel processing may be advantageous. Moreover, it is not to be understood that separation of various device components in the above-described embodiments is required in all the embodiments, and it is to be understood that the above-described program components and devices may be integrated into a single software product or packaged into multiple software products.It is to be understood that the embodiments disclosed herein are for illustrative purposes only and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that various modifications may be made to the embodiments without obscuring the spirit and scope of the claims and their equivalents.Hereinafter, with reference to the accompanying drawings, embodiments of the present disclosure will be described in detail so that a person skilled in the art can easily carry out the present disclosure. However, the present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.In the following description of the embodiments of the present disclosure, detailed description of known functions and configurations will be omitted if it may obscure the subject matter of the present disclosure. Parts that do not refer to the description of the present disclosure in the drawings are omitted, and like parts are denoted by like reference numerals.In the present disclosure, the individual components are distinguished from each other to make the individual features clear. However, this does not necessarily mean that the components are separated. That is, a plurality of components may be integrated into one hardware or software unit, or a single component may be distributed to a plurality of hardware or software units. Unless otherwise indicated, such integrated or distributed embodiments are also within the scope of the present disclosure.In the present disclosure, the components described in the various embodiments are not necessarily essential components, and some may be optional components. Accordingly, embodiments that consist of a subset of the components described in an embodiment are also within the scope of the present disclosure. Moreover, embodiments including other components in addition to the components described in the various embodiments are also included in the scope of the present disclosure.Hereinafter, with reference to the accompanying drawings, embodiments of the present disclosure will be described in detail so that a person skilled in the art can easily carry out the present disclosure. However, the present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.In the following description of the embodiments of the present disclosure, detailed description of known functions and configurations will be omitted if it may obscure the subject matter of the present disclosure. Parts that do not refer to the description of the present disclosure in the drawings are omitted, and like parts are denoted by like reference numerals.In the present disclosure, when a component that is "linked", "coupled", or "connected" to another component is referred to, not only a direct but also an indirect connection relationship via an intermediate component may be meant. When a component is referred to as another component "comprising" or "having", it may be intended to include another component, not the exclusion thereof, unless expressly described to the contrary.In the present disclosure, the terms first(r / s), second(r / s), etc. are used only for distinguishing between the individual components, and do not limit the order or meaning of the components, etc., unless expressly stated otherwise. Thus, within the scope of this disclosure, a first component may be referred to as a second component in another embodiment in an exemplary embodiment, and similarly, a second component may be referred to as a first component in an exemplary embodiment.In the present disclosure, the individual components are distinguished from each other to make the individual features clear. However, this does not necessarily mean that the components are separated. That is, a plurality of components may be integrated into one hardware or software unit, or a single component may be distributed to a plurality of hardware or software units. Unless otherwise indicated, such integrated or distributed embodiments are also within the scope of the present disclosure.In the present disclosure, the components described in the various embodiments are not necessarily essential components, and some may be optional components. Accordingly, embodiments that consist of a subset of the components described in an embodiment are also within the scope of the present disclosure. Moreover, exemplary embodiments including other components in addition to the components described in the various embodiments are also