Ultra-wideband location determination method for a location determination device arranged in a vehicle, location determination device, and vehicle equipped with a location determination device

Abstract

Improved embodiments are provided for ultra-wideband location methods. [Solution] The present invention relates to an ultra-wideband location method (1) for a location device (3) arranged in a motor vehicle (2), comprising the steps of: 1) establishing, by means of the location device (3), a bidirectional ultra-wideband data communication (7) between the location device (3) and at least one object (4) having ultra-wideband communication capabilities and approaching the motor vehicle (2), wherein a first position and a trajectory (5) of the at least one object (4) relative to the motor vehicle (2) are determined by the location device (3) based on data packets (8) exchanged within the framework of the ultra-wideband data communication (7) and the first position and trajectory (5) of the at least one object (4) relative to the motor vehicle (2) are determined by the location device (3) based on data packets (8) exchanged within the framework of the ultra-wideband data communication (7). The method comprises the steps of: determining a second position and a trajectory (6) of the at least one object (4) relative to the vehicle (2) using a positioning device (3) for determining an ultra-wideband position and distance measurement (9) using the positioning device (3), by transmitting at least one ultra-wideband transmitted radio signal (30) and detecting, with a time delay, backscattered radio signals (31) of the ultra-wideband transmitted radio signal reflected by the at least one object (4). The invention further relates to a positioning device (3) for performing the above-mentioned ultra-wideband positioning method (1), as well as to a vehicle (2) equipped with such a positioning device.

Description

[Technical field]

[0001] The invention relates to an ultra-wideband location method for a location device arranged in a motor vehicle according to the preamble of claim 1. The invention relates in particular to a location device for implementing the abovementioned ultra-wideband location method and more particularly to a motor vehicle equipped with such a location device. [Background technology]

[0002] Ultra-wideband positioning methods are described in the following patent documents 1 and 2. In the following patent document 1, data packets transmitted from an ultra-wideband radio module are used in ultra-wideband data communication to determine the position of an object moving relative to a station. In contrast, the following patent document 2 discloses the use of ultra-wideband positioning and distance measurement, so-called ultra-wideband radio radar, to determine the position of an object moving relative to a station. A drawback of the known methods for determining the position of approaching objects is that they work relatively inaccurately.

[0003] Further ultra-wideband location methods are known from US Pat. No. 5,399,623 and US Pat. No. 5,499,623. An ultra-wideband location method as mentioned at the outset is described in US Pat. No. 5,499,623. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] DE 10 2017 121 582 A1 [Patent Document 2] DE 10 2020 114 277 A1 [Patent Document 3] DE 10 2016 217 532 A1 [Patent Document 4] DE 10 2015 109 468 A1 [Patent Document 5] International Publication No. 2017 / 139432 A1 Summary of the Invention [Problem to be solved by the invention]

[0005] It is therefore an object of the present invention to provide an improved embodiment for an ultra-wideband positioning method, or at least one alternative embodiment, and in particular to provide an ultra-wideband positioning method which functions relatively accurately compared to known methods. [Means for solving the problem]

[0006] According to the invention, this problem is solved in particular by the subject matter of the independent claims. Advantageous embodiments are the subject matter of the dependent claims and the description.

[0007] The basic idea of ​​the present invention is to combine object location determination based on ultra-wideband data communication with object location determination based on ultra-wideband positioning and ranging (ultra-wideband radio radar) into one common method to improve the accuracy of determining the location of an object moving relative to a station.

