Location planning with dynamic priority adjustment

Abstract

Title: Location Planning with Dynamic Priority Adjustment A planning method implemented by a vehicle UWB system is proposed. The system is configured to record an associated priority score for each wearable identifier. The method includes receiving, for each wearable identifier, a respective UWB location program from the system. The method includes detecting at least one overlap between programmed UWB locations.The method comprises, for each detected overlay, determining a priority identifier, the priority identifier having the highest priority score, deprogramming each UWB location included in the overlay other than the UWB location with the handheld identifier determined as priority, and, for each deprogrammed UWB location, increasing the priority score of the handheld identifier involved in the deprogrammed UWB location. The method provides improved utilization of the vehicle's UWB system. [Fig. 2]

Description

Title of the invention: Location planning with dynamic priority adjustment technical field

[0001] This disclosure relates to a planning method implemented by a UWB (Ultra Wide Band) system, a method of using a UWB system, a UWB system configured to perform or be used according to such methods, a computer program for performing such methods, and a medium for such a program. Technical background

[0002] Vehicles equipped with a UWB system now exist, comprising one or more UWB anchors (also called sensors) installed in the vehicle. Such a UWB system typically records a set of portable identifiers (such as key fobs or third-party devices like mobile phones or smartwatches) and is then able to determine the position of each of these portable identifiers based on periodic UWB location checks between each of the portable identifiers and the system's UWB anchors. Such UWB systems are thus capable of simultaneously locating the driver's key fob and a passenger's mobile phone, and of executing various vehicle functions based on the location of the identifiers (such as unlocking the doors and / or starting the vehicle when a user approaches the vehicle).

[0003] To perform these location tracking, each wearable device can be configured to send its respective programming to the UWB system, for example, when the latter enters a certain perimeter around the vehicle. The UWB system and the wearable device can then be configured to perform the UWB location tracking according to the respective programming established. Figure 1 shows an example of such programming received for a set of two wearable devices: a first device with identifier 100 and a second device with identifier 200. In particular, the programming of the first device with identifier 100 includes UWB location tracking sequences 111, 112, and 113 performed according to a first periodicity, and the programming of the second device with identifier 200 includes UWB location tracking sequences 211, 212, and 213 performed according to a second periodicity.

[0004] When several locations are programmed simultaneously (i.e., in such a way that they would overlap if executed, the time intervals on which they are programmed having a non-zero intersection), existing scheduling methods generally retain only one location, and therefore include cancellation of all other locations UWB (for example, only the one programmed first can be retained). Such cancellation effectively reduces the risk of interference between the UWB exchanges of UWB locations if they were executed simultaneously. For example, in [Fig. 1], UWB location 112 of the first portable identifier 100 and UWB location 212 of the second portable identifier 200 are programmed at the same time, and the existing method therefore cancels the UWB location 212 programmed slightly later, so that, during execution, only the remaining UWB location 112 is executed.

[0005] One limitation is that these UWB location cancellations reduce the number of locations ultimately executed. In particular, they penalize one of the identifiers more than the others each time. In such a situation, when several successive locations are canceled for an identifier, several seconds may elapse before the next location is executed, thus causing malfunctions in the vehicle's functionalities that use the identifier's position. For example, the user may approach the vehicle without it automatically unlocking, as is normally the case with this function.

[0006] Therefore, there is a need for an improved UWB location planning process. Summary

[0007] A planning method implemented by a vehicle UWB system (hereafter referred to as the "planning method" or "method") is proposed. The UWB system comprises one or more UWB anchors. The UWB system has stored a plurality of wearable identifiers. The system is configured to store, for each wearable identifier, an associated priority score. The method includes receiving, for each wearable identifier, a respective programming of UWB locations with the vehicle UWB system. The method includes detecting at least one overlap between UWB locations programmed with at least two wearable identifiers. The method includes, for each detected overlap, the following three steps. A first step includes determining a priority identifier from among the wearable identifiers involved in the overlap, the priority identifier having the highest priority score.A second step involves deprogramming each UWB location included in the overlay other than the UWB location with the portable identifier determined to be the priority location. A third step involves, for each deprogrammed UWB location, increasing the priority score of the portable identifier involved in the deprogrammed UWB location.

[0008] The method may further include, for each overlay, and after each deprogramming, a reduction of the priority score of the portable identifier determined as priority.

[0009] Each handheld identifier can be configured to perform periodic UWB localizations with the UWB system according to a respective periodicity. The priority score of each handheld identifier can initially be a function of the respective periodicity of the handheld identifier.

[0010] The periodicity of at least one first part of the portable identifiers may be equal to the product of a respective multiplier and a predetermined minimum duration. The priority score of each portable identifier in at least one first part may initially be equal to the product of the respective multiplier of the portable identifier and a predetermined coefficient greater than 5 and / or less than 40. For example, the predetermined coefficient may be greater than 15 and / or less than 25. The increase in the score may be, for each deprogrammed UWB location, an increment of 1.

[0011] The priority score of at least one portable identifier can be increased multiple times. The increase applied to the score can begin after a predetermined number of times the score is increased.

[0012] In the respective programming of at least a second part of the portable identifiers, each UWB location can be programmed within a respective slot of a respective period comprising several slots. The slot on which the UWB location is programmed can vary pseudo-randomly in each period.

[0013] Each UWB location with a portable identifier may include the transmission, by the portable identifier, of UWB frames, and the reception, by the UWB system, of the transmitted UWB frames. Deprogramming a UWB location may include canceling the vehicle's reception of the UWB frames transmitted by the portable identifier involved in the UWB location.