included in the scope of the present disclosure.Hereinafter, an apparatus and a method for recognizing the position of a vehicle key will be described with reference to the accompanying drawings according to various exemplary embodiments.Line strengths, sizes of constituent elements, or the like illustrated in the drawings may be exaggerated for clarity and simplicity of description. Moreover, the terms used below are defined in consideration of the functions in the present disclosure, and may vary depending on the intention of a user or an operator or a common practice. Therefore, such terms should be defined based on the entire contents of the present specification.The present embodiment relates to an apparatus and a method capable of detecting a position of a vehicle key using Ultra Wide Band (UWB) communication. In this case, an ultra wide band (UWB) technology is a technology that has evolved from near field wireless technologies in the related art such as Wi-Fi, Bluetooth, and GPS. The ultra wide band (UWB) technology is characterized by processing, with an accuracy of several centimeters, situation information such as UWB anchor positions, anchor movements, and distances to other devices that have been difficult to process in the related art.FIG. 1 is an exemplary view showing a schematic configuration of a vehicle key position detection device according to an embodiment of the present disclosure, and FIG. 2 is an exemplary view showing a schematic position of a UWB anchor installed in a vehicle in FIG. 1.Referring to FIGS. 1 and 2, an apparatus for detecting a vehicle key position based on UWB communication according to the present embodiment detects an accurate position of a vehicle key (including a digital key) using bidirectional UWB (Ultra Wide Band) communication.Referring to FIG. 1, the apparatus includes a plurality of UWB anchors 121 to 128 configured to perform UWB communication with a digital key 110 based on UWB communication, and a processor (e.g., ECU) 130 configured to detect a position of the digital key 110 using the plurality of UWB anchors 121 to 128.In the present embodiment, the plurality of anchors A 1 to A 8 and 121 to 128 means a plurality of UWB anchors. Hereinafter, for convenience, the anchor and the UWB anchor will be described interchangeably, but it should be understood that the anchor and the UWB anchor have the same meaning.The digital key 110 performs UWB communication with the plurality of anchors 121 to 128.Referring to FIG. 2, of the plurality of anchors 121 to 128, four anchors 121, 122, 123, and 124 are respectively attached to edge portions of a vehicle.Of the four anchors 121, 122, 123, and 124, for example, two anchors 121 and 122 are respectively attached to two opposite edge portions of a front bumper, and two anchors 123 and 124 are respectively attached to two opposite edge portions of a rear bumper. Moreover, an anchor 128 interposed between the anchors 123 and 124 respectively attached to the two opposite edge portions of the rear bumper is attached closer to the anchor 124 attached to one edge portion.Of the plurality of anchors 121 to 128, the remaining three anchors 125, 126, and 127 are installed in the vehicle.In this case, in the present embodiment, the example in which eight anchors 121 to 128 are installed in the vehicle will be described. However, the number of anchors and installation positions of the anchors may vary depending on the vehicle model. However, the present disclosure may be applied regardless of the number of the anchors and the installation positions of the anchors.The installation positions of the anchors 121 to 128 may be used as layout information to compensate for a positioning error of the digital key 110.In this case, the layout information includes coordinate information indicating the installation positions of the anchors, and the coordinate information is two-dimensional coordinates.The coordinates of the UWB anchors A 1 to A 8 may be expressed as, for example, A 1=anker 1=coordinates (x 1, y 1) to An=anker n=coordinates (xn, yn), and the reference coordinates (see anchor coordinates) may be: X axis: vehicle center=100 cm, and Y axis: rearmost end of the vehicle=0 cm.The plurality of anchors 121 to 128 perform the UWB communication with the digital key 110 in response to a communication instruction from the processor (e.g., ECU) 130.The plurality of anchors 121 to 128 may be connected via a communication bus (e.g., controller area network (CAN)) provided in the vehicle to receive the communication command from the processor 130.The processor 130 executes processes illustrated in FIG. 3 and recognizes a position of the digital key 110, e.g., where the digital key 110 is located inside or outside the