Ultra-wideband based vehicle positioning components, methods, apparatus and devices

Abstract

The present invention provides an ultra-wideband-based vehicle positioning component, method, apparatus, and device. The ultra-wideband-based vehicle positioning component includes at least one ultra-wideband (UWB) module (1) and multiple anchor antennas (2). The multiple anchor antennas (2) are grouped together at preset mounting areas on the vehicle body so that the signal areas of the multiple anchor antennas (2) cover preset areas around and / or inside the vehicle. The output terminal of at least one ultra-wideband (UWB) module (1) is time-shared connected to two or more anchor antennas (2) installed at different positions and / or with different pointing. By using the same number of anchor antennas (2), the ultra-wideband-based vehicle positioning component can reduce the number of UWB modules (1) installed, improve the effective utilization time of each UWB module (1), and reduce production and usage costs.

Description

[Technical Field]

[0001] The present invention relates to the technical field of vehicular communications, and in particular to ultra-wideband based vehicle positioning components, methods, apparatus and devices. [Background technology]

[0002] Ultra-wideband (UWB) technology is a carrier-less communications technology that transmits data without a sinusoidal carrier using narrow, non-sinusoidal pulses at the nanosecond level. Its signal peaks are sharp and narrow, making them easily discernible even in noisy, multi-channel environments. Therefore, it can meet a variety of short-range wireless communication needs, particularly for precise positioning in dense, multi-path environments, such as vehicle unlocking, automatic vehicle start, vehicle interior passenger detection, vehicle drone operation, automated valet parking, automated parking, parking lot entry, and drive-through payment. The anchor station in current vehicular UWB systems consists of one UWB module and one positioning anchor antenna, as shown in Figure 1. The UWB module accounts for the majority of the anchor station's cost. To meet the needs for positioning in the vehicle's surrounding area and interior, a number of UWB modules equaling the number of anchor antennas is required, resulting in high costs.

[0003] Therefore, there is a need to provide an improved vehicle positioning system to reduce manufacturing and operating costs. Summary of the Invention [Problem to be solved by the invention]

[0004] To solve the above technical problems, the present invention provides vehicle positioning components, methods, apparatus and devices based on ultra-wideband, which can reduce production costs and usage costs. [Means for solving the problem]

[0005] The present invention provides a vehicle positioning component based on ultra-wideband, which includes at least one ultra-wideband (UWB) module and multiple anchor antennas, the multiple anchor antennas are grouped together at respective preset mounting areas on a vehicle body so that the signal areas of the multiple anchor antennas cover preset areas around and / or inside the vehicle, and the output terminal of the at least one UWB module is time-divisionally connected to two or more anchor antennas that are installed at different positions and / or have different pointing.

[0006] The present invention provides an ultra-wideband based vehicle positioning method. Based on an ultra-wideband based vehicle positioning component, the ultra-wideband based vehicle positioning method comprises: Obtaining first ultra-wideband radio wave information between each anchor antenna of the current vehicle and the target tag, the first ultra-wideband radio wave information including signal strength and signal flight time of each first ultra-wideband signal transmitted between each anchor antenna and the target tag; determining an optimally positioned anchor antenna group according to the first ultra-wideband radio wave information, the optimally positioned anchor antenna group including anchor antennas of at least two preset installation areas, any one of the anchor antennas in the optimally positioned anchor antenna group being an anchor antenna with the best visibility condition corresponding to the preset installation area, the best visibility condition being determined by at least one of a signal flight time, a signal strength, and the number and / or area of ​​metal parts of a vehicle body in a signal transmission direction of the anchor antenna; controlling an output terminal of a corresponding ultra-wideband (UWB) module to connect to each anchor antenna in the optimally positioned anchor antenna group; obtaining second ultra-wideband radio wave information between the target tag and each anchor antenna in the optimal positioning anchor antenna group; The method further includes: locating the target tag using the second ultra-wideband radio wave information and obtaining the location of the target tag relative to the current vehicle.