[0008] Therefore, an ultra-wideband localization method for a localization device arranged in a motor vehicle is proposed, characterized by the following steps: 1) establishing a bidirectional ultra-wideband data communication, in particular based on the Ultra-wideband communication protocol (also known as Car Connectivity Consortium), between said localization device and at least one object having ultra-wideband communication capabilities and approaching the motor vehicle by means of said localization device, whereby a first position and / or trajectory of the at least one object relative to the motor vehicle is determined by means of the localization device within the framework (range) of the established ultra-wideband data communication, in particular based on data packets exchanged between the at least one object and the localization device. Furthermore, 2) ultra-wideband positioning and distance measurement, in particular so-called ultra-wideband radio radar, is implemented by means of the positioning device, in which at least one ultra-wideband transmission radio signal is emitted by the positioning device and a second position and / or trajectory of at least one object relative to the vehicle is determined by the positioning device by detecting backscattered radio signals of the ultra-wideband transmission radio signal reflected from at least one object with a time delay. The ultra-wideband positioning method according to the invention thus provides a fusion of two positioning and distance measurement methods for determining the position and / or trajectory of an object approaching the vehicle, i.e. a combination of ultra-wideband data communication and ultra-wideband positioning and distance measurement (so-called ultra-wideband radio radar). This allows optimal use of the method-technical advantages of each of the methods. This has the advantage in particular that the accuracy of determining the position and / or trajectory of at least one object relative to the vehicle or relative to the positioning device is significantly improved compared to the accuracy of conventional positioning devices and distance measurement methods realized so far. This allows, for example, system functions of the motor vehicle to be activated in a targeted manner and to a large extent in advance in time, thereby increasing, in particular, the comfort of the user of the motor vehicle.

[0009] In the present invention, the term "ultra-wideband" and the prefix "ultra-wideband" are preferably understood to mean a radio technology using radio signals in a given frequency spectrum with a relatively large bandwidth, for example at least 500 MHz, which can be used for various purposes. A first purpose of use of this ultra-wideband radio technology is, inter alia, to establish a two-way data communication, referred to here as ultra-wideband data communication, between two communication partners having ultra-wideband communication capabilities, for exchanging data, in particular data packets. According to another purpose of use of this ultra-wideband radio technology, localization and distance measurement can be performed by sending an ultra-wideband transmission radio signal and then detecting a reflected backscattered signal of the ultra-wideband transmission radio signal with a time delay. In practice, this is also referred to as an ultra-wideband radar based on ultra-wideband.

[0010] Preferably, within the framework of the ultra-wideband localization method, a first position and / or a second position of at least one object are determined in common together with the associated trajectory. In the present invention, the term "trajectory" is preferably understood in the sense of a predicted movement path curve of at least one object at the first position and / or the second position of the at least one object. According to the present invention, said trajectory is determined by means of a localization device on the basis of the determined first position and / or second position. According to the present invention, a future position of at least one object is predicted relatively accurately using the first position and / or the second position and the associated trajectory. According to the present invention, a below-mentioned calculation unit of the localization device is used to determine said trajectory.

[0011] Preferably, the ultra-wideband localization method is performed in two stages, in particular by firstly establishing a two-way ultra-wideband data communication with the localization device and then, in particular additionally, performing an ultra-wideband localization and distance measurement with the localization device. In particular, here, within the framework of the ultra-wideband data communication, a rough (rough) first position of the at least one object is first determined, i.e. a rough localization of the at least one object is realized. More particularly, during the ultra-wideband localization and distance measurement, a relatively accurate second position of the at least one object is determined, which can also be referred to as a fine localization of the at least one object. This optimizes the accuracy with which the first and second positions of the at least one object can be determined, which is achievable within the framework of the proposed ultra-wideband localization method, by appropriately using the method-technical advantages of the ultra-wideband data communication and the ultra-wideband localization and distance measurement (ultra-wideband radio radar).

[0012] Furthermore, within the framework of the ultra-wideband localization method, ultra-wideband data communication can be established between the localization device and the at least one object as soon as the at least one object is located within a communication range that is set or can be set for the localization device. The communication range preferably represents a distance that is set wirelessly by the localization device and the at least one object, within which ultra-wideband data communication can be established. The aforementioned distance can be adjusted, for example, by setting the transmission power of the localization device and / or the at least one object. Since the above-proposed scheme establishes ultra-wideband data communication between the localization device and an object approaching the localization device or the motor vehicle as early as possible, a relatively large distance still exists between the at least one object and the motor vehicle when the ultra-wideband data communication is established. This has the advantage that there is a relatively long time for determining another position of the at least one object and for further processing, for example for activating a system function of the motor vehicle.