vehicle.FIG. 3 is a flowchart for explaining a method for recognizing the position of a vehicle key according to the embodiment of the present disclosure.Referring to FIG. 3, in an initialization step S 110, the processor 130 may perform the UWB anchor coordinate setting (i.e., reading distances from anchors installed according to the vehicle type) and the anchor distance calculation (i.e., calculating distances D between anchors mounted in the vehicle).For example, a distance between armature 1 and armature 2 may be calculated as and a distance between armature 7 and armature 8 as. The distances D between the other anchors can be calculated in the same manner.In a data acquisition step S 120, the processor 130 may receive data (i.e., data acquired from the anchors) and perform data filtering.The data (i.e., the data acquired by the anchors) may include, for example, the power (ranging power) input from the anchors 121 to 128 and distances (ranging distances).In this case, the distances (ranging distances) are expressed as anchor 1 (A1) distance indication = r1 to anchor 8 (A8) distance indication = r8.In addition, if a distance offset is applied, distance measurement = distance measurement * 1 + 9 (cm) (i.e., offset value).Moreover, the power (range power) is expressed as a result of the power of armature 1 (A1)=p1to a result of the power of armature 8 (A8)=p8.In addition, data filtering can be performed using a moving window avg. The filtering may be performed by a low pass filter (LPF).FIG. 4 is an explanatory view for explaining a selection method for the positioning algorithm in FIG. 3.In a positioning algorithm selection step S 130, the processor 130 aligns the distance information in ascending order (S 131 in FIG. 4 ), performs outer anchor filtering (S 132 in FIG. 4 ), and performs the positioning algorithm determination (S 133 in FIG. 4 ).For example, the processor 130 aligns the anchors in ascending order based on the minimum distance (i.e., ranging distance) data (e.g., Am1, Am2, Am3, and Am4 to Am8). Moreover, in step S 132, the processor 130 determines the outer anchor to be excluded by performing filtering based on the following conditions (i.e., condition 1 to condition 5- 2 in FIG. 5 ).In this case, the excluded outer anchor does not perform the determination of the positioning algorithm.In this case, Am1 means a minimum value of the distance (range) data of the corresponding anchor.FIG. 5 is an explanatory view for explaining a state of a step for performing outer anchor filtering and for explaining a processing process in FIG. 4.Condition 1: "Reception of two or more inner anchor data" and "Reception of one or more outer anchor data" and min (inner anchor) < min (outer anchor).Condition 2: "When Pmax is not A7", rn > 2_Dxymn + rm + 10 (cm).In this case, rn=result of the outdoor anchor distance, rm=result of the indoor anchor distance, m=number of indoor anchors, n=number of outdoor anchors, and Pmax= maximum power value among the power values.Condition 3: The rn value has no cross root with the anchors Am1 and Am2 (i.e., no cross root with at least the first and second anchors in all anchor regions according to the result of the anchor region calculation).Condition 4: rn (result of the outside anchor distance) > (average of the inside anchor distance*2).Condition 5-1: The rmax anchor positioning logic is not applied when [reception of two or more inner + outer anchors], [reception of one or more outer anchors], and [outer anchors rmax-rmin>600 (cm)] are satisfied.Condition 5-2: Outer anchor when [reception of two or more inner + outer anchors], [reception of two or more outer anchors], [outer anchor r2ndmax!=rmin], and [outer anchor r2ndmax-rmin>600 (cm)] are satisfied.Referring to FIG. 5, the outer anchor filtering is performed when condition 1 and condition 2 are satisfied, the outer anchor filtering is performed when condition 1 and condition 3 are satisfied, the outer anchor filtering is performed when condition 1 and condition 4 are satisfied, the outer anchor filtering is performed when condition 5- 1 is satisfied, and the outer anchor filtering is also performed when condition 5- 2 is satisfied.Moreover, in a received armature calculation step S 133- 1, the processor 130 selects the positioning algorithm according to the following four kinds of states (see FIG. 6 ).FIG. 6 is an exemplary view for explaining the received anchor positioning calculation step S 133- 1 of the positioning algorithm in FIG. 4.State 1: When the number of the received anchors is 0, the positioning is not performed.State 2: When the number of the anchors received is 1, the positioning is performed in the presence of the result of the previous positioning coordinates, and in the absence of