[0014] A method for using a vehicle UWB system (hereafter referred to as the "use method") is also proposed. The UWB system comprises one or more UWB anchors. The UWB system has stored a plurality of portable identifiers. The use method comprises executing the UWB locations planned according to the planning method.

[0015] A vehicle UWB system comprising one or more UWB anchors is also proposed. The UWB system is configured to perform the planning process. Alternatively or additionally, the UWB system is configured for use according to the operating process.

[0016] A computer program for a vehicle UWB system is also proposed. The computer program includes instructions which, when the program is executed by a vehicle UWB system processor, lead the latter to execute the planning process and / or to be used according to the usage process.

[0017] A computer-readable storage medium is also proposed on which said computer program is recorded. Brief description of the figures

[0018] Non-limiting examples will be described with reference to the following figures:

[0019] [Fig.1] illustrates an example of an existing UWB location planning solution with handheld devices.

[0020] Figure [Fig.2] illustrates an example of a flowchart of the planning process.

[0021] Fig. 3 illustrates an example of UWB location with a portable identifier.

[0022] Figure 4 illustrates an example of programming a UWB localization session periodicals.

[0023] Figure 5 illustrates an example of implementation of the processes.

[0024] Figures [Fig. 6] and [Fig. 7] show examples of results obtained with and without use of the planning process.

[0025] Figure 8 illustrates an example of a vehicle system.

[0026] Figure 9 illustrates an example of a portable identifier. Detailed description

[0027] With reference to the flowchart in [Fig. 2], a planning method implemented by a vehicle UWB system (hereafter referred to as the "planning method" or "method") is proposed. The UWB system comprises one or more UWB anchors. The UWB system has stored a plurality of wearable identifiers. The system is configured to store, for each wearable identifier, an associated priority score. The method includes receiving, for each wearable identifier, a respective programming of UWB locations with the vehicle UWB system. The method includes detecting at least one overlap between UWB locations programmed with at least two wearable identifiers. The method includes, for each detected overlap, the following three steps.The first step involves determining a priority identifier from among the portable identifiers involved in the overlay, with the priority identifier having the highest priority score. The second step involves deprogramming each UWB location included in the overlay other than the UWB location with the portable identifier determined to be priority. The third step involves, for each deprogrammed UWB location, increasing the priority score of the portable identifier involved in the deprogrammed UWB location.

[0028] The method offers improved use of the vehicle's UWB system.

[0029] Indeed, the method improves the localization of the various wearable identifiers. In particular, the method increases the priority score of wearable identifiers whose UWB location has been deprogrammed, thus giving them higher priority during a subsequent overlay. This dynamic adjustment of the priority score improves the distribution of locations among the different wearable identifiers. Specifically, it increases the likelihood of not experiencing multiple consecutive UWB location deprogrammings, thereby preventing excessively long periods without localization for some identifiers. The method thus ultimately enables the sensitive and precise localization of all wearable identifiers.

[0030] A method for using a vehicle UWB system comprising one or more UWB anchors is also proposed. The system has stored a plurality of portable identifiers. The method of use includes executing the UWB locations planned according to the planning process. For each overlay detected during the planning process, at the corresponding time during execution, the method of use therefore includes only the execution of the single location that is not deprogrammed with the portable identifier determined as the priority for that overlay (and non-execution of the deprogrammed location(s) with the other identifier(s) involved in the overlay). The execution of a location may include performing the UWB exchanges between the involved portable identifier and the vehicle, for the location.

[0031] After or during the execution of the localization operations, the method of use may include determining the position of each of the wearable identifiers from the localization operations that have been performed. For example, for each wearable identifier, the execution of a localization operation involving the wearable identifier may include providing a relative position of the wearable identifier with respect to the UWB system. In particular, each localization operation may include UWB exchanges between the wearable identifier and one or more UWB anchors (also called "sensors") of the system (for example, all the anchors) to determine the respective distances between the wearable identifier and each of the anchors.Each location can then include a determination of the relative position of the portable identifier with respect to the UWB system from the determined distances (the position corresponding for example to the intersection of spheres drawn from the anchors and having as radii the calculated distances).

[0032] Each distance to an anchor can be measured by exchanging a UWB signal between the identifier and the anchor and calculating a time of flight between the identifier and the anchor during this exchange. This time of flight can be the time taken by the exchanged signal to travel to or from the identifier and the anchor. The time of flight can be calculated by the identifier or the anchor, and can be performed in any way. By For example, each measurement might include recordings of the times the exchanged signal was sent and received, and the calculation could be performed by deducting the time taken by the signal to travel to and from these recordings. Each measurement could then include a deduction of the distance between the identifier and the anchor from this time of flight. Alternatively, each measurement could involve multiplying a signal velocity by the calculated time of flight. The signal velocity could, for example, be a predetermined and known velocity for that type of signal (e.g., stored in the identifier's or system's memory). The signal velocity, that is, the propagation speed of UWB waves, could be the speed of light (a constant stored in memory).

[0033] The successive localizations performed during communication can allow the position of the wearable identifier to be determined in real time. For example, each localization can provide a position of the wearable identifier relative to the UWB system at a given instant, and the set of localizations performed can provide an evolution of its position over time. The method of use can thus include determining the evolution of the position of the wearable identifiers from the periodic UWB localizations performed.

