Detection and alarm for moving objects using UWB

Abstract

Ultra-wideband (UWB) radar and ranging sessions are conducted. In response to the detection of one or more mobile devices inside the vehicle, an interior scheduling mode is activated, scheduling UWB radar and ranging sessions for the vehicle's UWB anchors within the vehicle's interior. Conversely, when the vehicle enters a state with the ignition off and no mobile devices are detected inside, an exterior scheduling mode is activated, scheduling UWB radar and ranging sessions for the vehicle's UWB anchors outside the vehicle. In interior scheduling mode, the UWB anchors perform localization within the vehicle and detection of moving objects outside the vehicle.In the external planning mode, the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle.

Description

AREA OF TECHNOLOGY

[0001] Aspects of the revelation generally concern the planning of ultra-wideband (UWB) radar and ranging sessions for detecting objects. GENERAL STATE OF THE ART

[0002] Telephone trilateration using UWB technology is a method for precise location tracking and positioning. UWB uses very short pulses across a wide frequency spectrum, enabling accurate distance measurements. In trilateration, the position of a device is determined by calculating the distances to three or more known reference points, typically UWB anchors. The device measures the time it takes for UWB signals to travel between it and each UWB anchor and converts these travel-time measurements into distance estimates. By using multiple distance measurements, the exact position of the device can be determined with great accuracy, often within a few centimeters. This method is used in applications such as indoor navigation, asset tracking, and augmented reality.

[0003] Channel impulse responses (CIRs) can be used to provide radar functionality in systems utilizing UWB technology. CIRs represent the time-domain response of a signal as it travels through a channel, capturing the reflections, diffraction, and scattering of the signal from objects in the environment. By analyzing the CIRs, the presence, distance, and velocity of objects can be identified. SUMMARY

[0004] In one or more illustrative examples, a method implemented by a vehicle control system to perform UWB radar and ranging sessions in response to the detection of one or more mobile devices inside the vehicle includes activating an inside scheduling mode with inside scheduling of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors;and in response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, activating an outside planning mode with outside planning of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors, wherein in the inside planning mode the UWB anchors perform localization inside the vehicle and detection of moving objects outside the vehicle, and wherein in the outside planning mode the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle.

[0005] In one or more illustrative examples, the procedure involves scheduling UWB radar sessions and UWB ranging sessions by configuring specific UWB anchors to send radar packets without overlapping with other UWB anchors and without disturbing windows reserved for ranging.

[0006] In one or more illustrative examples, the method involves utilizing unused time windows within ranging rounds for the radar sessions.

[0007] In one or more illustrative examples, the procedure involves utilizing unused ranging rounds for the radar sessions.

[0008] In one or more illustrative examples, the method involves utilizing a combination of unused time windows within an existing ranging round and unused ranging rounds for the radar sessions.

[0009] In one or more illustrative examples, the method involves alternating between UWB radar sessions and UWB ranging sessions in a time-synchronous manner; during the UWB ranging sessions, calculating distances from at least three of the UWB anchors to determine the position of a mobile device; and during the UWB radar sessions, using the UWB anchors to detect and track the presence and movement of objects around the vehicle by analyzing returned radar signals.

[0010] In one or more illustrative examples, the procedure in the UWB radar sessions involves transmitting radar messages; receiving and monitoring channel impulse response (CIR) messages resulting from the transmitted radar messages in order to detect a moving object near the vehicle; and calculating the size and distance of detected objects based on the transmitted radar messages.

[0011] In one or more illustrative examples, the procedure in the interior planning mode involves alerting using a human machine interface (HMI) of the vehicle in response to the detected moving object being within a predefined distance threshold of the vehicle.

[0012] In one or more illustrative examples, the procedure in the external planning mode involves sending a notification to a mobile device belonging to a user of the vehicle in response to the detected moving object being within a predefined distance threshold of the vehicle.

[0013] In one or more illustrative examples, the procedure involves, in response to one of the UWB anchors being unable to join one of the UWB ranging sessions, establishing a connection between one of the UWB anchors that has joined the UWB ranging sessions and the one of the UWB anchors that is unable to join, so that the UWB radar sessions can use the one of the UWB anchors that is unable to join the UWB ranging sessions.

[0014] In one or more illustrative examples, a system for conducting ultra-wideband (UWB) radar and ranging sessions includes a multitude of UWB anchors on a vehicle; and a control system for the vehicle configured to: in response to the detection of one or more mobile devices inside the vehicle, activate an inside scheduling mode with inside scheduling of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors; and in response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, activate an outside scheduling mode with outside scheduling of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors, wherein in the inside scheduling mode the UWB anchors perform inside-the-vehicle localization and outside-the-vehicle detection.in the external planning mode, the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle.

[0015] In one or more illustrative examples, the controller is further configured to: schedule the UWB radar sessions and the UWB ranging sessions by configuring specific UWB anchors to send radar packets without overlapping with other UWB anchors and without disturbing windows reserved for ranging.

[0016] In one or more illustrative examples, the control is further configured to: utilize unused time windows within ranging rounds for radar sessions.

[0017] In one or more illustrative examples, the control is further configured to do the following: Use unused ranging rounds for radar sessions.

[0018] In one or more illustrative examples, the controller is further configured to: utilize a combination of unused time windows within an existing ranging round and unused ranging rounds for the radar sessions. In one or more illustrative examples, the controller is further configured to: alternate between the UWB radar sessions and the UWB ranging sessions in a time-synchronized manner; during the UWB ranging sessions, calculate distances from at least three of the UWB anchors to determine the position of a mobile device; and during the UWB radar sessions, use the UWB anchors to detect and track the presence and movement of objects around the vehicle by analyzing returned radar signals.

[0019] In one or more illustrative examples, the control is further configured in the UWB radar sessions to: transmit radar messages; receive and monitor channel impulse response (CIR) messages resulting from the transmitted radar messages in order to detect a moving object near the vehicle; and calculate a size and distance of detected objects based on the transmitted radar messages.

[0020] In one or more illustrative examples, the controller is further configured to: in indoor planning mode, to raise an alarm using the vehicle's HMI in response to the detected object being within a predefined distance threshold from the vehicle; and / or in outdoor planning mode, to send a notification to a mobile device belonging to a user of the vehicle in response to the detected object being within the predefined distance threshold from the vehicle.

[0021] In one or more illustrative examples, the controller is further configured to do the following: in response to one of the UWB anchors being unable to join one of the UWB ranging sessions, establish a connection between one of the UWB anchors that has joined the UWB ranging sessions and the one of the UWB anchors that is unable to join, so that the UWB radar sessions can use the one of the UWB anchors that is unable to join the UWB ranging sessions.