the result of the previous positioning coordinates, the positioning is not performed.State 3: When the number of the received anchors is 2, positioning is performed on two sides (e.g., two outer sides, two inner sides, or one inner side and one outer side).State 4: When the number of the received anchors is 3 to 8, positioning is performed on three sides (i.e., positioning algorithms RSS1, RSS2, and RSSO).In this case, RSS1 means an indoor region, RSS2 means a long distance region, and RSSO means an outdoor region.Referring to FIG. 6, in state 4, the processor 130 selects the positioning algorithm based on the following conditions.RSS 2 is executed when "condition 1, (condition 2- 1 or condition 2- 2), condition 3 and condition 4" are satisfied, and RSS 0 is executed when the outside is determined after the execution of RSS 2.RSS 0 is executed when "Condition 1, (Condition 2- 1 or Condition 2- 2), Condition 3 and Condition 4" are not satisfied, and Condition 5 is satisfied, RSS 1 is executed when Condition 5 is not satisfied, and RSS 0 is executed when the outside area is determined after the execution of RSS 1.In this case, condition 1: "Am1=r3or r4or r6or r7or r8", condition 2-1: "{(Pm1=p3) and (p3-p8<RSS2_Offset1)} or {(Pm1=p4) and (p4-p8<RSS2_Offset1)}", condition 2-2: "(Pm1=p8) and {p8-avg (p3, p4)> RSS2_Offset2}"condition 3: "p8-avg (p6, p7)>RSS2_Offset3", condition 4: reception of A3 & A4 & A6 & A7 & A8, is established, Condition 5: "Reception of one or more outside anchors" and {(Pm1!=p8), and (Pm1=p1 or p2 or p5), and (p5 outside Pm1<RSS0_Offset1)} or [{(p3>p8) or (p4>p8)} and (Avg (p6, p7) outside Pm1< RSS0_Offset2)]".Moreover, in a 3-side position calculation selection step S133-2, the processor 130 performs a position calculation depending on the number of the anchors received. That is, in the case of 3-side positioning, the processor performs the selection for the 3-side positioning calculation of the indoor area, the trunk area, and the outdoor area.Moreover, the processor 130 performs a consistency checking step S 140 in accordance with the indoor area, the master area, or the outdoor area determined in step S 133- 2.In a consistency check step S 140, a consistency check for the indoor region is performed when an indoor positioning algorithm is selected (S 141), a consistency check for the trunk region is performed when a positioning algorithm for the trunk region is selected (S 142), and a consistency check for the outdoor region is performed when an outdoor positioning algorithm is selected (S 143).FIG. 7 is an exemplary view for explaining the consistency check process S 140 for checking the positioning calculation result after the positioning algorithm in FIG. 3 is selected.For example, in a consistency check step S 141, the processor 130 determines whether there is an intersection point (i.e., an inter-kernel region intersection point for checking consistency) for each indoor anchor. In this case, the lack of the intersection means that there is no consistency, which will be described in more detail with reference to FIG. 8.(Process 0) First, the r (distance) values of the anchors used for calculation are aligned in ascending order, and then assigned to Am1 to Amn to determine whether there is an intersection point.(Process 1) When rn+1 (or 2) ≥ rn, the condition "2_Dxy 12 + r 1 ≥ r 2 ≥ 2_Dxy 12-r 1" is next checked. In this case, rn = a range (ranging) value of an nth anchor, and 2_Dxyab = sqrt ((Xa-Xb)^2+ (Ya-Yb)^2).(Process 1-1) In exceptional cases, when "two received inner anchors" & "2_Dxy 12+r 1<r 2" are satisfied, i) the RSS0 logic is executed when one or more outer anchors are received (the remaining RSS1 logic is not executed), ii) the 1-side positioning logic is executed when no outer anchor is received (the remaining RSS1 logic is not executed).(Process 2) Meanwhile, when the condition "2_Dxy 12>r 1+r 2" is satisfied between the received indoor anchors or when the consistency is not satisfied (i.e., when the anchors are not consistent with each other because all indoor anchor distances are too short), the indoor side is determined and the coordinate is set to an average of three indoor anchor coordinate values (the logic is not executed thereafter).