[0013] According to the invention, the above-mentioned second position and / or trajectory of the at least one object relative to the vehicle is determined as soon as the at least one object falls below a set or configurable distance, which represents a proximity zone surrounding the vehicle between the object itself and the vehicle. Additionally or alternatively, the above-mentioned second position and / or trajectory of the at least one object relative to the vehicle can be determined when the at least one object falls within this distance. This results in a relatively accurate second position of the at least one object being determined at least within a configurable proximity zone around the vehicle during the ultra-wideband localization and distance measurement. The above-mentioned distance can preferably be easily adjusted by setting the radar transmission power of the localization device.

[0014] Advantageously, the ultra-wideband localization method is characterized in that the exchanged data packets are evaluated using a time of flight measurement, also called TOF (Time Of Flight), in which the time of flight of the data packets between the at least one object and the localization device is determined in order to determine the first position and / or trajectory of the at least one object relative to the vehicle. This provides a preferred method based on a two-way data exchange for determining the first position of the at least one object. Furthermore, instead of or in addition to determining the first position and / or trajectory of the at least one object relative to the vehicle, the exchanged data packets can be evaluated using triangulation. This provides a second preferred method based on data exchange for determining the first position of the at least one object. It is clear that other methods based on data exchange can also be used for determining the first position without departing from the scope of the invention.

[0015] Preferably, the at least one object is realized by a mobile unit having ultra-wideband communication capabilities. In particular, the above-mentioned mobile unit can be realized by a mobile terminal device, for example a so-called intelligent key (smart key), or a mobile phone (smartphone), or a so-called CoD, i.e. a consumer owned smart device of the automobile. This provides an embodiment of the above-mentioned at least one object that can be comfortably handled by the automobile user and is widely accepted.

[0016] It is further preferred if the determination of the first position and / or trajectory of the at least one object and the second position and / or trajectory of the at least one object is realized by a computing unit of the localization device arranged in the motor vehicle or an external computing unit which is connected or can be connected wirelessly to the motor vehicle. The computing unit is preferably a central computing unit of the motor vehicle or at least one component of the motor vehicle, for example a control device. Further preferred, the computing unit is designed to implement an ultra-wideband localization method.

[0017] Advantageously, a location device is provided with ultra-wideband transceiver units that are mounted on a motor vehicle, each designed to operate in a first operating mode in which a bidirectional ultra-wideband data communication can be established, in particular based on an ultra-wideband radio standard, and in a second operating mode in which ultra-wideband localization and distance measurement can be performed, in particular based on ultra-wideband. By providing the ultra-wideband transceiver units, the surrounding environment of the motor vehicle, in particular the aforementioned proximity zone, can be efficiently and relatively quickly monitored for approaching objects.

[0018] It is further preferred if each of the ultra-wideband transceiver units operates either in a first or a second operating mode depending on the determined position of the at least one object. Furthermore, all ultra-wideband transceiver units can operate simultaneously or at least one ultra-wideband transceiver unit can operate in the first operating mode at the start of the ultra-wideband localization method. Furthermore, all ultra-wideband transceiver units can operate simultaneously or at least one ultra-wideband transceiver unit can operate in the first operating mode when an ultra-wideband data communication is established or can be established between at least some of the ultra-wideband transceiver units and at least one object located within a set or configurable communication range for the localization device. Furthermore, at least one ultra-wideband transceiver unit can operate in the second operating mode when the at least one object falls below a distance between the at least one ultra-wideband transceiver unit and the at least one object that is representative of a set or configurable distance zone extending around the motor vehicle. Preferably, at least one ultra-wideband transceiver unit operates in the second operating mode when at least one object is present in the immediate vicinity of the ultra-wideband transceiver unit. It is thereby achieved in particular that the ultra-wideband transceiver units operate in a first operating mode simultaneously at the start of the ultra-wideband localization method, whereby an ultra-wideband data communication is established between the ultra-wideband transceiver units and at least one object present within the communication range of the localization device, and whereby, if such an ultra-wideband data communication is established, the ultra-wideband transceiver units operate in a second operating mode when the at least one object falls below a set or settable distance. This makes it possible to realize with simple means a so-called switch-over point, at which the operating mode of the ultra-wideband transceiver units changes from the first operating mode to the second operating mode.