[0022] In one or more illustrative examples, a non-transient computer-readable medium contains instructions which, when executed by a controller of a vehicle having a multitude of UWB anchors, cause the controller to perform operations that include: in response to the detection of one or more mobile devices inside a vehicle, activating an inside scheduling mode with inside scheduling of UWB radar sessions and UWB ranging sessions for UWB anchors of the vehicle;and in response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, activating an outside planning mode with outside planning of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors, wherein in the inside planning mode the UWB anchors perform localization inside the vehicle and detection of moving objects outside the vehicle, and wherein in the outside planning mode the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 illustrates an exemplary system that includes a vehicle implementing UWB radar and ranging; Fig. 2 illustrates further aspects of the control from Fig. 1; Fig. Figure 3A illustrates an exemplary diagram of how the control system operates in an indoor mode, in which a mobile device is located inside the vehicle's cabin, in a first block where both ranging and radar operations are performed; Fig. Figure 3B illustrates an exemplary diagram of how the control is operated in the indoor mode, in which a mobile device is located inside the vehicle's cabin, in a second block where radar is performed; Fig. 4A illustrates an exemplary diagram of how the control system is operated in an external mode without any mobile devices inside the vehicle's cabin, in a first block where ranging is performed; Fig. 4B illustrates an exemplary diagram of how the control is operated in the external mode without any mobile devices inside the vehicle's cabin, in a second block where radar is performed; Fig. 5A illustrates an example of how to plan ranging sessions; Fig. Figure 5B illustrates an example of scheduling radar sessions in unused time slots within an existing ranging round; Fig. 5C illustrates an example of planning radar sessions in the unused ranging rounds; Fig. 5D illustrates an example of scheduling radar sessions both in unused time slots within an existing ranging round and in unused ranging rounds; Fig. Figure 6A illustrates an example of how the controller can initiate a radar session in addition to an ongoing ranging session, or as an extension of the one described in the example in Fig. 5B sets up the case described; Fig. Figure 6B illustrates an example of the controller establishing a radar session where the mobile device can communicate with all external UWB anchors; Fig. Figure 6C illustrates an example of the controller establishing a radar session between R1 and R2 in order to, as described in the Fig. 6A showed how to fix the lack of inclusion of R2 in any of the existing ranging sessions; Fig. Figure 6D illustrates a lightweight alternative example of the controller establishing a radar session between R1 and R2 to address the lack of inclusion of R2 in any of the existing ranging sessions; Fig. Figure 6E illustrates an example of the controller establishing a session between R1 and R2, as well as between R3 and R4; Fig. Figure 7 illustrates an example data flow for the operation of the controller; Fig. Figure 8 illustrates an exemplary process for implementing UWB radar and ranging; and Fig. Figure 9 illustrates an exemplary computing device for implementing aspects of UWB radar and ranging. DETAILED DESCRIPTION

[0023] Depending on the requirements, detailed embodiments of the present invention are disclosed herein; however, it is understood that the disclosed embodiments are merely exemplary of the invention, which can be implemented in various and alternative forms. The figures are not necessarily to scale; some features may be greatly enlarged or reduced to show details of specific components. Therefore, the specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis to teach those skilled in the art the diverse applications of the present invention.

[0024] Current vehicle radar solutions can be cost-effective in terms of the bill of materials. However, such systems can consume significant power. Therefore, these systems should only operate when the vehicle is switched on. Applications such as detecting an approaching bicycle before exiting the vehicle require sensors to function even when the vehicle is switched off. There is a need for a solution that is both cost-effective and energy-efficient for this and similar use cases.

[0025] Furthermore, there are scenarios where the driver or passenger can also benefit from the detection of objects and the provision of a warning when the vehicle is switched on. For example, a passenger or rideshare customer who exits the vehicle could benefit from this warning. Additionally, a truck driver who leaves a vehicle switched on to check something outside the vehicle can benefit from the detection of external objects.

[0026] Ultra-wideband (UWB) technology is currently used in vehicle access applications for precise localization. UWB also offers a low-power radar mode that can be used to detect objects, including cyclists. Several applications require either localization services, radar capabilities, or both to operate simultaneously. Therefore, there is a need for a planning process for UWB devices that can manage both localization and radar functions to ensure seamless and concurrent service for multiple applications. This planning process should also consider the needs of currently active applications.

[0027] Aspects of the disclosure leverage both existing radar and UWB technologies (which include UWB radar and ranging / trilateration) to provide seamless service to applications. The disclosed approach can extend the Connected Car Consortium's (CCC) standard for digital keys for UWB media access control (MAC), which addresses a range-only plan.

[0028] While the vehicle is in the ignition-on state, its existing radar / sensor technology is used to monitor the movement of objects or people around the vehicle. When the vehicle stops, the system detects intent (for example, if the vehicle stops at the side of the road, there is a high probability that someone will exit the vehicle). Upon detecting intent to exit the vehicle, the radar mode can be activated at the external UWB anchors.

[0029] The UWB radar can be activated each time the vehicle comes to a stop. Activating the UWB radar before the vehicle enters low-power mode gives the radar time to begin detecting and calibrate itself against other sensors while the vehicle is still operating at high power.

[0030] In response to the vehicle entering the ignition-off state (low-power mode), the older radars are switched off and the UWB radars take over.

[0031] The UWB radar system includes specific external anchors that transmit packets configured for radar transmission. These transmissions must meet the following requirements: two UWB anchors should not transmit radar packets in the same window, which would cause overlap, and UWB anchors should not transmit radar packets in windows reserved for ranging. Ranging can be controlled separately and independently by any nearby mobile device. Additionally, anchors covering certain desired areas outside the vehicle must be periodically active.

[0032] The disclosed approach can utilize different periodicities for different sides of the vehicle to detect varying target speeds. The UWB radar and ranging schedulers can be designed to be time-synchronized, using MAC layer-level scheduling to support both ranging and radar functionality. This approach can consume significantly less power compared to mm-wave radar and cameras. If the vehicle is locked, the user can receive an alert based on any movement detected near the vehicle via Bluetooth or cellular networks.Alternatively, the vehicle can detect that someone is still present inside without an authorized mobile device and make an alarm available inside the vehicle, warning the person inside of a potential collision with the detected object moving outside the vehicle. The disclosed approach can detect the size of the object, differentiate between objects, generate appropriate warnings, and avoid false alarms. The disclosed designers can support dual-mode UWB ranger devices, enabling both ranging and radar capabilities to detect the position of the authenticated user and the moving objects outside the vehicle. Further aspects of the disclosure are discussed in detail herein. Fig. Figure 1 illustrates an exemplary system 100, which includes a vehicle 102 implementing UWB radar and ranging. As shown, the vehicle 102 includes a variety of UWB anchors 104, a controller 106, a telematics control unit (TCU) 108 communicating with a communication network 110, and a human-machine interface (HMI) 112. The system 100 can be used to track the position of mobile devices 114 and / or other objects inside and outside the vehicle 102.

[0033] With particular reference to Fig. 1. Vehicle 102 can be any passenger or commercial vehicle, such as a car, truck, SUV, crossover, van, minivan, taxi, bus, etc. Vehicle 102 can include various types of automobiles, soft-roaders (crossover utility vehicles - CUVs), SUVs, trucks, motorhomes, motorcycles, boats, aircraft, or other mobile machinery for transporting people or goods. Such Vehicle 102 can be driven by humans or be autonomous. In many cases, Vehicle 102 can be powered by a gasoline, diesel, or hydrogen engine. Alternatively, Vehicle 102 can be a battery electric vehicle (BEV), powered by one or more electric motors.Alternatively, vehicle 102 could be a hybrid electric vehicle (HEV) that is powered by both an internal combustion engine and one or more electric motors, such as a series hybrid electric vehicle, a parallel hybrid electric vehicle or a parallel / series hybrid electric vehicle.

[0034] The UWB Anchor 104 communicates wirelessly with the Mobile Device 114 using radio waves. The UWB Anchor 104 uses an ultra-wideband signal, such as a low-energy signal spread over a wide frequency channel, resulting in a very low spectral power density, typically regulated by government agencies. The Federal Communications Commission and the International Telecommunications Union Radiocommunication Sector define ultra-wideband as an antenna transmission where the bandwidth of the emitted signal exceeds 500 MHz or 20% of the arithmetic center frequency. The UWB Anchor 104 can use any suitable modulation technique, such as orthogonal frequency-division multiplexing (OFDM), phase-shift keying (PSK), pulse-pause modulation (PPM), etc.

[0035] To enable robust user localization, the vehicle 102 can be equipped with UWB responders strategically positioned within the vehicle's interior and body structure to provide UWB network coverage of the environment inside and around the vehicle 102, i.e., wherever the user's mobile device 114 may be located. Depending on the physical design and shape of the vehicle 102, some of the UWB anchors 104 may be located within the vehicle's body walls (e.g., four, each positioned near or at each corner of the front and rear bumpers), on the center console (e.g., between the driver and passenger seats), and within the roof (e.g., near the front center, near the rear center).