(Process 3) Also, the anchor that does not satisfy the consistency is used for the calculation of a residue. (Process 4) When Am1does not satisfy the consistency, Am1is used for calculation of a residue in the subsequent calculation, and the residues are not used. When Am1 fails to satisfy consistency, coordinate calculation is performed.In this case, Am1 means a minimum value of the distance (distance or range) data. That is, the configuration in which a distance (distance or range) value of a certain anchor is small means that the device (i.e., the digital key) is highly likely to be present at the corresponding position when a circle having a radius that is a distance (distance or range) value is defined around a mounting position of the corresponding anchor.FIG. 8 is an exemplary view for explaining the relationship between consistency and the presence of an intersection point in FIG. 7, FIGS. 8A and 8B are exemplary views illustrating two types of situations (Case 1 and Case 2) in which there is no intersection point between two circles (i.e., the range of the anchor).As illustrated in FIG. 8A, in situation 1 (case 1) in which there is no intersection, r2<2_Dxy12-r1 & r1+r2<2_Dxy12. In this case, r1 and r2 represent radii.As illustrated in FIG. 8B, in the case of situation 2 (case 2) in which there is no intersection point, 2_Dxy 12+r 1<r 2 is.Meanwhile, as illustrated in FIG. 7, in the consistency check step S 142, for each anchor in the root region, the processor 130 identifies whether there is an intersection (i.e., a region intersection between anchors for consistency check) (i.e., the anchors A 3, A 4, and A 8 are used). In this case, the lack of the intersection means that there is no consistency.(Process 0) First, the r (distance) values of the anchors (i.e., anchors A3, A4, and A8 are used) used for the calculation of the consistency of the trunk region are aligned in ascending order, and then assigned to Am1to Amn.(Process 1) Next, when the anchor corresponding to Am 1 and the anchor corresponding to Am 2 do not come together at the time of calculation of RSS 2, Am 1 and Am 2 are corrected. That is, when 2_Dxy 12≥Am1+Am2, Am1 and Am2 are corrected by the following equations and then applied to the positioning logic.That is, comp = (2_Dxy12-Am1-Am2) * 2 + 15 (cm). In this case, a comp maximum value comp=2_Dxy 12 / 2 when the calculated comp value is greater than 2_Dxy 12 / 2.Therefore, Am1=Am1+comp and Am2=Am2+comp.In this case, "comp" means a corrected value.(Process 2) Meanwhile, when rn+1(or 2)≥rn, a condition "2_Dxy 12+r 1≥r 2≥2_Dxy 12-r 1" is checked. The anchor which does not meet consistency is used to calculate residues (R1, R2and R3). If Am1does not meet the consistency, Am1is used to calculate the residues in the subsequent calculation, and the residues are not used. However, if Am1 is not consistent, Am1 is used for the coordinate calculation.As shown in FIG. 7, in consistency checking step S 143, for each outdoor anchor, the processor 130 identifies whether there is an intersection (i.e., an area intersection between anchors for consistency checking) (i.e., all the anchors received are used). In this case, the lack of the intersection means that there is no consistency.(Process 0) First, the r (distance) values of the anchors used for the RSSI calculation are aligned in ascending order, and then assigned to Am1 to Amn.(Process 1) Next, when rn+1(or 2)≥rn, a condition "2_Dxy 12+r 1≥r 2≥2_Dxy 12-r 1" is checked. (Process 2) The anchor that does not satisfy the consistency is used for the residual calculation.(Process 3) However, when Am 1 does not satisfy the consistency, Am 1 is excluded, and then the calculation of the position coordinates is performed (Am 1 is not applied when the "anchor consistency check S 140" and the "lateral root consistency check S 160" are performed, and Am 1 is applied when the "lateral root residual calculation S 170" is performed)→the final position coordinate calculation is performed at an intersection of Am 1 after the lateral root two calculation using three received anchors: Am 2 and Am 3→the final position coordinate calculation is performed at an intersection of Am 1 after the coordinate calculation is performed at an RSS minimum point using four or more received anchors: Am 2 to Amn.(Process 4) Moreover, conditions of "reception of one inner anchor and reception of two outer anchors", "consistency satisfaction Am1 and Am2", and "consistency satisfaction Am1 and Am3" are satisfied.In the following corresponding equations, it is assumed that Am1and Am2are attachment coordinates of the anchors, and r1<r2(here, r1=distance value of Am1and r2=distance value of Am2).Next, the step of lateral root calculation S 150 will be described with reference to FIG. 3.First, root optimization is performed.Am2(xm2, ym2) - Am1(xm1, ym1) = (xm2-xm1, ym2-ym1), a= xm2-xm1, b= ym2-ym1, and c=a^2+b^2+rm1^2-rm2^2.As described below, the calculation of the positioning is performed based on the result of the calculation of the root optimization.(Process 1) When x coordinates of two anchor positions are equal, i.e., a=0, (root of Pxmn is + / - equal, Px+= P, Px-=-1* P, Py=a common root), Py=(b^2+r1^2-r2^2) / 2b, Px=sqrt (r1^2-Pymn^2), Px+= P, Px-=-1*X, and DCm (n, n+1)=(Px+,Py), (Px-,Py).