[0034] The method of use may also include one or more uses of the determined relative positions of the portable identifier. For example, the method of use may include activating one or more vehicle functions depending on the position of the portable identifier. For example, the function may include locking the vehicle when it is determined that the portable identifier is outside the vehicle, for example, after a predetermined time has elapsed between the time it is determined that the portable identifier is outside. In some examples, the function may include selectively unlocking one or more vehicle openings (for example, a driver's door, a passenger door, or a vehicle trunk) depending on the determined relative positions of the portable identifier.For example, the functionality might include unlocking the driver's door or the vehicle's trunk when the wearable device approaches the driver's door or trunk. In other examples, the functionality might include activating one or more vehicle functions, such as turning on the music or adjusting the mirrors to suit the person wearing the wearable device, which is positioned near the driver's seat. The method of use could include any combination of these examples of functionality.

[0035] The planning process is now discussed. The steps of the planning process can be executed by the vehicle's UWB system. Each step of this process is now discussed in more detail.

[0036] The UWB system has recorded a plurality of wearable identifiers (or wearable identifiers). The term "wearable identifier" refers to a mobile object identifiable by the vehicle, and whose location, for example, authorizes or prevents one or more (specific) actions of the vehicle. For example, the identifier can be used to unlock the vehicle and / or start the vehicle's engine. For example, the process can include unlocking the vehicle when the identifier is located near the vehicle, or starting the engine when the identifier is inside the vehicle. The wearable identifiers recorded by the system can include one or more remote key fobs for the vehicle. Alternatively or additionally, the wearable identifiers recorded by the system can include one or more third-party devices, that is, devices manufactured by a company other than the one manufacturing the vehicle's UWB system.For example, one or more third-party devices may include smart devices, such as mobile phones or smartwatches.

[0037] The vehicle and each wearable identifier can be configured to communicate using the UWB (Ultra Wide Band) communication protocol. UWB can refer to a communication protocol, for example, that specified by IEEE 802.15.4. This protocol may include an initialization phase with an exchange of communication parameters (such as the location frequency, period length, number of slots in each period, and / or the pseudo-random variation of location positioning). The wearable identifiers can also be configured to communicate with the vehicle using the BLE (Bluetooth Low Energy) communication protocol.Some wearable identifiers (for example, all of them) can also be configured to communicate with the vehicle using one or more other communication protocols, such as the NFC (Near Field Communication) protocol. For each wearable identifier, UWB communication with the vehicle can only be initiated if a prior connection has been established using the BLE protocol.

[0038] The method comprises, for each wearable identifier, an S10 reception of a respective UWB location programming with the vehicle's UWB system via one or more UWB anchors. The received programming may be numerical data. The respective programming received for each wearable identifier may include numerical data defining a temporal positioning of the UWB locations, for example, on a time axis (or line). For example, the respective programming received for each wearable identifier may include Numerical data defining start and end times for each UWB location specified on this timeline. The timeline can represent a future period of time that has not yet elapsed at the time the programming is received.

[0039] The respective programming sent by each portable identifier may include periodic UWB locations with the vehicle's UWB system. Periodic UWB locations are defined as UWB locations performed at fixed, more or less regular intervals. For example, the respective programming may include, for a set of successive periods (of substantially equal duration), one UWB location for each period. The duration of these successive periods corresponds to the periodicity of the portable identifier.

[0040] In some examples, the location's position within each period may vary. This may be the case, for instance, for third-party device-type wearable identifiers. For example, each period may comprise an identical number of successive slots (of substantially equal duration), and the UWB location may be programmed within one of these slots. In this case, the received programming may include, for each UWB location, the slot number on which the UWB location is programmed. In some examples, the slot on which the UWB location is programmed may, for instance, vary pseudo-randomly within each period.Such pseudo-random variation further improves the localization of different portable identifiers, since it prevents the same overlap between portable identifiers from recurring several times regularly (such a situation can occur, for example, when the periodicities of the identifiers have common multiples). Indeed, when an overlap occurs in one period, the probability of having an overlap for the following period is low.

[0041] The pseudo-random variation at each period can, for example, follow a law whose parameters are known by the identifier and the vehicle. For example, the system and the portable identifier can initially exchange these parameters to each recover, using an algorithm, the pseudo-random distribution of locations at each period. The parameters of the law can be different for each identifier. The algorithm can, for example, use the following formula: S^iJfOP_K%-_RW\N^) = \ [ + ] &0xFFFFf mod(216 - i?) ] ] » 16

[0042] where i is the function index, HOP_Key is a parameter of this algorithm. This value allows differentiation between the various identifiers around the vehicle. The final entropy of this function is 216. The resulting distribution of the slot indices assigned for the different periods can be more or less uniform, for example from a certain number of periods. To have a whole number of slots in each period, filler slots can be added to the end of each location.

[0043] Alternatively, the location's position within each period can be fixed. For example, UWB locations can be implemented with a fixed frequency. When the periods are divided into slots, this amounts to placing each UWB location on the same slot of each period (for example, the first). The received programming can then include the frequency of the locations (or the periodicity) and a start time for the first location, for example. In some examples, the received programming can also include numerical data defining each of the UWB transmissions from each UWB location (for example, designating the start and end times of each UWB exchange from the UWB location).

[0044] Each registered handheld identifier can be configured to send its respective programming, which is received by the UWB system. Each registered handheld identifier can be within a given perimeter around the vehicle, allowing it to send its respective programming to the UWB system. The respective programming can be sent by the handheld identifiers and received by the UWB system using a companion communication protocol (such as the BLE communication protocol). The UWB system may also have registered one or more other handheld identifiers (or devices), which may, for example, currently be out of range. The consideration of these other handheld identifiers when they come within range of the vehicle is discussed later.