[0036] As in the example from Fig. Figure 1 shows six UWB anchors 104. These include a first UWB anchor 104 (R1), a second UWB anchor 104 (R2), a third UWB anchor 104 (R3), a fourth UWB anchor 104 (R4), a fifth UWB anchor 104 (R5), and a sixth UWB anchor 104 (R6). The UWB anchors 104 are spaced apart, for example, distributed across the vehicle 102, to increase the ability to distinguish a location when used for trilateration. For example, four of the UWB anchors 104 can be located at respective corners of the vehicle 102 to maximize the horizontal distribution of the UWB anchors 104, and the remaining two UWB anchors 104 can be located within a base area of ​​the vehicle 102, in many cases at different heights than the corner-mounted UWB anchors 104, to provide a vertical distribution.To perform trilateration, calculating the intersection point of three or more circles or spheres can provide the location of the detected device.

[0037] The controller 106 can be a microprocessor-based computing device, such as a generic computing device containing a processor and memory, an electronic controller or the like, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a combination of the foregoing, etc. Typically, a hardware description language, such as VHDL (Very High Speed ​​Integrated Circuit Hardware Description Language), is used in electronic design automation to describe digital and mixed-signal systems, such as FPGAs and ASICs.For example, an ASIC is manufactured based on VHDL programming, which is provided prior to manufacturing, whereas logical components within an FPGA can be configured based on VHDL programming, which is stored, for example, in memory electrically connected to the FPGA circuit. The controller 108 can thus include a processor, memory, etc. The memory of the controller 108 can include media for storing instructions executable by the processor, as well as for electronically storing data and / or databases, and / or the controller 106 can include structures such as those mentioned above, through which programming is provided. Further details of the controller 106 are available in relation to [reference missing]. Fig. 2 discussed.

[0038] The TCU 108 is a control unit for the vehicle 102 that can be used for communication via a communication network 110. For example, the TCU 108 can be configured to provide telematics services to the vehicle 102. These services can include, among other non-restrictive options, navigation, turn-by-turn directions, vehicle status messages, local business search, accident reporting, and hands-free calling. The TCU 108 can include network hardware configured to facilitate communication between the vehicle 102 and other devices of the system 100. For example, the TCU 108 can include a cellular modem configured to facilitate communication with, or otherwise access, the communication network 110.The communication network 110 can include one or more interconnected communication networks 110, such as, by way of some non-restrictive examples, the Internet, a cable television distribution network, a satellite link network, a local area network, and a telephone network. The communication network 110 can provide communication services to devices connected to the communication network 110, such as packet-switched network services (e.g., internet access, Voice over Internet Protocol (VoIP) communication services). For example, the TCU 108 can access the communication network 110 via a connection to one or more cell towers. In another example, the TCU 108 can access the communication network 110 via a Wi-Fi connection.

[0039] The HMI 112 can be configured to provide an interface through which occupants of the vehicle 102 can interact with the vehicle 102. This interface can include a touchscreen display, voice commands, and physical controls such as buttons and knobs. The HMI 112 can be configured to receive user input via the various buttons or other controls and to provide a driver with vehicle status information (including information related to the vehicle's revelations, such as whether an object has been detected outside the vehicle 102, the locations of mobile devices 114, etc.), such as fuel level information, engine operating temperature information, and the current location of the vehicle 102. The HMI 112 can also be configured to display information on various screens within the vehicle 102, such as a center console touchscreen, an instrument cluster screen, etc., to provide information. Accordingly, the HMI 112 can enable the occupants of the vehicle 102 to access and control various systems, such as navigation, entertainment and climate control.

[0040] The mobile devices 114 can include portable computing devices, such as smart key fobs; mobile phones, e.g., smartphones; wearable devices, e.g., smartwatches, headsets, etc.; tablets; smart tools, etc. The mobile devices 114 are computing devices that include their respective processors and memory. The mobile devices 114 can belong to and be carried by a person who may be the operator and / or owner of the vehicle 102. In some cases, the mobile devices 114 can be configured to function as access devices (e.g., a telephone as a key) to provide access to the vehicle 102.

[0041] Fig. Figure 2 illustrates further aspects of the controller 106, which implements UWB radar and ranging modes. As shown, the controller 106 can implement a trilateration algorithm 202 and also a radar ranging algorithm 204. The radar ranging algorithm 204 can include a scheduler 206 configured to use a scheduler 208 and a MAC scheduler 210, a window selector 212, a motion detector 214, a distance detector 216, and a bus interface 218. The controller 106 can also include a Bluetooth / UWB interface 220 for communication with the mobile device 114 via Bluetooth and / or UWB. Therefore, the controller 106 can also function as an additional anchor, similar to the UWB anchor 104. The controller 106 can communicate with the UWB anchor 104 via the backend and can also communicate with the TCU 108 and the HMI 112.

[0042] In the context of UWB, the ranging mode refers to the process of measuring the distance between UWB devices and an object or another UWB device by calculating the time a signal takes to travel to and from the object. This mode relies on the time-of-flight principle (TOF principle), where the time a UWB signal takes to travel from the transmitter to the receiver is accurately measured, enabling precise distance calculations. The ranging mode is essential for applications requiring accurate location tracking, such as vehicle access systems, where it helps determine the exact position of the mobile device 114 or the user's key fob relative to the vehicle 102.To perform ranging between the vehicle's UWB anchors 104 and the mobile device 114, a ranging session is established between the mobile device 114 and the UWB anchors 104, wherein in this session the mobile device 114 is the initiator and the UWB anchors 104 are the responders. Ranging sessions can also be established separately between two or more UWB anchors 104, wherein one UWB anchor 104 is the initiator and the others are the responders. This disclosure describes the scheduling of the ranging and radar sessions initiated by the UWB anchors 104, subject to the limitations and assumptions that ranging sessions between the vehicle's UWB anchors 104 and the mobile devices 114 are established for the purpose of locating mobile devices.

[0043] The radar mode, on the other hand, involves the use of UWB technology to detect and track the presence and movement of objects around the vehicle 102. In this mode, the UWB anchors 104 emit radar signals that are reflected by nearby objects and return to the sensors. By analyzing the returned signals, the system can identify the size, shape, and movement patterns of these objects. For example, a channel impulse response (CIR) between the UWB anchors 104 can be used to characterize the wireless environment of the vehicle 102. The CIR can describe how a wireless channel responds to an impulse signal, which is a very short signal, typically a pulse lasting 1–2 nanoseconds.The CIR (Constant Irregular Interference) system detects the amplitude, phase, and delay of the multipath components transmitted by a transmitter and received by a receiver after being reflected, refracted, or scattered within the environment. By observing the multipath components of the CIR caused by scattering at target objects, the movement of objects in and around the vehicle 102 can be detected. The radar mode is particularly useful for improving safety by detecting approaching vehicles 102, cyclists, or pedestrians, even when the vehicle 102 is in a low-power state. This mode allows the system to provide real-time alerts and take preventative action, such as warning the user before the door is opened in the path of an oncoming cyclist.

[0044] The trilateration algorithm 202 can implement the ranging mode by calculating the intersection point of three or more circles or spheres. The UWB anchors 104 can be configured to transmit and receive signals (within signal power thresholds) over UWB channel frequencies (e.g., UWB channel 9 (7.737–8.236 GHz) to channel 5 (6.240–6.739 GHz) or other possible channels adopted by the UWB standard). Under ideal radio frequency conditions (RF conditions), e.g., B., if the mobile device 114 is within the line of sight (LOS), three UWB anchors 104 may be sufficient to locate the mobile device 114, i.e. the initiator, and thereby enable trilateration-based localization of the user by ranging between responder and initiator.However, due to the possibility of less favorable RF conditions, data from more than three UWB anchors 104 can be used by the controller 106 to ensure adequate wireless UWB coverage to locate the mobile device 114.

[0045] The radar ranging algorithm 204 is configured to use the UWB anchors 104 to implement UWB radar and ranging. The radar ranging algorithm 204 uses the scheduler 206 to schedule which of the UWB anchors 104 are to operate in ranging mode and which are to operate in radar mode. The scheduler 206 includes a scheduler 208, which handles scheduling based on the position of the object being tracked. The scheduler 206 also includes a MAC scheduler 210, which selects the ranging windows for radar operation. The radar ranging algorithm 204 uses the window selector 212 to determine which radio windows are to be used for radar and which are to be used for ranging. The motion detector 214 is configured to detect relative changes in the position of detected objects over time in relation to the location of the vehicle 102.The distance detector 216 is configured to detect distances of detected objects from the vehicle 102.