[0019] It is further preferred if the localization device or at least one ultra-wideband transceiver unit of the localization device operates in a pulsed manner. For this purpose, the localization device or at least one ultra-wideband transceiver unit is preferably provided with a transmitter designed to emit a pulsed ultra-wideband transmission radio signal, the pulsed ultra-wideband transmission radio signal having a duration of only a few nanoseconds. Furthermore, the localization device or at least one ultra-wideband transceiver unit is provided with a receiver designed to receive backscattered radio signals, the receiver preferably designed to detect a pulsed backscattered signal delayed in time of a previously emitted pulsed ultra-wideband transmission radio signal. The ultra-wideband transceiver unit thereby in particular realizes a kind of ultra-wideband radar unit. This has the advantage that the first position and / or the second position of the at least one object can be determined relatively accurately.

[0020] Advantageously, within the framework of the ultra-wideband localization method, an access system arranged in the motor vehicle and connected to communicate with the localization device for locking and unlocking and / or actively opening vehicle doors of the motor vehicle can be controlled by means of the localization device depending on the determined first position and / or trajectory and / or the second position and / or trajectory of the at least one object, whereby the ultra-wideband localization method can be used to determine the position of the at least one object relative to the motor vehicle and, depending on this position, for example, the vehicle doors of the motor vehicle can be locked or unlocked or actively opened.

[0021] In order to solve the problem as stated in the introduction, a positioning device is further proposed, which comprises at least one ultra-wideband transceiver unit, a computing unit, as well as a computer-readable storage medium, which comprises instructions that, when executed by the computing unit, instruct the positioning device to perform the ultra-wideband positioning method as described above. This provides a preferred embodiment of the positioning device for performing the above-mentioned ultra-wideband positioning method. The positioning device can in particular be installed in a motor vehicle, whereby the above-mentioned ultra-wideband positioning method can be performed. However, this installation is not limited to a motor vehicle, but the proposed positioning device can also be used rather in other mobile applications, such as rail vehicles, aircraft, ships, as well as in stationary applications in buildings.

[0022] The above-mentioned position determination device is preferably characterized in that at least one ultra-wideband transceiver unit comprises a transmitting device as well as a receiving device. The transmitting device is preferably designed to emit an ultra-wideband transmission radio signal. The receiving device is preferably designed to detect a time-delayed backscattered radio signal of a previously emitted ultra-wideband transmission radio signal and / or a reply radio signal of at least one object. Thereby, the position determination device or the at least one ultra-wideband transceiver unit preferably realizes both an ultra-wideband communication unit and an ultra-wideband radar unit. This provides an advantageous embodiment of the ultra-wideband transceiver unit.

[0023] The position determination device or at least one ultra-wideband transceiver unit can be provided with a pulsed transmitting device, which is preferably designed to transmit a pulsed ultra-wideband transmission radio signal. The pulsed transmitting device is preferably designed to transmit a pulsed ultra-wideband transmission radio signal having a duration of only a few nanoseconds. Furthermore, the position determination device or at least one ultra-wideband transceiver unit can be provided with a pulsed receiving device, which is preferably designed to receive a pulsed ultra-wideband transmission radio signal, which is preferably designed to detect a time-delayed pulsed backscattering radio signal of the previously transmitted pulsed ultra-wideband transmission radio signal and / or a reply radio signal of at least one object. Thereby, preferably, the ultra-wideband transceiver unit realizes a kind of combined ultra-wideband communication unit and a pulsed ultra-wideband radar unit. This has the advantage that the first position and / or the second position of at least one object can be determined relatively accurately.