[0045] After or during the S10 reception, the method may include recording all received programming, for example, in system memory. The programming received for each portable identifier may include the periodicity of the portable identifier (i.e., the duration of each period), the number of slots per period, and / or the duration of each slot or period. For each period, the programming may also include an indication of the slot on which the UWB location is programmed for that period (this slot may vary randomly from period to period or be fixed). This information may be specific to the portable identifier. The portable identifier may be configured to enforce certain parameters of its programming.

[0046] Each UWB location may include UWB exchanges between the portable identifier and the system's UWB anchors. Each UWB exchange may consist of frame transmissions between the identifier and one or more UWB anchors. In particular, each UWB location with a portable identifier may include a transmission, by the portable identifier, of UWB frames, followed by a listening by the system UWB, UWB frames sent. The programming received for each portable identifier can include, for each programming location, a time position of the sending and receiving times of the frames exchanged between the system and the portable identifier. Each frame transmission can, for example, have a duration between 60 and 137 microseconds.

[0047] After reception S10, the method includes detection S20 of at least one overlap of UWB locations programmed with at least two portable identifiers. By overlapping UWB locations, we mean locations that are programmed on time intervals having a non-zero intersection. For example, the time slot on which a first UWB location involving a first portable identifier is programmed may end after the start of the time slot on which a second UWB location involving a second portable identifier is programmed.

[0048] The detection of an overlap is now discussed, but these details apply to the detection of any overlap. The S20 detection of each overlap can be performed in any way. For example, the S20 detection of an overlap may include the following two steps. A first step may include a projection of the UWB locations of each of the wearable identifiers onto a common time axis. The projection of the UWB locations may include, for each UWB location, an indication of the start and end times of the UWB location on this common time axis. A second step may include a determination of an overlap between the projections of the at least two overlapping UWB locations. The determination of the overlap may be performed from the start and end times indicated on the axis for each UWB location.For example, determining the overlap may include determining that the start time of the slot on which the second UWB location involving the second portable identifier is programmed is located before the end time of the slot on which the first UWB location involving the first portable identifier is programmed.

[0049] After the detection step S20, the process includes repeating steps S31, S32, and S33 for each detected overlay. These steps are now discussed for a given overlay. However, these details apply to any detected overlay.

[0050] The first step comprises an S31 determination of a priority identifier from among the at least two portable identifiers involved in the detected overlay. The S31 determination of the priority identifier is performed based on the priority scores of the different identifiers involved. The system is configured to record, for each portable identifier, a priority score associated with the portable identifier. The The system might, for example, include memory containing a table listing the priority scores associated with the different portable identifiers—that is, the priority score value of each identifier. Each priority score can be a counter of the priority assigned to a portable identifier, and the system can store the value of this counter for each portable identifier. Priority scores can be any type of mutually comparable value. The priority score of each portable identifier can correspond to a value within a predetermined set of ordered values. The identifier scores can thus be compared to each other based on the order of their values ​​within this set. For example, priority scores can be numbers, such as integers ("1", "2", "3", etc.) or real numbers (e.g., "1,2", "2,4", etc.).), colours (for example, "green", "yellow", "red",...) or words (for example, "weak", "medium" and "strong"). .

[0051] The S31 determination of the priority identifier may include a comparison The priority scores of the portable identifiers involved in the overlay are considered. Because the priority scores are dynamically adjusted, the process can consider the latest updated score values. For example, the process can handle overlays sequentially, one after the other (e.g., in their execution order), and consider the identifier priority scores as modified during the previously processed overlay each time.

[0052] At each overlay, the comparison of priority scores may include determining the identifier with the highest priority score, that is, the score with the highest value (according to the order of the set to which the values ​​belong). This identifier is the one determined to have priority. If several identifiers have the same priority score and this score is the highest, the process may determine the priority identifier among these identifiers in any way (for example, randomly, or according to their periodicity, for example, by selecting the identifier with the longest periodicity).

[0053] After the determination S31 of the priority identifier, the method includes the deprogramming S32 of the overlapping UWB location(s) other than the one with the priority portable identifier. In other words, the method deprograms all overlapping UWB locations other than the one with the identifier determined to be priority. For example, if two locations with two identifiers are overlapped, the method deprograms the one with the lower priority identifier. The deprogramming may include reversing steps that the system would otherwise perform if the location were retained. For example, the deprogramming may include preventing the vehicle from listening for UWB frames sent by the portable identifier involved in the UWB location. The portable identifier may He may not be aware of the cancellation of his programming. The deprogrammed portable identifier(s) may vary with each overlay.

[0054] For each UWB localization that is deprogrammed, the method then includes increasing the priority score of the portable identifier involved in the deprogrammed UWB localization. For example, the increase may include assigning a new value to the priority score of the portable identifier (this new value having a higher order than the old one), and, for example, storing this new value for the identifier in memory (for example, in the table associating each identifier with its priority score), for example, by overwriting the old value. The method may then consider the new priority score value for the next overlay processed.

[0055] When scores have numerical values, increasing the score may include incrementing the priority score of the portable identifier. The increment may consist of adding 1 (or any fixed integer value) to the priority score value. The new value may thus be equal to the previous value plus the increment value. Alternatively, when scores have other values ​​(for example, colors or words), the increase may consist of assigning the score a higher value in the order of the set to which the values ​​belong, for example, the next highest value (e.g., "medium" when the previous value was "low").