[0046] The bus interface 218 can be configured to allow the controller 106 to transmit and receive data via a vehicle bus, such as a Controller Area Network bus (CAN bus), Ethernet, WiFi, a Local Interconnect Network (LIN), an On-Board Diagnostics (OBD-II) port, and / or any other wired or wireless communication network 110. The controller 106 can be communicatively coupled to the UWB anchors 104, the TCU 108, the HMI 112, and / or other components via the communication network 110.

[0047] The Bluetooth / UWB interface 220 can be configured to allow the controller 106 to wirelessly transmit signals via the UWB communications used by the UWB anchors 104. Furthermore, the Bluetooth / UWB interface 220 can support other protocols, such as cellular, Bluetooth®, Bluetooth Low Energy (BLE), WiFi, IEEE Standard 802.11a / b / g / p, Cellular-V2X (CV2X), Dedicated Short-Range Communications (DSRC), etc. In other examples, the functionality of the Bluetooth / UWB interface 220 can be implemented wholly or partially using the TCU 108. In one example, the controller 106 can use the connectivity of the TCU 108 for BLE.

[0048] Fig. Figures 3A-3B together illustrate how the control unit 106 operates in an indoor mode in which a mobile device 114 is located inside the cabin of the vehicle 102. In indoor mode, the control unit 106 performs ranging and radar planning to track the mobile device 114 inside the vehicle 102 and to detect moving objects near the vehicle 102. Fig. 3A illustrates a first block in which both ranging and radar operations are carried out. Fig. Figure 3B illustrates a second block in which only the radar function is performed. A third option, in which only the ranging function is performed in the block, is omitted but can easily be derived from the two examples shown.

[0049] With reference to Fig. 3A The arrows represent the ranging and radar messages provided by the system to locate moving objects around vehicle 102. The solid arrows indicate the TOF (Time-of-Flight), while the dashed arrows represent the radar signals detecting an approaching cyclist 302.

[0050] In this scenario, where vehicle 102 is switched off and the user remains inside vehicle 102 with the mobile device 114, the UWB anchors 104 in the vehicle transmit UWB MAC messages in a specific pattern every 192 milliseconds (a configurable parameter) to support time-synchronized planning functionality for both ranging and radar. If a cyclist approaches vehicle 102 from behind with the intention of passing, the UWB anchors 104 transmit messages in low-power mode to monitor the surroundings.

[0051] The controller 106 operates in time blocks that alternate between ranging and radar modes to ensure comprehensive coverage. (An exemplary pattern is discussed below in relation to Operation 810 of Process 800.)

[0052] The planning of the MAC layer, which relates to Fig. As described in detail in 6A-6E, the UWB anchors 104 work efficiently with ranging and radar in a dual mode to detect the position of the user inside the vehicle 102 and moving objects outside the vehicle 102.

[0053] Additionally, the radar ranging algorithm 204 continuously monitors UWB-CIR messages to detect any moving objects near the vehicle 102. If the driver or any passenger touches the car door handle, the radar ranging algorithm 204 provides an audible signal or other indication via the HMI 112 to warn the user against opening the door. This comprehensive system aims to improve safety by accurately detecting and responding to objects and movements around the vehicle 102.

[0054] Fig. Figures 4A-4B together illustrate an example diagram of how the controller 106 operates in an external mode without any mobile devices 114 inside the cabin of vehicle 102. In this scenario, vehicle 102 has been switched off and the user is no longer inside vehicle 102. A person walks past vehicle 102. The UWB anchors 104 in vehicle 102, now operating in low-power mode, transmit UWB MAC messages every 192 milliseconds to support time-synchronized planning functionality for ranging and radar.

[0055] When the vehicle 102 is locked and the user or mobile device 114 is outside the vehicle 102, the controller 106 alternates between a ranging and a radar mode in a structured pattern. (An exemplary pattern is discussed below in relation to operation 812 of process 800.)

[0056] The UWB anchors 104 operate in a dual mode, alternating between ranging and radar functionality. The radar ranging algorithm 204 continuously monitors CIR messages to detect any moving objects, such as people or animals, near the vehicle 102. In response to a detection, the radar ranging algorithm 204 can send a message to the mobile device 114, for example, via Bluetooth or the communication network 110. If someone touches the vehicle 102 or comes into close proximity to it, the radar ranging algorithm 204 can notify the user and activate a live video stream. The controller 106 can accordingly detect multiple passersby within the UWB range and notify the user accordingly.Alternatively, the vehicle can detect the presence of persons inside the vehicle cabin who have been left behind by the user who has left the cabin using the mobile device 114, with the control unit 106 still being able to provide alarms in this case if the persons in the cabin attempt to exit when it is not safe to do so.

[0057] In the scenario that is in Fig. As shown in Figures 3A-3B, the focus is on detecting an approaching cyclist 302 while the user is still inside the vehicle 102. The control unit 106 ensures the user is aware of the cyclist to prevent accidents when exiting the vehicle 102. The UWB anchors 104 are in low-power mode and transmit messages to detect movements, such as an approaching cyclist 302. The system alternates between ranging and radar modes to monitor the environment and ensure user safety inside the vehicle 102. The audible signal is primarily intended for the user inside the vehicle 102 to warn of approaching cyclists 302 or other objects, thus preventing accidents when the user exits the vehicle 102.

[0058] To implement this using the UWB anchors 104, the controller 106 activates one sensor at a time during radar mode. This sequential activation pattern (using sensors R4, R1, R2, R3, and R5) is focused on specific areas around the vehicle 102 and provides detailed monitoring to ensure user safety by detecting approaching objects, such as cyclists. The system switches between ranging mode, which communicates with the user's mobile device 114 or key fob to confirm its position, and radar mode, which scans the surroundings.

[0059] In the scenario that is in Fig. As shown in Figures 4A-4B, the focus is on detecting any moving objects or people near vehicle 102 while the user is absent. The system must alert the user to potential security threats or other movements around vehicle 102. Here, the UWB anchors 104 are also operated in low-power mode, but the messaging is more focused on external threats. The schedule still alternates between ranging and radar modes, but with added functionality to notify the user via Bluetooth or cellular networks if suspicious activity or close proximity is detected. In this situation, messages are sent to the mobile device 114 to notify the user of movements or potential threats near vehicle 102, rather than simply ensuring an evacuation from vehicle 102.

[0060] To implement this using the UWB anchors 104, the controller 106 adopts a more comprehensive approach by activating two UWB anchors 104 simultaneously during radar mode. This pattern (combining sensors R1 and R2 as well as R3 and R4) allows for wider area coverage and faster detection of any movement near the vehicle 102. The focus shifts from ensuring the user can easily exit the vehicle to monitoring the vehicle 102 for suspicious activity. This dual activation pattern ensures that the vehicle 102 remains under constant surveillance, even when the user is not present.

[0061] Fig. 5A-5D jointly illustrate examples for planning ranging and radar sessions. Fig. 5A illustrates an example 500A for planning ranging sessions.

[0062] Fig. 5B illustrates an example 500B for scheduling radar sessions in unused time slots within an existing ranging round. Fig. 5C illustrates an example 500C for scheduling radar sessions in the unused ranging rounds. Fig. Figure 5D illustrates a 500D example for scheduling radar sessions both in unused time slots within an existing ranging round and in unused ranging rounds. Ranging time slots are shown as diagonal hatching, while radar time slots are shown as dotted hatching.

[0063] It should be noted that the planner's decision to leave certain ranging rounds may be based on monitoring the channel in those rounds and determining that they are being used by other UWB anchors 104. Similarly, the controller 106 may be aware of the multiple ranging sessions between the UWB anchors 104 and the multiple mobile devices 114 that the user may have (smartphones, key fobs), which organize their sessions independently. In this case, the controller 106 can ensure that radar sessions synchronized with one mobile device 114 do not overlap with the ranging and radar sessions synchronized with another mobile device 114.