(Process 2) Next, when y coordinates of two anchor positions are the same, i.e., b=0, (Px=a common root, root of Py is + / - the same value, Py+=Py, Py-=-1* P), Px=(a^2+r1^2-r2^2) / 2a, Py=sqrt (r1^2-Pxmn^2), PY+=Py, Py-=-1*Py, and DCm (n, n+1)=(Px, Py+), (Px, Py-).(Process 3) Next, if all x coordinates and y coordinates of two anchor positions are different, i.e., a≠0 and b≠0, (two x roots, two y roots, PX+=[a*c / b^2+sqrt {(a*c / b^2)^2-4* (1+ (a / b)^2)*((c / 2 / b)^2-r1^2)}] / (2+2*(a / b)^2), PX-=[a*c / b^2-sqrt {(a*c / b^2)^2-4*(1+(a / b)^2)*((c / 2 / b)^2-r1^2)}] / (2+2*(a / b)^2), PY+=(-2*a* P++c) / (2*b), PY- =(-2*a* P- +c) / (2*b), and DCm(n,n+1)=(Px+,Py+), (Px-,Py-).Also, DCm is (n, n+1) = (Px++a, Py++b), (Px- +a, Py- +b), Px+ = Px++xm1, Py+ = Py+++ym1, Px- = Px- +xm1, and Py- = Py- +ym1.Next, as shown in FIG. 3, in step S 160, data is input to check the consistency of the lateral roots, filtering is performed, and then the number of lateral roots is decreased to three or less.In this case, it is determined whether the root is within a distance (ranging or range) from all anchors, and then only the lateral root within the distance (or range) is used.In this case, (Pxn- × i)^2+ (Pyn- yi)^2<= ri^2 holds as a determination equation when Pxn= x-coordinate of each lateral root and Pyn= y-coordinate of each lateral root.Therefore, i=5, 6, 7 and 8 in the case of the inner region, i=3, 4, 5, 6, 7 and 8 in the case of the trunk region, and i=1, 2, 3, 4, 5, 6, 7 and 8 in the case of the outer region must satisfy the equation (i.e., (Pxn-xi)^2+(Pyn-yi)^2<=ri^2).In the case of the anchor excluded in the previous step (i.e. filtering of the outer anchor, unsatisfaction with the consistency of the anchor or the like), i is the corresponding anchor.When the number of lateral roots (or intersections) exceeds three, the equation (i.e., distance calculation between lateral roots: Pmn distance = sqrt ((Pxm-Pxn)^2+ (Pym-Pyn)^2)) is performed to set the number of lateral roots to three. When the number of lateral roots is three or less, the residual calculation is immediately performed, and a method of obtaining an average of two lateral roots (x, y) having a smallest distance between the lateral roots after the calculation of the distance between the lateral roots and converting the average into a lateral root is repeatedly performed until the number of lateral roots becomes three or less.Next, as illustrated in FIG. 3, in step S 170 of the inter-root residual calculation, the anchors used for the anchor consistency and the residual values of all roots satisfying the consistency are calculated.Pxn =x coordinate of each lateral root satisfying the consistency.Pyn = y coordinate of each lateral root satisfying consistency.Xi = x coordinate of the mounting position of the anchor i.Yi = y coordinate of the attachment position of the anchor i.ri = i anchor distance (distance or range) value.i=5, 6, 7 and 8 in the case of the inner region, i=3, 4, 5, 6, 7 and 8 in the case of the parent region and i=1, 2, 3, 4, 5, 6, 7 and 8 in the case of the outer region must satisfy the equation (i.e., (Pxn-xi)^2+(Pyn-yi)^2<=ri^2).However, in the case of an anchor excluded in the previous step (filtering of the outer anchor, unsatisfaction with the consistency of the anchor, or the like), the corresponding anchor is excluded in cases 1 to 3 of i.(Process of 1) When the consistency of Am1is not satisfied, ri->am1 range, Xi->am1 mounting x coordinate, and Yi->am1 mounting y coordinate are replaced and incorporated into the remainder after the calculation.(Process 2) When the previous coordinate is maintained, the coordinate is calculated based on the following equation and incorporated into the remainder value.In this case, the residue is expressed as R.Next, a step for determining the position coordinates S 180 will be described with reference to FIG. 3.(Process 1) When the number of lateral roots satisfying the consistency is 2,(Process 2) When the number of lateral roots satisfying the consistency is 3,Next, a 2-side positioning step S 190 will be described with reference to FIG. 3.First, the anchor to be used for positioning is selected.In this case, the previous coordinate data is maintained until the position coordinates are updated again.In this case, an input condition is to receive two anchor range (ranging or range) data.A consistency check is then carried out for each anchor.In this case, the positioning is performed when rn1+rn2≥2_D12 is satisfied.In this case, if there is unsatisfaction (no two anchor roots), one-sided positioning is performed with the rmin anchor.Moreover, an end coordinate of two roots is selected. The root which is a maximum y coordinate is selected in the case of A1&A2, and the root which is a minimum y coordinate is selected in the case of A3&A4.Meanwhile, when an external signal is input, the root is selected as described below.