[0056] In examples, the method can detect several (for example, at least two) UWB location overlaps in the respective programming of the wearable identifiers. The method includes repeating steps S31, S32, and S33 for each detected overlap. Steps S31, S32, and S33 are executed as previously discussed, each time considering a new UWB location overlap (and potentially new identifiers involved). At each repetition for a new overlap, the method considers the priority scores of the wearable identifiers as modified during the processing of the previous overlap. Thus, wearable identifiers whose location has been deprogrammed have a higher priority score than the others.

[0057] In examples, for each overlay, and after each deprogramming, the method may include a decrease in the priority score of the portable identifier determined to have priority. In other words, after an identifier has been prioritized over the others, the method may decrease its priority score so that it subsequently becomes less of a priority relative to the others. This decrease improves the distribution of available slots among the different identifiers. Indeed, it allows identifiers that have not been prioritized to increase their chances of being used. location services will be available soon, reducing the risk of the same portable identifier being prioritized each time.

[0058] When the priority score is a number (for example, a positive integer), the decrease in the score may involve decrementing the priority score. The decrement may consist of subtracting 1 (or any fixed integer value) from the priority score value. Alternatively, when the scores have other values ​​(for example, colors or words), the decrement may consist of assigning the score a lower value in the order of the set to which the values ​​belong, for example, the one immediately preceding it (e.g., "medium" when the previous value was "high"). Alternatively still, the decrease may involve resetting the score to its initial value for the identifier.For example, the priority score of each portable identifier may initially be a function of the respective periodicity of the portable identifier, and the process may, after an identifier has been prioritized during an overlay, reassign this value to the priority score of the identifier.

[0059] In examples, when the schedules include periodic UWB localizations, the priority score associated with each portable identifier can initially (i.e., before modifications made during overlays) be proportional to the periodicity of the localizations performed with the system for that identifier. In other words, the priority score of each portable identifier can initially be inversely proportional to the frequency of the UWB localizations that the identifier performs with the system. The use of such a priority score improves the selection of the priority identifier and thus ultimately allows for better regulation of localizations with the different portable identifiers in the event of overlay. Indeed, it initially prioritizes identifiers with long periodicities, which improves the localization of portable identifiers.Indeed, on the one hand, it would have been particularly detrimental to deprogram these identifiers, given the long period without location tracking they would experience until their next relocation with the system. On the other hand, identifiers with shorter relocation intervals are more likely to be able to re-locate more quickly, and are therefore less penalized by this cancellation than those with longer intervals.

[0060] In examples, for at least a first part of the portable identifiers, the respective periodicity can be equal to the product of a respective multiplier coefficient (called in English "RAN multiplier") and a predetermined minimum duration. For example, the portable identifier can be configured to perform a location on each successive time interval of duration T (T being the periodicity of the portable identifier). In this case, the duration T can be equal to nRAX x Atmini, where nRAX is the respective multiplier for the identifier and Atmini is the predetermined minimum duration. The multiplier can be an integer. The predetermined minimum duration Atmini can be defined by a standard (e.g., 96 ms) and can be the same for all relevant portable identifiers. The respective multiplier can be initially negotiated by each identifier with the system, for example, during the pre-activation phase.

[0061] In this case, the priority score of each of these portable identifiers can initially be proportional to the respective multiplier coefficient of the portable identifier. For example, the priority score of at least a first set of portable identifiers can initially be equal to the product of the respective multiplier coefficient of the portable identifier and a predetermined coefficient C. The method may include, after reception S10 (and before detection S20, for example), determining an initial value for the priority score for each portable identifier, and the method may, for example, calculate the initial value of the priority score multiplier for these identifiers by multiplying the multipliers recorded for them by the predetermined coefficient C. The method may then increase the scores in step S33 from this initial value.

[0062] In examples, when the increase in the priority score is an increment of 1, the predetermined coefficient C can be greater than 5 and / or less than 40. For example, the predetermined coefficient C can be greater than 15 and / or less than 25. Such values ​​of the predetermined coefficient C make the process particularly efficient. Indeed, they guarantee a certain distance between identifiers of different periodicities, so that a certain number of increments are possible before a priority reversal occurs.

[0063] In examples, for each wearable identifier, the increment applied to the score can increase after a predetermined number of reprogrammings. For example, the system can be configured to record the number of times each wearable identifier has a location that is reprogrammed (for example, using a counter other than the priority score), and the method can increase the priority score in step S33 with a first increment value (for example, 1) when the counter value of the identifier in question is less than a predetermined threshold (for example, 2 or 5), and with a second increment value greater than the first (for example, 2 or 3) when the counter value of the identifier in question is greater than the predetermined threshold. This increase in the increment value after several successive reprogrammings increases the efficiency of the method.

[0064] In examples, steps S20 to S33 may be repeated each time a new respective program is received for a new portable identifier. For example, this new portable identifier may initially be out of range of the The user carrying the new identifier can approach the vehicle. This new identifier can also be registered by the UWB system (in addition to the others). As the user approaches the vehicle, once the new identifier enters a certain perimeter around the vehicle, it can be configured to begin locating the vehicle. To do this, the new identifier can be configured to send its respective programming to the UWB system. The process can then include receiving this respective programming for the new identifier (as with the other identifiers in step S10). In this case, the process can include repeating steps S20 to S33 with the new respective programming received for this new identifier.The process can, in particular, determine an initial score for this identifier, and, as with the other identifiers involved, increase or decrease this score depending on the deprogramming of its locations.