[0064] With particular reference to Example 500A, the CCC defines ranging sessions controlled by a device called the initiator, typically a mobile device 114. A handshake between the mobile device 114 and the UWB anchors 104 can occur during a specific ranging round within a time interval called a ranging block, which repeats periodically. As shown, a first ranging block N contains four ranging rounds (1 to 4), and a second ranging block N+1 contains a repetition of these four ranging rounds (1 to 4). The x-axis represents time, so in the first ranging block N, the first ranging round occurs, then the second, then the third, then the fourth, and then the sequence repeats for the next first ranging block N+1. This process can continue indefinitely.

[0065] A repeating set of ranging loops can be used to perform ranging via control 106. As shown, the first ranging loop is used. It should be noted that the ranging loops that are used can jump within the ranging block using a known jump sequence, while the other, unhighlighted ranging loops are not used by the session.

[0066] With particular reference to Example 500B, an approach to scheduling radar transmissions is provided by utilizing unused time slots within the already completed ranging round. This approach efficiently uses the available time slots in the ranging block by fitting radar transmissions into the gaps left by the ranging process.

[0067] With particular reference to Example 500C, an alternative approach to scheduling radar transmissions is provided, utilizing unused ranging rounds. By dedicating entire ranging rounds to radar transmissions, this approach ensures no interference between the ranging and radar functions, although it could potentially use more time in the ranging block overall.

[0068] With particular reference to the 500D example, another approach combines the two approaches above, using a mixture of unused windows in used ranging rounds and completely unused ranging rounds for radar transmissions. This hybrid approach aims to balance efficiency and dedicated time for radar functionality. The in Fig. 6A-6E, which explained the planning of the MAC layer, provides further details on how these approaches are implemented by the controller 106.

[0069] Fig. Example 600A illustrates how the controller 106 establishes a radar session in addition to an ongoing ranging session or as an extension of the case described by Example 500B. The context of Example 600A is that two mobile devices 114-1 and 114-2 are currently located inside vehicle 102. Example 600A shows a first ranging circuit on the left, while vehicle 102, with the two mobile devices 114-1 and 114-2, is moving within the vehicle 102's cabin. Example 600A also shows a second ranging circuit in the center, with vehicle 102 stopped, and a third ranging circuit on the right, with the radar functionality scheduled. Periodic ranging rounds are shown for mobile device 114-1 and also for mobile devices 114-2, which are shown enlarged in the lower section of the diagram for illustrative purposes. The time axis runs from left to right.

[0070] When vehicle 102 stops, the UWB anchors 104 can resume ranging the mobile devices 114-1 and 114-2 inside the vehicle 102's cabin. As shown in the first ranging round, the UWB anchors 104 might not be performing any ranging outside vehicle 102 at this point, as they can be instructed by control 106 to mute themselves because vehicle 102 has moved and the mobile devices 114 are inside it.

[0071] As shown in the middle ranging round, in response to the vehicle 102 stopping, the controller 106 instructs the outer UWB anchors 104 to begin ranging. This means that the outer UWB anchors 104 should rejoin the ranging sessions of the mobile devices 114-1 and 114-2, which are currently performing in-cabin ranging.

[0072] In this example, it is assumed that UWB anchors 104 R3 and R4 are able to join the session of mobile device 114-1 and that UWB anchors 104 R1 and R2 do not receive the pre-call and call messages from mobile device 114-1. Continuing Example 600A, the external responders (R1-R4) report to controller 106 that R3 and R4 are able to rejoin the session with mobile device 114-1. Therefore, controller 106 instructs UWB anchors 104 R3 and R4 to begin using window No. 11 to alternately transmit radar pulses and to avoid using window No. 12 to prevent overlap with the ranging transmission R5, which is part of the ranging session of mobile device 114-1. This is shown on the right in the third ranging round. If no overlap between the ranging sessions was detected, both window no. 11 and window no. 2 can be closed.12 will be available for radar transmissions.

[0073] If another phone is present (e.g., mobile device 114-2), R1 and R2 can reconnect to the session of that mobile device 114-2. Here, it is assumed that R1 has reconnected, and subsequently, control 106 instructs R1 to use window number 11 for radar. However, R2 is not included in any of the ranging sessions because R2 has not joined any of the existing ranging sessions. Fig. Figure 6B illustrates an example 600B in which the controller 106 establishes a radar session in which the mobile device 114-1 can communicate with all external UWB anchors 104. For completeness, this case is shown in which, after restoring the ranging session and assuming that two windows remain, these remaining windows are used by the external UWB anchors 104 in a round-robin procedure to send radar packets. Here, the windows alternate between R1 and R2, and R3 and R4.

[0074] Fig. Example 600C illustrates how the controller 106 establishes a radar session between R1 and R2 to address the lack of inclusion of R2 in any of the existing ranging sessions, as shown in Example 600A. While it is possible for the controller 106 to instruct the anchor R2 to begin transmitting radar pulses at pre-specified times, the lack of an accurate time reference for R2 due to its non-participation in any of the ongoing ranging sessions initiated by the mobile device 114 can cause transmission overlaps and collisions in this situation. As noted with respect to Example 600A, R2 is not included in any of the radar sessions because R2 has not joined any of the existing ranging sessions.

[0075] This may not be a problem if no motion around R2 is anticipated or if controller 106 does not instruct it to detect motion around R2. If such detection by controller 106 is desired, a solution may involve establishing a session between R2 and another external anchor, for example, R1, as illustrated by a double-sided arrow in Example 600C. As shown, R1 and R2 establish a ranging session. Once the session is established, controller 106 instructs R2 to send a radar packet in window 7. Such an approach can generally be used in cases where a UWB anchor 104 has not joined, but where detection around this UWB anchor 104 is desired.Additionally, the choice of the time for the ranging session between R1 and R2, as initiated by R1 on instruction from the controller 106, is based on information about where in time the other ranging and radar sessions for the vehicle 102 occur, for example the sessions of the mobile device 114-1 and 114-2, whereby this information can be communicated to R1 by the controller both implicitly and explicitly.

[0076] Fig. Example 6D illustrates a lightweight alternative example, 600D, in which the controller 106 establishes a radar session between R1 and R2 to address the lack of inclusion of R2 in any of the existing ranging sessions, as shown in Example 600A. In Example 600C, the UWB anchors 104 R1 and R2 establish a regular ranging session that consumes at least five windows. In this lightweight alternative example, 600E, the ranging session consumes only two windows per round for ranging and two for radar. Furthermore, this example shows an option to schedule R1 to also send a radar packet. Similarly, the window selection for the R1-R2 ranging session takes into account other sessions of which the anchors 104 are a part and about which the controller 106 has information.

[0077] Fig. Example 600E illustrates how the controller 106 establishes a session between R1 and R2, and between R3 and R4. This example 600E deals with a scenario in which none of the external anchors R1-R4 are communicating with the mobile devices 114-1 and 114-2 inside the cabin. In this scenario, the controller 106 instructs two anchors, e.g., R1 and R4, to establish a light session (these could also be full ranging sessions) with R2 and R3, respectively. In response to the establishment of the sessions, the anchors R1-R4 agree on which windows they will use to send radar packets. Both the choice of ranging session transmissions and radar transmissions can be based on the information that the control unit 106 shares implicitly or explicitly about the ongoing sessions that exist between the mobile devices 114-1 and 114-2 and the internal anchors 104 R5 and R6.This can involve, as shown, switching between windows. The switching can be driven by information provided by Control 106, which indicates that each choice would result in an overlap with existing ranging and radar sessions, and thus a time jump is used to avoid permanent overlap.