(Process 1) In the case of the signal input to the door handle on the left side (toggle touch detected, door open / close state): the root having a small x coordinate is selected from the two lateral roots → there is a high possibility that the device is on the left vehicle side.(Process 2) In the case of the signal input to the door handle on the right side (toggle touch detected, door open / close state): The root having a large x coordinate is selected from the two lateral roots → there is a high possibility that the device is on the right side of the vehicle.(Process 3) In the case of SSB input signal or owner pairing: average value of the two cross root coordinates→the probability that the device is located in a building is high.Next, a 1-side positioning step S 200 will be described with reference to FIG. 3.(Process 1) Reception of Anchor 1: X-axis = RSS1 boundary xl-45 (cm) Y-axis = A1 y-coordinate (cm)-r1(Process 2) Reception of Anchor 2: X-axis = RSS1 Boundary xh + 45 (cm) Y-axis = A2 y-coordinate (cm) - r2(Process 3) Reception of Anchor 3: X-axis = RSS1 Boundary xh + 45 (cm) Y-axis = A3 y-coordinate (cm) + r3(Process 4) Reception of Anchor 4: X-axis = RSS1 Boundary xl-45 (cm) Y-axis = A4 y-coordinate (cm) + r4In this case, 45 (cm) means an offset value, but is not limited to this.When an external input is present, the process is performed as described below.When the door handle signal is input, in the case of the x coordinate,Am1 is the left side of the vehicle (FL, RL)→the coordinate calculation is performed on a left vehicle boundary.Am 1 is the right vehicle side (FR, RR)→the coordinate calculation is performed on a right vehicle boundary.In the case of the y-coordinate,Am 1 is the vehicle front side (FL, FR)→reduced by the distance value (range) at each installation position.Am 1 is the vehicle rear side (RL, RR)→upcreated by the distance value (reach) at each installation position.Next, a coordinate calculation step S 210 of unsatisfactory AM1 consistency will be described with reference to FIG. 3.A point at which a straight line between a fastening coordinate Am 1 and a (provisional) posture coordinate meets a circle of Am 1 is calculated as an end coordinate: a point that is closer to the (provisional) posture coordinate is selected from the two intersection points.First, a straight line equation is established.• Am1 (x, y) = Am1_x, Am1_y = anchor coordinate• P (x, y) = P_x, P_y = positioning coordinate (temporary)• The coordinate is determined by shifting the anchor coordinate to 0 and then corrected, Am1(x,y) = (0,0) / P(x,y) = (P_x-Am1_x, P_y-Am1_y)• Equation of straight line = y = {(Am1_y - P_y) / (Am1_× - P _x) * x}• fa = (Am1_y - P_y) / (Am1_x - P_x)• fc = 0• Px += sqrt(rmin^2 / (1 + fa^2))• Px -= - sqrt(rmin^2 / (1 + fa^2))• Py += fa * Px +• Py -= fa * Px -Then, the coordinates Px and Py are corrected.• Px += Px ++ Am1_x, Py += Py ++ Am1_y• Px -= Px -+ Am1_x, Py -= Py -+ Am1_yThen, an intersection point closer to P(x, y) is selected from P +( x, y) and P -( x, y).• An end coordinate P +( x, y) is selected when a condition {(Px - Px +) ^2+(Py - Py +) ^2}<{(Px - Px -) ^2+(Py - Py -) ^2} is satisfied, and, P -( x, y) is selected in the case of unsatisfaction.When the positioning coordinate (i.e., the positioning value) has been determined by steps S 110 to S 220 as described above, the determined positioning value is output (S 220).According to the above-described embodiment, the position of the vehicle key can be accurately detected by using the ultra wide band (UWB) communication, and security can be improved by greatly counteracting hacker attacks.

Claims

An apparatus for detecting a vehicle key position, the apparatus comprising: a vehicle key having a digital key (110) based on ultra wide band (UWB) communication; and a plurality of anchors (121-128) configured to perform UWB communication with the vehicle key; A processor (130) configured to recognize a position of the digital key (110) using the plurality of anchors (121-128), perform positioning algorithm selection based on the data acquired from the anchors, perform an anchor consistency check after the positioning algorithm selection, perform a lateral root calculation after completion of the consistency check, perform a lateral root consistency check after the lateral root calculation, perform a lateral root residual calculation after the lateral root consistency check, and perform a positioning coordinate determination process (130) when the lateral root residual calculation is performed.The apparatus according to claim 1, wherein the