[0024] The location determination device, or the above-mentioned ultra-wideband transceiver unit of the location determination device, preferably comprises and / or is connected to communicate with an internal system clock and / or a pulse wave generator and / or a radio signal amplifier and / or a wave delay detector in addition to the aforementioned transceiver device.

[0025] In order to solve the problem as mentioned at the beginning, a motor vehicle is further proposed, which comprises a position determination device as described above, the at least one ultra-wideband transceiver unit of which is fixedly located in the motor vehicle. The motor vehicle further comprises an access system for locking and unlocking and / or actively opening at least one vehicle door and / or bonnet of the motor vehicle. The position determination device is communicatively connected to the access system and is designed for operating the access system depending on a first position and / or trajectory and / or a second position and / or trajectory of the at least one object. This allows a planned operation of the vehicle door of the motor vehicle well in advance, which in particular increases the comfort of the user of the motor vehicle.

[0026] The ultra-wideband transceiver units of the localization device can in particular be arranged symmetrically in the vehicle with respect to the central axis of the vehicle, for example in the region of the bumper of the vehicle, and / or in the region of the A-pillar of the vehicle, and / or in the region of the B-pillar of the vehicle, and / or in the region of the C-pillar of the vehicle. More preferably, the localization device is realized by six separate ultra-wideband transceiver units. The ultra-wideband transceiver units are more preferably communicatively connected to each other and preferably to the above-mentioned calculation unit of the localization device as well as to an access system for locking and unlocking and / or actively opening the vehicle doors of the vehicle, which is further discussed below and is assembled in the vehicle.

[0027] Preferably, the at least one object is realized by a mobile unit having ultra-wideband communication capabilities. In particular, said mobile unit can be realized by a mobile terminal device, for example a so-called intelligent key (smart key), or a mobile phone (smartphone), or a so-called CoD, i.e. a consumer owned smart device of the automobile. This provides an embodiment of said at least one object that can be comfortably handled by the automobile user and is widely accepted.

[0028] In summary, the present invention relates to an ultra-wideband location method for a location device preferably arranged in a motor vehicle, comprising the steps of: 1) establishing a bidirectional ultra-wideband data communication between the location device and at least one object having ultra-wideband communication capabilities approaching the motor vehicle by means of the location device, whereby a first position and / or trajectory of the at least one object relative to the motor vehicle is determined by means of the location device based on data packets exchanged within the ultra-wideband data communication framework, and 2) performing an ultra-wideband location and distance measurement by means of the location device, whereby a second position and / or trajectory of the at least one object relative to the motor vehicle is determined by means of the location device by means of transmitting at least one ultra-wideband transmission radio signal and detecting with a time delay backscattering radio signals of the ultra-wideband transmission radio signal reflected by the at least one object.Furthermore, the present invention preferably relates to a location device for implementing the above-mentioned ultra-wideband location method, and in particular to a motor vehicle equipped with such a location device.

[0029] Further important features and advantages of the invention emerge from the dependent claims, the drawings and the associated description of the respective figures based on these drawings.

[0030] It is to be understood that the features mentioned above, and those further described below, can not only be used in the respective combinations indicated, but can also be used in other combinations or alone, without departing from the scope of the invention.

[0031] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention are illustrated in the drawings and described in more detail below, where like reference numbers indicate identical or similar or functionally identical elements.

[0032] Here, the drawings respectively roughly depict: [Brief description of the drawings]