[0078] Fig. Figure 7 illustrates an example data flow 700 for the operation of the controller 106. As shown, the data flow 700 illustrates the commands sent by the controller 106 to schedule the UWB anchors 104 (R1 and R2 are shown, but other examples would similarly involve message transmission to additional UWB anchors 104). The operation, referred to as starting the ranging round, indicates the beginning of a new ranging session initiated by the controller 106. This operation is useful for establishing communication between the controller 106 and the UWB anchors 104 (here, R1 and R2). During the start of a ranging round, the anchors R1 and R2 are synchronized to begin the process of measuring distances by exchanging ranging signals.

[0079] Controller 106 establishes synchronization with anchors 104 by sending a periodic beacon 701 indicating the start of block I, where I is an increasing index. By specifying a concrete round, this would be a round relative to the start of a block. Next, the anchors can communicate using a message 702, indicating the rounds and windows they are transmitting in as part of the current sessions, where (X1, Y1) refers to round X1 and window Y1 within round X1. Round X1 repeats in any given block and is calculated relative to the current block. Next, controller 106 can send a command 703 to an anchor 104 to instruct it to use a specific (round, window) for radar. Next, if R2 is not part of a session, controller 106 can send a command 704 to instruct R1 to start a session with R2.At the same time, controller 106 can send a command 705 to R2 to join the session initiated by R1.

[0080] Next, the controller 106 specifies to anchors R1 and R2 the ranging rounds and windows within those rounds that anchors R1 and R2 are scheduled to use for radar. In this process, the controller 106 instructs UWB anchor 104 R1 and UWB anchor 104 R2 to use specific windows (L and M) within a given ranging round (round K) for radar transmissions. This means that within the time allocated for round K, windows L and M are reserved for radar pulses. This allows the system to perform radar functions, such as detecting moving objects or obstacles, while maintaining the ongoing ranging session. As shown, each of the anchors R1 and R2 sends a message to the controller 106 indicating the start of a ranging round. Next, control 106 specifies to anchors R1 and R2 the ranging rounds and windows within the rounds whose use by anchors R1 and R2 is planned for radar.Next, controller 106 directs anchors R1 and R2 to perform the ranging. Here, anchor R1 is started to perform round N using the radar window L. Additionally, anchor R2 is connected to the ranging round, using the radar window M. This means that the process of starting round N, using window L for radar, initiates a new ranging round (round N), with window L designated for radar transmissions by UWB anchor 104 R1. Controller 106 starts this new round to continue the process of monitoring the environment, ensuring that the radar pulses are transmitted within the specified time window to detect objects.

[0081] Next, the "Join Round N, Use Window M for Radar" process specifies that UWB anchor 104 R2 joins an already running ranging round (Round N) and is instructed to use window M for radar transmissions. This means that R2 synchronizes with the ongoing session and begins transmitting radar pulses in the specified window. The join process ensures that R2 can integrate into the ongoing session without disrupting the established communication protocol.

[0082] These operations illustrate the coordination between the controller 106 and the UWB anchors 104 (e.g., R1, R2) to ensure seamless integration of ranging and radar functionalities. The scheduler 206 within the controller 106 manages the timing and window allocation, enabling efficient resource utilization while maintaining continuous monitoring and detection capabilities. The start and connect operations are useful for establishing and maintaining synchronization between the controller 106 and the UWB anchors 104, facilitating effective communication and radar pulse transmission. It should be noted that the controller 106 can also instruct any of the anchors 104 to stop either the ranging or radar activity.

[0083] Fig. Figure 8 illustrates an exemplary process 800 for implementing UWB radar and ranging. In one example, process 800 can be carried out by the control unit 106 of the vehicle 102 in the context of the system 100 discussed in detail herein.

[0084] During process 802, the controller 106 activates the UWB anchors 104 to initiate monitoring of the vehicle 102's surroundings. This can occur when the vehicle 102 is switched on, someone / something approaches it, or it is otherwise activated.

[0085] In step 804, the controller 106 determines whether vehicle 102 is switched off. For example, a user inside vehicle 102 can switch it off. The user can remain inside vehicle 102 for a certain period of time or can exit vehicle 102. If vehicle 102 is switched on, the controller 106 proceeds to step 806. If vehicle 102 is switched off, the controller proceeds to step 808.

[0086] In process 806, the controller 106 uses the UWB anchors 104 to perform trilateration to determine the positions of devices inside the vehicle 102. During trilateration, the position of a mobile device 114 can be determined by calculating distances from three or more of the UWB anchors 104. The controller 106 can measure the time it takes for UWB signals to travel between the mobile device 114 and the UWB anchors 104, converting these travel time measurements into distance estimates. By using multiple distance measurements, the position of the mobile device 114 can be accurately determined. The radar operating mode is not used in this section of process 800. Process 800 ends after process 806.

[0087] In process 808, in response to determining that vehicle 102 is switched off, the controller 106 determines whether a mobile device 114 is located inside vehicle 102. This can be achieved similarly to the trilateration discussed in relation to process 806, with the further comparison of whether the determined location of the mobile device 114 is inside or outside the cabin of vehicle 102. If a mobile device 114 is present, the controller proceeds to process 810. If not, the controller proceeds to process 812.

[0088] It can also be noted that, as long as the UWB radar detects an object and there is a need to warn the user, user localization can be achieved using trilateration or another approach available to the vehicle. The user may be carrying a key fob or other access device, which, for example, could be located and made to vibrate in a specific pattern. The user may not have a UWB key fob but could still be notified via an application installed on the user's mobile device (114), by an alarm or other notification provided to the user's mobile device (114), by activation of lights or a horn on the vehicle (102), and so on.

[0089] During operation 810, the controller 106 activates the interior planner operating mode. This planner 206 manages the timing and operation of the UWB anchors 104 for detection inside and outside the vehicle 102, transmitting UWB MAC messages every 192 milliseconds to support the ranging and radar functions. The following pattern can be used as an example to support the time-synchronized scheduling function for ranging and radar: Block 1: Ranging-Modus: (Tx / Rx: Telefon + alle Anker, 0-24 ms) Radar-Modus: (Tx: R4, 24-48 ms) Radar-Modus: (Tx: R1, 48-72 ms) Leerlauf (72-96 ms) Block 2: Ranging-Modus: (Tx / Rx: Telefon + alle Anker, 96-120 ms) Radar-Modus: (Tx: R2, 120-144 ms) Radar-Modus: (Tx: R3, 144-168 ms) Leerlauf (168-192 ms)

[0090] As shown, for the first 0-24 ms, all UWB anchors 104 and the mobile device 114 are in ranging mode. For the next 24 to 72 ms, R1 and R4 are in radar mode. Scheduling can be managed by the scheduler 208 based on the position of the mobile device 114. In radar mode, the MAC scheduler 210 can select the ranging windows for radar operation based on the number of users and authenticated devices inside the vehicle 102. Scheduling aspects are discussed above with regard to… Fig. 6A-6E discussed.

[0091] In operation 812, the controller 106 activates the external planner operating mode. Here, the external planner is activated to manage the UWB anchors 104 for detection outside the vehicle 102, using a similar 192-millisecond external transmission pattern for both the ranging and radar functions. The pattern below can be used as an example to support the time-synchronized scheduling function for ranging and radar: Block 1: Ranging-Modus: (Tx / Rx: Telefon + alle Anker, 0-24 ms) Radar-Modus: (Tx: R1, R2 24-48 ms) Radar-Modus: (Tx: R3, R4 48-72 ms) Leerlauf (72-96 ms) Block 2: Ranging-Modus: (Tx / Rx: Telefon + alle Anker, 96-120 ms) Radar-Modus: (Tx: R1, R4 120-144 ms) Radar-Modus: (Tx: R2, R3 144-168 ms) Leerlauf (168-192 ms)

[0092] As shown, for the first 0-24 ms, all UWB anchors 104 and the mobile device 114 are in ranging mode. For the next 24 to 58 ms, R1 and R2 are in radar mode. From 48 to 72 ms, R3 and R4 are in radar mode. As noted above, scheduling can be managed by the scheduler 208 based on the position of the mobile device 114. In radar mode, the MAC scheduler 210 can select the ranging windows for radar operation based on the number of users and authenticated devices within the vehicle 102.