[0065] Examples will now be described with reference to Figures 3 to 9.

[0066] Figure 3 illustrates an example of UWB localization with a portable identifier. Localization includes UWB exchanges between the portable identifier and the vehicle system (the UWB exchanges consisting of frame transmissions between the identifier and the system's UWB anchors). UWB localization begins with the portable identifier sending UWB frames to the UWB anchors. In particular, localization initially comprises two 410 transmissions of a frame in the first two time slots from the identifier to each of the UWB anchors 401, 402, and 403. Each slot can last between 1 and 3 ms. For example, each slot is 2 ms in this example. Localization includes the UWB anchors listening for these UWB frames sent by the portable identifier in these first two time slots. After this first phase, the anchors respond by sending, one after the other, a respective frame to the portable identifier.Specifically, the localization process involves, successively and within a respective time slot, the transmission of a frame by each of the UWB anchors (frame 412 for 401, frame 413 for 402, and frame 414 for 403) to the portable identifier 400. The portable identifier is configured to listen for and receive these frames 412, 413, and 414 sent successively by the anchors. The localization process then involves two transmissions, 415, by identifier 400, of a frame in the last two time slots to each of the UWB anchors 401, 402, and 403 of the system. These two transmitted frames are listened for and received by the portable identifier 400.

[0067] The duration of the UWB localization “RR_time” can be calculated from the following formula: RR_time = Ranging_Slot_Time * ( Number_ of_Responder + 4), in which “Ranging_Slot_Time” is the duration of each slot and “Number_ of_Responder” is the number of anchors in the system.

[0068] The localization process then includes determining the distances between the portable identifier 400 and each of the UWB anchors 401, 402, and 403 of the system. Each distance to an anchor can be measured from the UWB frames exchanged between the portable identifier and the anchor and a time-of-flight calculation between the identifier and the anchor. This time-of-flight is the time taken for each frame to travel to or from the identifier and the anchor. The time-of-flight can be calculated by the identifier or the anchor, and can be performed in any way. For example, each measurement can include recordings of the times the exchanged frames were sent and received, and the calculation can be performed by subtracting the time taken by each frame to travel to or from these recordings. Each measurement can then include subtracting this time-of-flight from the distance between the identifier and the anchor.For example, each measurement might involve multiplying the speed of the signal carrying the UWB frame by the calculated time of flight. The signal speed could be a predetermined and known speed (e.g., stored in the identifier or system memory).

[0069] The localization process then includes determining the relative position of the wearable identifier with respect to the UWB system based on the determined distances. In particular, the position determination includes determining the intersection of spheres calculated on a plane representing the ground on which the car is located and on which the user wearing the identifier is walking. The spheres originate from the system's anchors and have radii equal to the calculated distances.

[0070] The deprogramming of such a location is now discussed. A location is executed by both the system and the identifier. However, the system can cancel a location without informing the identifier. The system may, in fact, only manage one location at a time. Each identifier manages its locations through a specific session. During an overlay, the session containing the first programmed location is executed, and the second session waits for the next period to attempt a location between the portable identifier and the vehicle's anchors.

[0071] To cancel a location with an identifier, the system can, for example, cancel listening to the frames sent by the portable identifier. For example, the cancellation could include canceling listening to the first 410 frames sent by the identifier to each of the anchors. In some examples, the cancellation could also include canceling the sending of the 412, 413, and 414 frames successively transmitted by each of the anchors thereafter, and / or canceling listening to the last 415 frames sent by the identifier 400.

[0072] Figure 4 illustrates an example of programming a 420 session of periodic UWB locations between a handheld identifier and a UWB system. During the session, The periodic UWB locations are performed at fixed, more or less regular intervals. The respective programming includes, for a set of 422 successive periods (of approximately equal duration), one UWB location for each period. The duration of these 422 successive periods corresponds to the periodicity of the portable identifier.

[0073] In some examples, the position of the location within each period can vary. Each period 422 can comprise an identical number of successive slots 424 (of substantially equal duration), and the UWB location can be programmed within one of these slots 424. In some examples, the slot on which the UWB location is programmed can, for example, vary pseudo-randomly within each period. Alternatively, the position of the location within each period can be fixed. For example, each UWB location can always be performed within the same slot of each period (for example, the first one). Each slot 424 is itself divided into time intervals (called "slots"). The location can include UWB exchanges between the wearable identifier and the system within each of these time intervals.

[0074] Figure 5 illustrates an example of implementation of the methods. In particular, the figure shows the respective programs received in this example from four portable identifiers 431, 441, 451, and 461. The respective program for each portable identifier comprises periodic UWB locations. Specifically, the programs comprise, for a set of successive periods divided into successive slots, one location per period on one of the slots of the period. The slot on which the location is performed varies pseudo-randomly in each period for the three identifiers.

[0075] The figure illustrates, in particular, the initial planned locations over the first successive periods for each of the identifiers. For the first identifier 431, the figure shows the first three locations 435, 436, 437 distributed over three successive periods 432, 433, 434. For this identifier, each period is divided into 8 slots, and each location is implemented within one of these slots during each period. As illustrated in the figure, the first location 435 is implemented in the first slot for the first period 432, the second location 436 is implemented in the fifth slot for the second period 433, and the third location 437 is again implemented in the first slot for the third period 434.