[0033] [Figure 1]1 shows a schematic plan view of a schematic representation of a vehicle equipped with a location device for implementing the ultra-wideband location method according to the invention; [Diagram 2] 2 shows a flow chart of an ultra-wideband location method according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] As mentioned, Fig. 1 shows a plan view of a motor vehicle, generally designated by reference number 2, equipped with a localization device 3 designed to implement the ultra-wideband localization method 1 according to the invention, which localization device 3 has six separate ultra-wideband transceiver units 15, merely by way of example, indicated by blocks, a calculation unit 14, also indicated by a block, and a computer-readable storage medium, here integrated in the calculation unit 14. The ultra-wideband transceiver units 15 are fixed to the motor vehicle 2, here by way of example, two of them being fixed symmetrically with respect to a central axis of the motor vehicle 2, not shown, in the area of ​​the front bumper 18 of the motor vehicle 2, in the area of ​​the B-pillar 20 of the motor vehicle 2, in the area of ​​the C-pillar 21 of the motor vehicle 2 or in the area of ​​the rear bumper of the motor vehicle 2. The aforementioned integrated storage medium contains instructions, which, when executed by the calculation unit 14, instruct the localization device 3 to implement the ultra-wideband localization method 1 described below. 1 further comprises a number of vehicle doors 23 and an access system 22 for locking and unlocking and / or actively opening the vehicle doors 23. The above-mentioned components of the location device 3 are communicatively connected to the access system 22 so that they can be operated within the framework of the ultra-wideband location method 1 by means of the location device 3.

[0035] Within the framework of the above-mentioned two-stage ultra-wideband localization method 1, in order to determine a first position and trajectory 5 and / or a second position and trajectory 6 of an object 4 with ultra-wideband communication capabilities, here a mobile unit 13 with ultra-wideband communication capabilities, approaching the motor vehicle 2, firstly a bidirectional ultra-wideband data communication 7 between the localization device 3, i.e. the ultra-wideband transceiver unit 15, and the at least one object 4 is established by means of the localization device 3 as soon as the at least one object 4 is located within a set or settable communication range for the localization device 3. As soon as the ultra-wideband data communication 7 can be established and is established, a first position and trajectory 5 of the at least one object 4 relative to the motor vehicle 2 is determined by means of a calculation unit 14 of the localization device 3 on the basis of data packets 8 exchanged within the ultra-wideband data communication 7 between the at least one object 4 and the localization device 3. For example, here, in order to determine the above-mentioned first position and trajectory 5, the propagation times of such data packets 8 between the at least one object 4 and the ultra-wideband transmitting / receiving unit 15 of the localization device 3 are measured, whereby the exchanged data packets 8 can be evaluated using a propagation time measurement, called TOF (Time Of Flight). Furthermore, the first position and trajectory 5 can additionally or alternatively be evaluated using triangulation. Thereby, within the framework of the ultra-wideband data communication 7 established within the framework of the ultra-wideband localization method 1, a relatively coarse first position and trajectory 5 of the at least one object 4 is first determined, i.e. a coarse localization is realized. Subsequently, an ultra-wideband localization and distance measurement 9, which can also be called ultra-wideband radio radar, is performed by means of the localization device 3, i.e. by means of the ultra-wideband transmitting / receiving unit 15, as soon as the at least one object 4 falls below a set or settable distance 12 between the object 4 and the motor vehicle 2, which represents a proximity zone 11 extending around the motor vehicle 2. In this case, using the position determination device 3, i.e., using the ultra-wideband transceiver unit 15, first, at least one ultra-wideband transmitted radio signal 30 is sent out, and then, with a time delay, a backscattered signal 31 of the at least one ultra-wideband transmitted radio signal 30 reflected by at least one object is detected.In this case, a second position and trajectory 6 of the at least one object 4 relative to the motor vehicle 2 is determined by means of a calculation unit 14 of the localization device 3. As a result, within the framework of the implementation of an ultra-wideband localization and distance measurement 9 (ultra-wideband radio radar), a relatively accurate second position and trajectory 6 of the at least one object 4 is determined, which may also be referred to as fine localization of the at least one object 4. Based on the determined first position and trajectory 5 and / or second position and trajectory 6, for example, the vehicle door 23 of the motor vehicle 2 and / or other system functions of the motor vehicle 2 can be activated in a targeted manner well in advance in time, which in particular increases the comfort of the user of the motor vehicle 2.