processor (130) performs coordinate setting for each of the anchors and performs calculation of a distance between the plurality of anchors (121 - 128), and a distance between the anchor 1 and the anchor 2 is calculated based on Dxy (1,2) = ( X1 - X2 ) 2 + ( Y1 - Y2 ) 2 in an initialization step.The apparatus according to claim 1 or 2, wherein the processor (130) receives data acquired from the anchors and performs data filtering in a data acquisition step after the initialization step, wherein the received data includes power (ranging power) and range (ranging range range) information input from the anchors, and wherein the data filtering is performed using a moving window average filter or a low pass filter (LPF).The apparatus of claim 1, wherein the processor (130) arranges distance information of the anchors in ascending order and performs outer anchor filtering and performs positioning algorithm determination to select the positioning algorithm, and wherein the processor (130) aligns the anchors in ascending order based on minimum distance (i.e., raning distance) data and performs filtering of the received anchor based on a plurality of set conditions to determine an outer anchor to be excluded from the positioning algorithm determination.The apparatus of claim 4, wherein the plurality of conditions for determining the outer anchor to be excluded from the positioning algorithm determination by performing filtering on the received anchor comprises: condition 1: "reception of two or more inner anchor data", "reception of one or more outer anchor data", and min (inner anchor) < min (outer anchor); condition 2: "when Pmax is not A7", rn> 2_Dxymn + rm + 10 (cm) (here, rn = outer anchor removal result, rm = inner anchor removal result, m = inner anchor number, n = outer anchor number, and Pmax = maximum power value among power values); Condition 3: rn value has no cross root with anchors Am1 and Am2 (i.e., no cross root with at least first and second anchors in all anchor areas according to anchor placement result); Condition 4: rn (outer anchor placement result)> (inner anchor placement result*2); Condition 5-1: rmax anchor positioning logic is not applied when [reception of two or more inner + outer anchors], [reception of one or more outer anchors], and [outer anchor rmax-rmin>600 (cm)] are satisfied; and condition 5-2: Outer anchors when [reception of two or more inner + outer anchors], [reception of two or more outer anchors], [outer anchors r2ndmax!=rmin], and [outer anchors r2ndmax-rmin>600 (cm)] are satisfied.The apparatus according to claim 4 or 5, wherein in a received anchor calculation step, the processor (130) selects the corresponding positioning algorithm based on four states including: state 1: when the number of received anchors is 0, positioning is not performed; state 2: when the number of received anchors is 1, positioning is performed in the presence of a previous positioning coordinate result, and positioning is not formed in the absence of the previous positioning coordinate result; state 3: when the number of received anchors is 2, 2-side positioning is performed; and state 4: when the number of received anchors is 3 to 8, 3-side positioning is performed.The apparatus of any one of claims 1 or 4 to 6, wherein the processor (130), in the consistency checking step, performs an interior consistency check when an interior positioning algorithm is selected, performs a fuselage area consistency check when a fuselage area positioning algorithm is selected, and performs an exterior area consistency check when an exterior positioning algorithm is selected.The apparatus of any one of claims 1 or 4 to 7, wherein the processor (130) performs 1-side positioning or 2-side positioning depending on the number of anchors when the number of effective data anchors received is less than three during a positioning algorithm selection and consistency checking process.A method for detecting a vehicle key position, the method comprising: performing, by a processor (130), a positioning algorithm selection based on data captured from an anchor; performing, by the processor (130), an anchor consistency check after performing the positioning algorithm selection; performing, by the processor (130), a lateral root calculation when the consistency check is completed; performing, by the processor (130), a lateral root consistency check after performing the lateral root calculation; performing, by the processor (130), a lateral root residual calculation after performing the lateral root consistency check; and performing, by the processor (130), a process for determining a position coordinate when performing the lateral root residual calculation.

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