[0093] During operation 814, the controller collects 106 CIR messages, providing information about signal strength and timing that is useful for detecting objects around vehicle 102.

[0094] In process 816, the controller 106 calculates the size and distance of detected objects. The controller 106 processes the CIR messages using the micro-Doppler effect to determine the object's size and distance based on the frequency shifts in the radar echo signals.

[0095] In step 818, the controller 106 checks whether the size and distance of the detected object are within predefined thresholds. If not, the process returns to step 808 to continue monitoring and collecting data. If the size and distance are within thresholds, the controller proceeds to step 820 to confirm that a mobile device 114 is inside the vehicle 102. If the presence of the mobile device 114 is confirmed, the controller proceeds to step 822 to alert the driver regarding the detected object and ensure that they are aware of potential hazards.

[0096] If no mobile device 114 is detected during process 820, the controller proceeds to process 824 to alert the user via their mobile device 114. For this purpose, the controller 106 can send notifications via Bluetooth if the user is within, for example, 20 meters, or via cellular networks if they are further away. This step can also activate live video streaming to monitor the area around the vehicle 102.

[0097] Thus, Process 800 ensures continuous monitoring and appropriate alarms based on the presence of the user and the characteristics of the detected object.

[0098] Thus, the controller 106 uses UWB-CIR messages to detect moving objects around the vehicle 102 and alerts the driver or user when they exit the vehicle 102 after some time, particularly if the vehicle 102 is in sleep mode with its cameras and radars switched off. The controller 106 activates the external UWB radar while the user is still inside the vehicle 102 to alert them to a potential hazard when opening the door. The disclosed approach provides the programmer 206 with the ability to support devices with UWB anchors 104 in a dual mode: a ranging mode and a radar mode to detect the position of the user and moving objects outside the vehicle 102.The approach offers the functionality of the scheduler 208 and the MAC scheduler 210 to support the ranging and radar functionality within the same ranging round, with certain UWB anchors 104 being scheduled more frequently if the vehicle 102 requires higher accuracy or anticipates problems from a specific direction.

[0099] Fig. Figure 9 illustrates an exemplary computing device 902 for implementing aspects of UWB radar and ranging. With reference to Fig. 9 and with reference to Fig.References 1-8 to the vehicle 102, the UWB anchor 104, the controller 106, the TCU 108, the communication network 110, the HMI 112, and the mobile device 114 are examples of such computing devices 902. Computing devices 902 generally contain computer-executable instructions, the instructions being executable by one or more computing devices 902. Computer-executable instructions can be compiled or interpreted by computer programs created using a wide variety of programming languages ​​and / or techniques, including, without limitation, and either alone or in combination, Java™, C, C++, C#, Visual Basic, Python, Perl, etc. Generally, a processor (e.g., a microprocessor) receives instructions, e.g., from memory, a computer-readable medium, etc., and executes these instructions, thereby carrying out one or more processes that include one or more of the processes described herein. Such instructions and other data can be stored and transmitted using a variety of computer-readable media.

[0100] As shown, the computing device 902 can include a processor 904, which is operatively connected to a data storage device 906, a network device 908, an output device 910, and an input device 912. It should be noted that this is only an example and computing devices 902 can be used with more, fewer, or different components.

[0101] The 904 processor can include one or more integrated circuits that implement the functionality of a central processing unit (CPU) and / or graphics processing unit (GPU). In some examples, the 904 processors are a system-on-a-chip (SoC) that integrates the functionality of the CPU and GPU. The SoC may optionally include other components, such as the 906 memory and the 908 network device, in a single integrated device. In other examples, the CPU and GPU are interconnected via a peripheral interconnect device, such as Peripheral Component Interconnect Express (PCI Express) or another suitable peripheral data connection.In one example, the CPU is a commercially available central processing device that executes a set of instructions, such as one from the x86, ARM or Power instruction set family, or a microprocessor without interlocked pipeline stages (MIPS) instruction set family.

[0102] Regardless of the specifics, the 904 processor executes stored program instructions during operation, which are retrieved from the 906 memory. The stored program instructions accordingly include software that controls the operation of the 904 processors to perform the operations described herein. The 906 memory can include both non-volatile and volatile memory devices. The non-volatile memory includes solid-state memory, such as non-AND flash memory (NAND flash memory), magnetic and optical storage media, or any other suitable storage device that retains data when the system is powered off or its power supply is interrupted. The volatile memory includes static and dynamic random-access memory (RAM) on which 100 program instructions and data are stored during system operation.

[0103] The GPU can include hardware and software for displaying at least two-dimensional (2D) and optionally three-dimensional (3D) graphics on the output device 910. The output device 910 can include a graphic or visual display device, such as an electronic display screen, a projector, a printer, or any other suitable device that reproduces a graphic display. As another example, the output device 910 can include an audio device, such as a loudspeaker or headphones. As yet another example, the output device 910 can include a tactile device, such as a mechanically raised device, which in one example can be configured to display Braille or other physical output that can be touched to provide information to a user.

[0104] The input device 912 can include any of the various devices that enable the computing device 902 to receive control inputs from users. Examples of suitable input devices 912 that receive human inputs via an interface may include keyboards, mice, trackballs, touchscreens, microphones, graphics tablets, and the like.

[0105] The Network Devices 908 can each include any of the various devices that enable the described components to send and / or receive data from external devices over networks. Examples of suitable Network Devices 908 include an Ethernet interface, a Wi-Fi transceiver, a cellular transceiver, a Bluetooth or BLE transceiver, or any other network adapter or peripheral connection device that receives data from another computer or external data storage device, which can be useful for efficiently receiving large datasets.

[0106] With regard to the processes, systems, procedures, heuristics, etc., described herein, it is understood that, although the steps of such processes, etc., have been described as occurring in a certain orderly sequence, such processes could in practice be implemented in such a way that the described steps are carried out in a sequence that differs from the sequence described herein. Furthermore, it is understood that certain steps could be carried out simultaneously, other steps added, or certain steps described herein omitted. In other words, the descriptions of processes herein serve the purpose of illustrating certain embodiments and should in no way be interpreted as limiting the patent claims.

[0107] Accordingly, it is understood that the foregoing description is intended to be illustrative and not limiting. Many other embodiments and applications beyond the examples provided will become apparent from reading the preceding description. The scope should not be determined by reference to the foregoing description, but instead by reference to the attached claims, together with the full scope of equivalents to which these claims entitle. It is anticipated and intended that there will be future developments in the prior art discussed in this document and that the disclosed systems and methods will be incorporated into such future embodiments. Overall, it is understood that the application may be modified and varied.

[0108] All terms used in the patent claims shall be assigned their most comprehensive and comprehensible constructions and their general meanings as they would be known to those skilled in the art in the art and familiar with the techniques described herein, unless expressly stated otherwise. In particular, the use of singular articles such as "a", "an", "the", "a", etc., shall be interpreted as referring to one or more of the elements listed, unless a patent claim expressly limits this to the contrary.

[0109] The summary of disclosure is provided to enable the reader to quickly grasp the nature of the technical disclosure. It is submitted on the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Furthermore, it is evident from the foregoing detailed description that, for the purpose of simplifying the presentation of the disclosure, various features in different embodiments have been grouped together. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments require more features than are expressly mentioned in each claim. Rather, as reflected in the following claims, the subject matter of the invention consists of fewer than all the features of any single disclosed embodiment.The following patent claims are hereby included in the detailed description, each patent claim being a separately claimed subject matter.

[0110] According to the present invention, a method implemented by a vehicle control system for performing ultra-wideband (UWB) radar and ranging sessions comprises the following: in response to the detection of one or more mobile devices inside a vehicle, activating an interior planning mode with interior planning of UWB radar sessions and UWB ranging sessions for UWB anchors of the vehicle;and in response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, activating an outside planning mode with outside planning of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors, wherein in the inside planning mode the UWB anchors perform localization inside the vehicle and detection of moving objects outside the vehicle, and wherein in the outside planning mode the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle.