[0036] In order to be able to establish and maintain an ultra-wideband data communication 7 and to perform an ultra-wideband localization and distance measurement 9 (ultra-wideband radio radar) using the ultra-wideband transceiver unit 15 of the position determination device 3, the ultra-wideband transceiver unit 15 is designed to operate in a first operating mode 16 in which a bidirectional ultra-wideband data communication 7 is established or can be established, and in a second operating mode 17 in which an ultra-wideband localization and distance measurement 9 is performed or can be performed. In particular, the ultra-wideband transceiver unit 15 can operate in a pulsed manner in the second operating mode 17 (ultra-wideband radio radar). By way of example in this respect, the ultra-wideband transceiver unit 15 is provided with a transmitting device 24 designed to emit a pulsed ultra-wideband transmission radio signal 3 and a receiving device 25 designed to receive a pulsed backscattering radio signal 31, respectively (see FIG. 2).

[0037] To illustrate this, Fig. 2 shows a flow chart of an ultra-wideband location method 1 according to the invention, in which an ultra-wideband transmitting / receiving unit 15 is shown, exemplarily consisting of a transmitting device 24 and a receiving device 25, each of which is indicated by a block. The transmitting device 24 is provided with electrical control signals by an internal system clock 26 and a pulse wave generator 27, so that the transmitting device 24 can emit a pulsed ultra-wideband transmission radio signal 30, symbolically represented by an arrow, which is reflected by the mobile unit 13 with a time delay as a pulsed backscattered radio signal 31, which can be detected by the receiving device 25 and exemplarily provided to a wave delay discrimination unit 28 of the location device 3. The wave delay discrimination unit 28 can then evaluate the received pulsed backscattered radio signal 31 and in particular provide a second position and trajectory 6 to a user interface 29. Preferably, the wave delay discrimination unit 28 is an integral component of or forms the computation unit 14 .

Claims

1. An ultra-wideband location method (1) for a location device (3) arranged in a motor vehicle (2), comprising: establishing, by means of the location determination device (3), a bidirectional ultra-wideband data communication (7) between the location determination device (3) and at least one object (4) having ultra-wideband communication capabilities and approaching the vehicle (2), wherein a first position and a trajectory (5) of the at least one object (4) relative to the vehicle (2) are determined by means of the location determination device (3) based on data packets (8) exchanged within the framework of the ultra-wideband data communication (7); performing an ultra-wideband positioning and distance measurement (9) using the positioning device (3), in which at least one ultra-wideband transmitted radio signal (30) is emitted using the positioning device (3) and a backscattered radio signal (31) of the ultra-wideband transmitted radio signal (30) reflected by at least one object (4) is detected with a time delay, thereby determining a second position and a trajectory (6) of the at least one object (4) relative to the vehicle (2) using the positioning device (3); In an ultra-wideband positioning method (1), - determining the second position and trajectory (6) of the at least one object (4) relative to the vehicle (2) as soon as the at least one object (4) falls below a set or settable distance (12) between the at least one object (4) and the vehicle (2), the distance representing a proximity zone (11) extending around the vehicle (2); using the location determination device (3), the first trajectory (5) is determined based on the first position and the second trajectory (6) is determined based on the second position; said first trajectory (5) and said second trajectory (6) being calculated in a calculation unit (14) of said localization device (3); determining a first future position from the first trajectory (5) and a second future position from the second trajectory (6); An ultra-wideband positioning method (1), comprising:

2. It is carried out in two stages, optionally firstly by establishing ultra-wideband data communication (7) with said location device (3) and then by carrying out ultra-wideband location and distance measurement (9) with said location device (3). Ultra-wideband location method (1) according to claim 1, characterised in that

3. As soon as the at least one object (4) is located within a set or configurable communication range of the localization device (3), an ultra-wideband data communication (7) is established between the localization device (3) and the at least one object (4). Ultra-wideband location method (1) according to claim 1 or 2, characterized in that it comprises:

4. In order to determine a first position and a trajectory (5) of the at least one object (4) relative to the vehicle (2), data packets (8) exchanged within the framework of the established ultra-wideband data communication (7) are evaluated using propagation time measurements, by which a propagation time of the data packets (8) between the at least one object (4) and the localization device (3) is determined. Ultra-wideband location method (1) according to any one of claims 1 to 3, characterised in that