[0007] The present invention provides a vehicle positioning device based on ultra-wideband, which includes a first acquisition module, a first positioning anchor antenna group determination module, a first control module, a second acquisition module and a first positioning module; The first acquisition module is used to acquire first ultra-wideband radio wave information between each anchor antenna of the current vehicle and the target tag, and the first ultra-wideband radio wave information includes a signal strength and a signal flight time of each first ultra-wideband signal transmitted between each anchor antenna and the target tag; the first positioning anchor antenna group determination module is used to determine an optimal positioning anchor antenna group according to the first ultra-wideband radio wave information, the optimal positioning anchor antenna group includes anchor antennas of at least two preset installation areas, any one anchor antenna in the optimal positioning anchor antenna group is an anchor antenna corresponding to the preset installation area and having the best visibility condition, the best visibility condition being determined according to at least one of a signal flight time, a signal strength, and the number and / or area of ​​metal parts of a vehicle body in a signal transmission direction of the anchor antenna; the first control module is used to control the output terminal of the corresponding UWB module to connect to the anchor antenna of the optimally positioned anchor antenna group; the second acquisition module is used to acquire second ultra-wideband radio wave information between the target tag and each anchor antenna in the optimal positioning anchor antenna group; The first positioning module is used to position the target tag according to the second ultra-wideband radio wave information and obtain the position of the target tag relative to the current vehicle.

[0008] The present invention provides an ultra-wideband-based vehicle positioning device, which includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the above-mentioned ultra-wideband-based vehicle positioning method.

[0009] The present invention provides a vehicle, the vehicle including an ultra-wideband based vehicle positioning component, apparatus or device as described above.

[0010] The ultra-wideband based vehicle positioning components, methods, apparatus, devices and vehicles provided by the present invention have the following technical effects: Since some or all of the ultra-wideband (UWB) modules of the present invention are installed with two or more anchor antennas, by keeping the number of anchor antennas the same, the number of installed ultra-wideband (UWB) modules can be reduced, the effective utilization time of each UWB module can be improved, and production and usage costs can be reduced.

[0011] The above description is merely a summary of the technical solution of the present invention. In order to make the technical means of the present invention more clearly understood and implemented in accordance with the contents of this specification, and to make the above and other objects, features and advantages of the present invention more clear and understandable, specific embodiments of the present invention are exemplified below.

[0012] The following detailed description of specific embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the above and other objects, features and advantages of the present invention more apparent to those skilled in the art. [Brief explanation of the drawings]

[0013] Some specific embodiments of the present invention will now be described in detail by way of example, and not by way of limitation, with reference to the accompanying drawings, in which like reference numerals indicate like or similar parts or portions, and those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. [Figure 1] FIG. 1 is a block diagram showing the structure of a vehicle positioning system based on ultra-wideband in the prior art; [Figure 2] 1 is a block diagram illustrating the structure of a vehicle positioning system based on ultra-wideband provided by an embodiment of the present invention; [Figure 3] 1 is a diagram illustrating a vehicle structure provided by an embodiment of the present invention, where an anchor antenna is installed; [Figure 4] 1 is a flowchart illustrating a vehicle positioning method based on ultra-wideband provided by an embodiment of the present invention. [Figure 5] 1A and 1B illustrate target tag positioning provided by an embodiment of the present invention. [Figure 6] 1A and 1B illustrate target tag positioning provided by an embodiment of the present invention. [Figure 7] 1 is a diagram showing the structure of a vehicle equipped with an anchor antenna according to the prior art; [Figure 8] FIG. 1 illustrates the positioning of a target tag in the prior art. [Figure 9] FIG. 1 is a block diagram illustrating the structure of a vehicle positioning device based on ultra-wideband provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014]

[0023] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While the drawings illustrate exemplary embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more complete understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0015] The present invention provides a vehicle positioning component based on ultra-wideband. The vehicle positioning component based on ultra-wideband includes at least one ultra-wideband (UWB) module (hereinafter referred to as UWB module) and multiple anchor antennas 2. The multiple anchor antennas 2 are grouped and installed at respective preset installation areas on the vehicle body so that the signal areas of the multiple anchor antennas 2 cover preset areas around and / or inside the vehicle. The output terminal of the at least one UWB module 1 is time-divisionally connected to two or more anchor antennas 2 installed at different positions and / or with different pointing.