[0076] Each period is also divided into 8 slots for the second portable identifier 441. However, the localizations are not performed on the same slots. Indeed, the localization is performed on the first slot for the first period 442, but is carried out on the second slot for the second period 443 and on the third slot for the third period 444.

[0077] For the third device 451, the number of slots per period is 3. Location is performed on the first slot for the first period 452, on the second for the second period 453, and on the third for the third period 454. The slots have a longer duration than those of the first and second identifiers. The fourth portable identifier 461 has a program with longer periods, with 9 slots of approximately the same duration as the third 451. The first location is also performed on the first slot for the first period 462.

[0078] In this example, the first three identifiers, 431, 441, and 451, have periodicities of approximately the same duration. Their location frequency is therefore approximately the same. They initially have the same priority score, for example, 10. The fourth portable identifier, 461, has a longer periodicity. It therefore initially has a higher priority score than the others, for example, 20. At each overlay, the planning process dynamically updates the priority scores of the different identifiers.

[0079] The method includes a detection S20 of a first overlap between UWB locations 435, 445, and 463 programmed with portable identifiers 431, 441, and 461. The method includes a determination S30 that identifier 461 has priority among portable identifiers 431, 441, and 461. Indeed, it has the highest priority score (it initially has a score of 20, while the others initially have a score of 10). The method then includes a deprogramming S40 of each UWB location included in the overlap, other than UWB location 463, with the portable identifier 461 determined to have priority; that is, a deprogramming of location 435 with the first portable identifier 431 and of location 445 with the second priority identifier 441.

[0080] The method includes an S20 detection of a first overlap between the UWB locations 435, 445 and 463 programmed with the portable identifiers 431, 441 and 461. The method includes a determination S30 that the identifier 461 has priority among the portable identifiers 431, 441 and 461. Indeed, it is the one that has the highest priority score (it initially has a score of 20, while the others initially have a score of 10). The process then includes an S40 deprogramming of each UWB location included in the overlay other than UWB location 463 with the portable identifier 461 determined to have priority; that is, a deprogramming of location 435 with the first portable identifier 431 and of location 445 with the second priority identifier 441. Because the process has deprogrammed one of their locations, the process increases the priority score. of the first and second portable identifiers 431, 441. The process increments their score by 1, which therefore becomes 10+1=11.

[0081] The method then includes a detection S20 of a second overlap, this time between the UWB locations 446 and 455 programmed with the portable identifiers 441 and 451. Since identifier 441 has a priority score of 11, while identifier 455 has a score of only 10, the method determines S30 that identifier 441 has priority. The method therefore deprograms S40 the UWB location 455 programmed with the third portable identifier 451. It also consequently increases the priority score of this third portable identifier 451, which thus becomes 10+1=11. The method also decreases the score of the second identifier 441, which was able to retain its location, and its score returns, for example, to 10.

[0082] The method then detects another overlap between locations 447 and 456 with the second and third portable identifiers 441 and 451. This time, the third identifier 451 has a higher priority score (11, while the second identifier 441 only has a score of 10). The method therefore determines that the third identifier 451 has priority and deprograms the planned UWB location 447 with the second portable identifier 441. It also increases the priority score of this second portable identifier 441 accordingly and decreases that of the third identifier 451. The locations thus programmed are then executed during the usage process.

[0083] The method thus offers improved utilization of the vehicle's UWB system. Indeed, initially retaining location 463, which involves the portable identifier with the highest periodicity 461, prevents an excessively long gap in location for this identifier 463. Otherwise, it would have been particularly detrimental to this identifier 461 not to retain its location, given its low location frequency, and therefore the long period without location that would otherwise result until its next location with the system. Furthermore, during subsequent overlaps between identifiers 441 and 451 with the same periodicity, the dynamic adjustment of the priority score allows the two identifiers 441 and 451 to perform location alternatingly, which also prevents an excessively long gap in location for either one.The process therefore allows for a better distribution of locations between the different identifiers, and enables the sensitive and precise location of all portable identifiers.

[0084] Figures 6 and 7 show examples of results obtained in three situations different scenarios involving different types of wearable identifiers. These results were obtained by simulating the different situations illustrated. In the three scenarios, five wearable identifiers are simulated around the vehicle. The first two scenarios, 501 and 503, illustrate scenarios with two different types of identifiers. portable devices. Situation 505 illustrates the case of a single type of identifier. The simulation is performed using a Python program to simulate, via a Monte Carlo method, simultaneous location sessions (with a random offset of less than one period) to measure the overlap rate. The characteristics of the portable identifiers used are shown in Table 1 below.

[0085] [Tables 1] Portable identifier, Multiplier coefficient, Average periodicity, Slot length: Manufacturer A 3,288 ms 2 ms, Manufacturer B 2,192 ms 1 ms, Manufacturer C 1,96 ms 1 ms

[0086] Figure 6 shows, in these three situations, the results obtained without using the planning process, and Figure 7 shows the results obtained when the planning process is used. The tables representing the different situations indicate, in particular, for each identifier involved, the longest duration without localization of the identifier (column "Max (ms)"), the percentage of times more than one second elapsed between two localizations (column "> 1s"), and the priority of the identifier (column "priority"). When the planning process is not used, in the case of overlap, all identifiers are considered to have the same priority, and only the first localization (which starts before the others) is retained. In this case, the results show that the percentages of times more than one second elapsed between two localizations are significant for identifiers with a long periodicity.For example, they are greater than 3% for the first three identifiers in the first situation 501, and greater than 1% in the second and third situations 503, 505.