5. Data packets (8) exchanged within the framework of the established ultra-wideband data communication (7) are evaluated by means of triangulation in order to determine a first position and a trajectory (5) of the at least one object (4) relative to the vehicle (2). Ultra-wideband location method (1) according to any one of claims 1 to 4, characterised in that

6. At least one object (4) is realized by a mobile unit (13) having ultra-wideband communication capabilities. Ultra-wideband location method (1) according to any one of claims 1 to 5, characterised in that

7. Determining the first position and trajectory (5) of the at least one object (4) and the second position and trajectory (6) of the at least one object (4) is realized by a calculation unit (14) of the localization device (3), which is arranged in the vehicle (2). Ultra-wideband location method (1) according to any one of claims 1 to 6, characterised in that

8. The location determination device has an ultra-wideband transmitting / receiving unit (15) mounted on the vehicle (2); The ultra-wideband transceiver units (15) are each designed to operate in a first operating mode (16) in which a bidirectional ultra-wideband data communication (7) is established or can be established, and in a second operating mode (17) in which an ultra-wideband localization and ranging (9) is performed or can be performed. Ultra-wideband location method (1) according to any one of claims 1 to 7, characterized in that

9. said ultra-wideband transmitting / receiving units (15) each operate either in said first operating mode (16) or in said second operating mode (17) depending on the determined first position (5) and / or second position (6) of said at least one object (4); and / or all ultra-wideband transceiver units (15) simultaneously, or at least one ultra-wideband transceiver unit (15) operates in the first operating mode (16) at the start of the ultra-wideband location method (1); and / or in said first operating mode (16), all ultra-wideband transceiver units (15) operate simultaneously or at least one ultra-wideband transceiver unit (15) operates when an ultra-wideband data communication (7) is established or can be established between said ultra-wideband transceiver units (15) and at least one object (4) located within a communication range set or configurable for said localization device (3); and / or When the at least one object (4) falls below a distance (12) between the at least one ultra-wideband transceiver unit (15) and the at least one object (4), the distance (12) being representative of a set or configurable distance zone (11) extending around the vehicle (2), the at least one ultra-wideband transceiver unit (15) operates in the second operating mode (17). Ultra-wideband location method (1) according to claim 8, characterised in that

10. The location determination device (3), or at least one ultra-wideband transmitting / receiving unit (15) of the location determination device (3), operates in a pulsed manner. Ultra-wideband location method (1) according to any one of claims 1 to 9, characterized in that

11. an access system (22) arranged in the motor vehicle (2) and connected in communication with the location device (3) for locking and unlocking and / or actively opening a vehicle door (23) of the motor vehicle (2), which operates with the location device (3) depending on the determined first position and trajectory (5) and / or second position and trajectory (6) of the at least one object (4); Ultra-wideband location method (1) according to any one of claims 1 to 10, characterised in that

12. At least one ultra-wideband transceiver unit (15) designed to transmit and receive ultra-wideband radio signals (30, 31), a computing unit (14) designed to perform computational operations, and a computer-readable storage medium are provided; The storage medium includes instructions that, when executed by the computing unit (14), instruct the location device (3) to perform the ultra-wideband location method (1) according to claims 1 to 11. A location determination device (3).

13. The at least one ultra-wideband transceiver unit (15) comprises a transmitter (24) and a receiver (25). A location device (3) according to claim 12, characterised in that it is

14. A location device (3) according to claim 12 or 13, comprising at least one ultra-wideband transmitting / receiving unit (15) fixed to the motor vehicle (2), an access system (22) for locking and unlocking and / or actively opening a vehicle door (23) of the motor vehicle (2); The localization device (3) is communicatively connected to the access system (22) and is designed to operate the access system (22) depending on a first position and trajectory (5) and / or a second position and trajectory (6) of the at least one object (4) determined within the framework of the ultra-wideband localization method (1). A vehicle (2).

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