[0111] In one aspect of the invention, the method involves scheduling the UWB radar sessions and the UWB ranging sessions by configuring specific UWB anchors to send radar packets without overlapping with other UWB anchors and without disturbing windows reserved for ranging.

[0112] In one aspect of the invention, the method involves utilizing unused time windows within ranging rounds for the radar sessions.

[0113] In one aspect of the invention, the method involves utilizing unused ranging rounds for the radar sessions.

[0114] In one aspect of the invention, the method involves utilizing a combination of unused time windows within an existing ranging round and unused ranging rounds for the radar sessions.

[0115] In one aspect of the invention, the method includes the following: alternating between UWB radar sessions and UWB ranging sessions in a time-synchronous manner; during the UWB ranging sessions, calculating distances from at least three of the UWB anchors to determine the position of a mobile device; and during the UWB radar sessions, using the UWB anchors to detect and track the presence and movement of objects around the vehicle by analyzing returned radar signals.

[0116] In one aspect of the invention, the method in the UWB radar sessions includes: transmitting radar messages; receiving and monitoring channel impulse response (CIR) messages resulting from the transmitted radar messages in order to detect a moving object near the vehicle; and calculating the size and distance of detected objects based on the transmitted radar messages.

[0117] In one aspect of the invention, the method involves, in the interior planning mode, triggering an alarm using a human-machine interface (HMI) of the vehicle in response to the detected moving object being within a predefined distance threshold of the vehicle.

[0118] In one aspect of the invention, the method in the external planning mode involves sending a notification to a mobile device of a user of the vehicle in response to the detected moving object being within a predefined distance threshold to the vehicle.

[0119] In one aspect of the invention, the method involves, in response to one of the UWB anchors being unable to join a UWB ranging session, establishing a connection between one of the UWB anchors that has joined the UWB ranging sessions and the one that is unable to join, so that the UWB radar sessions can utilize the one UWB anchor that is unable to join the UWB ranging sessions. According to the present invention, a system for conducting ultra-wideband (UWB) radar and ranging sessions is provided, comprising: a plurality of UWB anchors of a vehicle;and a vehicle control system configured to: in response to the detection of one or more mobile devices inside the vehicle, activate an indoor scheduling mode with indoor scheduling of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors; and in response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, activate an outdoor scheduling mode with outdoor scheduling of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors, wherein in the indoor scheduling mode the UWB anchors perform localization inside the vehicle and detection of moving objects outside the vehicle, and wherein in the outdoor scheduling mode the UWB anchors perform localization and detection of moving objects outside the vehicle.

[0120] According to one embodiment, the controller is further configured to: schedule the UWB radar sessions and the UWB ranging sessions by configuring specific UWB anchors to send radar packets without overlapping with other UWB anchors and without disturbing windows reserved for ranging.

[0121] According to one embodiment, the control system is further configured to: utilize unused time windows within ranging rounds for radar sessions. According to one embodiment, the control system is further configured to: utilize unused ranging rounds for radar sessions.

[0122] According to one embodiment, the control is further configured to: utilize a combination of unused time windows within an existing ranging round and unused ranging rounds for the radar sessions.

[0123] According to one embodiment, the control system is further configured to: alternate between UWB radar sessions and UWB ranging sessions in a time-synchronous manner; during UWB ranging sessions, calculate distances from at least three of the UWB anchors to determine the position of a mobile device; and during UWB radar sessions, use the UWB anchors to detect and track the presence and movement of objects around the vehicle by analyzing returned radar signals.

[0124] According to one embodiment, the controller is further configured in the UWB radar sessions to: transmit radar messages; receive and monitor channel impulse response (CIR) messages resulting from the transmitted radar messages in order to detect a moving object near the vehicle; and calculate the size and distance of detected objects based on the transmitted radar messages.

[0125] According to one embodiment, the controller is further configured to: in the indoor planning mode, to raise an alarm using the vehicle's HMI in response to the detected object being within a predefined distance threshold from the vehicle; and / or in the outdoor planning mode, to send a notification to a mobile device of a user of the vehicle in response to the detected object being within the predefined distance threshold from the vehicle.

[0126] According to one embodiment, the controller is further configured to: in response to one of the UWB anchors being unable to join one of the UWB ranging sessions, establish a connection between one of the UWB anchors that has joined the UWB ranging sessions and the one of the UWB anchors that is unable to join, so that the UWB radar sessions can use the one of the UWB anchors that is unable to join the UWB ranging sessions.

[0127] According to the present invention, a non-transient computer-readable medium is provided which contains instructions which, when executed by a control unit of a vehicle having a plurality of UWB anchors, cause the control unit to perform operations which include: in response to the detection of one or more mobile devices inside the vehicle, activating an interior planning mode with interior planning of UWB radar sessions and UWB ranging sessions for UWB anchors of the vehicle;and in response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, activating an outside planning mode with outside planning of UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors, wherein in the inside planning mode the UWB anchors perform localization inside the vehicle and detection of moving objects outside the vehicle, and wherein in the outside planning mode the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle.

Claims

[1] Method implemented by controlling a vehicle to perform ultra-wideband (UWB) radar and ranging sessions, the method comprising: In response to the detection of one or more mobile devices inside a vehicle, an interior scheduling mode is activated, scheduling UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors; and In response to the vehicle entering the ignition-off state and no mobile devices being detected inside the vehicle, an external scheduling mode is activated, scheduling UWB radar sessions and UWB ranging sessions for the vehicle's UWB anchors. in the interior planning mode, the UWB anchors perform localization inside the vehicle and detection of moving objects outside the vehicle, In the external planning mode, the UWB anchors perform localization of one or more mobile devices outside the vehicle and detection and / or localization of moving objects inside and / or outside the vehicle. [2] Method according to claim 1, further comprising scheduling the UWB radar sessions and the UWB ranging sessions by configuring specific UWB anchors to send radar packets without overlapping with other UWB anchors and without disturbing windows reserved for ranging. [3] Method according to claim 1, further comprising utilizing unused time windows within ranging rounds for the radar sessions. [4] Method according to claim 1, further comprising utilizing unused ranging rounds for the radar sessions. [5] Method according to claim 1, further comprising utilizing a combination of unused time windows within an existing ranging round and unused ranging rounds for the radar sessions. [6] The method of claim 1, further comprising: Alternating between UWB radar sessions and UWB ranging sessions in a time-synchronized manner; During UWB ranging sessions, calculating distances from at least three of the UWB anchors to determine the position of a mobile device; and During UWB radar sessions, the UWB anchors are used to detect and track the presence and movement of objects around the vehicle by analyzing returned radar signals. [7] Method according to claim 1, further comprising in the UWB radar sessions: Transmission of radar messages; Receiving and monitoring channel impulse response (CIR) messages derived from transmitted radar messages to detect a moving object near the vehicle; and Calculating the size and distance of detected objects based on transmitted radar messages. [8] Method according to claim 7, further comprising in the interior planning mode alarming using a human-machine interface (HMI) of the vehicle in response to the detected moving object being within a predefined distance threshold to the vehicle. [9] Method according to claim 7, further comprising in the external planning mode sending a notification to a mobile device of a user of the vehicle in response to the fact that the detected moving object is within a predefined distance threshold to the vehicle. [10] The method of claim 1, further comprising, in response to the fact that one of the UWB anchors is unable to join one of the UWB ranging sessions, establishing a connection between one of the UWB anchors that has joined the UWB ranging sessions and the one of the UWB anchors that is unable to join, so that the UWB radar sessions can use the one of the UWB anchors that is unable to join the UWB ranging sessions. [11] System for conducting ultra-wideband (UWB) radar and ranging sessions, the system comprising: a large number of UWB anchors of a vehicle; and a vehicle control system configured to perform the method according to any one of claims 1-10. [12] Non-transient computer-readable medium comprising instructions which, when executed by a control unit of a vehicle having a plurality of UWB anchors, cause the control unit to perform operations which include the method according to any one of claims 1-10.

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