[0087] When the scheduling process is used, the process dynamically adjusts the priority scores of the identifiers based on the reprogramming of their locations. The priority scores are initially defined based on the length of the identifiers' periodicities. Then, each time a location is reprogrammed for an identifier, its priority score is incremented. After a location is successfully reprogrammed for an identifier, its priority score returns to its initial value. The results in the different situations 511, 513, 515 show that the scheduling process makes it possible to obtain, in all situations, a percentage of times where more than one second elapsed between two locations of less than 1% for all identifiers. In particular, the probability of having a waiting time greater than 1 second is divided by seven for identifiers with longer periodicities. The process This planning method therefore allows for the sensitive and precise localization of all portable identifiers, avoiding excessively long gaps in the localization process for those with the longest intervals. In particular, the process yields better results than reducing the performance of devices with the shortest intervals.

[0088] Figure 8 illustrates an example of a vehicle system 10. The system 10 is configured to implement the planning process. In this example, the system includes several secondary UWB sensors (or anchors) 11 connected to a private CAN (Controller Area Network) 12. The secondary UWB sensors 11 are internal to the vehicle. The system also includes a primary sensor (or anchor) 13, which is a master unit for the system. Each UWB sensor includes means for transmitting and receiving UWB exchanges (such as one or more transmitting and / or receiving antennas for such UWB exchanges), with wearable identifiers, for example, to perform UWB location tracking of these wearable identifiers. The system also includes an NFC reader 14. The system supports Bluetooth technology. The primary anchor 13 and the NFC reader 14 are also connected to the system's network 12.

[0089] Figure 9 illustrates an example of a portable identifier 310. The portable identifier 310 may, for example, be a vehicle remote key fob. Such a vehicle remote key fob may include a protective housing encompassing the key fob components. The protective housing may be made of plastic, metal, and / or rubberized plastic. The key fob 310 may include a logo, for example, made of metal. The logo may be arranged on the outer casing of the protective housing, and / or the logo may represent a manufacturer's brand. Such a key fob may also include, inside the protective housing, a metal insert that allows the vehicle to be opened and / or started manually by inserting and manipulating the insert into a respective lock on the vehicle.

[0090] The handheld identifier 310 includes a BLE component 312, configured to perform BLE communication with a vehicle, and comprising, for example, a microprocessor. The handheld identifier 310 also includes an antenna 316 connected to the BLE component 312. The antenna 316 is configured to transmit or receive BLE signals. The microprocessor of the BLE component 312 may have in memory a computer program enabling BLE communication and performing various specific functions. The handheld identifier 310 also includes a UWB component 311 for performing UWB communication with a vehicle. The handheld identifier 310 also includes a battery 313.

Claims

Demands

1. A planning method implemented by a vehicle UWB system comprising one or more UWB anchors, the UWB system having recorded a plurality of portable identifiers, the system being configured to record, for each portable identifier, an associated priority score, the method comprising: • a reception (S10), for each portable identifier, of a respective programming of UWB locations with the vehicle UWB system; • a detection (S20) of at least one overlap between UWB locations programmed with at least two portable identifiers; • for each detected overlap: • a determination (S31) of a priority identifier among the portable identifiers involved in the overlap, the priority identifier having the highest priority score;• a deprogramming (S32) of each UWB location included in the overlay other than the UWB location with the portable identifier determined as priority, and • for each deprogrammed UWB location, an increase (S33) in the priority score of the portable identifier involved in the deprogrammed UWB location.;

2. A method according to claim 1, further comprising, for each overlay, and after each deprogramming, a reduction in the priority score of the portable identifier determined as priority.

3. A method according to claim 1 or 2, wherein each handheld identifier is configured to perform periodic UWB localizations with the UWB system at a respective periodicity, the priority score of each handheld identifier being initially a function of the respective periodicity of the handheld identifier.

4. A method according to claim 3, wherein the periodicity of at least a first part of the portable identifiers is equal to the result of the product of a respective multiplier coefficient and a predetermined minimum duration, the priority score of each portable identifier of at least one first part being initially equal to the result of the product of the respective multiplier coefficient of the portable identifier and a predetermined coefficient greater than 5 and / or less than 40, for example greater than 15 and / or less than 25, the increase, for each deprogrammed UWB location, of the priority score being an increment of 1.

5. A method according to any one of the preceding claims, wherein, for each portable identifier, the increase applied to the score increases after a predetermined number of successive deprogrammings.

6. A method according to any one of the preceding claims, wherein, in the respective programming of at least a second part of the portable identifiers, each UWB location is programmed within a respective slot of a respective period including several slots, the slot on which the UWB location is programmed varying pseudo-randomly in each period.

7. A method according to any one of the preceding claims, wherein each UWB location with a portable identifier comprises: • sending, by the portable identifier, UWB frames; and • listening, by the UWB system, to the UWB frames sent, the deprogramming of a UWB location comprising canceling the listening by the vehicle of the UWB frames sent by the portable identifier involved in the UWB location.

8. Method of using a vehicle system comprising one or more UWB anchors, the system having recorded a plurality of portable identifiers, the method comprising an execution of the planned UWB locations according to the method of any one of claims 1 to 7.

9. Vehicle system comprising one or more UWB anchors and configured to perform the method of any one of claims 1 to 7 and / or to be used according to the method of claim 8.

10. A computer program comprising program code instructions for carrying out the process according to any 24 of claims 1 to 7 and / or according to claim 8, when said program is executed by a processor.

11. Computer-readable storage medium on which the computer program according to claim 10 is recorded.

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