[0016] In the embodiment of the present invention, the signal network areas covered by two adjacent anchor antennas 2 overlap.

[0017] In an embodiment of the present invention, multiple anchor antennas 2 are divided into several groups and installed in different preset mounting areas on the vehicle body, with each group including at least one anchor antenna 2. When multiple anchor antennas 2 are installed in each preset mounting area, the combined multiple anchor antennas replace the spatial solid angle range covered by the original single anchor antenna 2, and the spatial solid angle covered by each anchor antenna 2 becomes smaller, thereby increasing the antenna gain of each anchor antenna and expanding the signal network coverage in that direction or the gain budget margin of the original signal network coverage, thereby improving the distance range and reliability of positioning.

[0018] Here, the preset mounting areas include, but are not limited to, a left front area 101, a right front area 102, a left rear area 103, a right rear area 104, a left area 105, a right area 106, and a roof area 107 of the vehicle, etc. The specific locations and sizes of the preset mounting areas are determined according to different vehicle models or different signal detection requirements.

[0019] Furthermore, different anchor antennas 2 are used for signal transmission with target tags 200 around or inside the vehicle, thereby realizing the location of target tags 200 around or inside the vehicle. For example, three anchor antennas 2 are installed in the left front area 101 of the vehicle, and the signal networks of the three anchor antennas 2 can each cover a part of the signal transmission area of ​​the left front area 101 of the vehicle, compared to installing one anchor antenna 2. That is, an anchor antenna 2 with a higher antenna gain can improve signal reception ability and detect target tags 200 that are farther away from the vehicle.

[0020] In embodiments of the present invention, the preset area around the vehicle may include an annular space or a hemispherical space around the vehicle, and / or the preset area may include some or all of the space inside the vehicle.

[0021] In some embodiments, multiple anchor antennas 2 are installed in groups in a left front area 101, a right front area 102, a left rear area 103, and a right rear area 104 of the vehicle body.

[0022] In some other embodiments, multiple anchor antennas 2 are installed in groups in a left front area 101, a right front area 102, a left rear area 103, a right rear area 104, a left area 105 and a right area 106 of the vehicle body.

[0023] In some other embodiments, multiple anchor antennas 2 are installed in groups in the left front area 101, the right front area 102, the left rear area 103, the right rear area 104, the left area 105, the right area 106, and the roof area 107 of the vehicle body.

[0024] The division of different preset mounting areas on the vehicle body and the manner in which anchor antennas 2 are installed in groups on different preset mounting areas on the vehicle body can be determined according to the range of preset areas to be covered, and the number of preset mounting areas in which anchor antennas 2 are installed or the number of anchor antennas 2 within a group can be increased or decreased according to actual needs, but it should be noted that this is not limited to the above description.

[0025] In an embodiment of the present invention, an electronic switch 3 is provided between at least one UWB module 1 and a corresponding anchor antenna 2, and the output terminal of the at least one UWB module 1 is time-divisionally connected to anchor antennas 2 that are installed at different positions and / or have different pointings by switching the electronic switch 3. The electronic switch 3 includes, but is not limited to, a radio frequency electronic switch.

[0026] In one embodiment, the vehicle positioning component includes four UWB modules 1 and twelve anchor antennas 2. Each UWB module 1 can be time-shared connected to three anchor antennas 2 with different pointing directions by switching an electronic switch 3. Specifically, the first UWB module can be time-shared connected to A1, A2, and A3, the second UWB module can be time-shared connected to B1, B2, and B3, the third UWB module can be time-shared connected to C1, C2, and C3, and the fourth UWB module can be time-shared connected to D1, D2, and D3. The twelve anchor antennas 2 are equally divided into four groups, one group each installed in the left front area 101, the right front area 102, the left rear area 103, and the right rear area 104 of the vehicle body. Each group includes three anchor antennas 2, specifically, A1, A2, and A3 are installed in the left front area 101, D1, D2, and D3 are installed in the right front area 102, B1, B2, and B3 are installed in the left rear area 103, and C1, C2, and C3 are installed in the right rear area 104. In this way, signal transmission with the target tags 200 in the preset areas in the circular space around the vehicle is realized.

[0027] 2 and 3, in another embodiment, a vehicle positioning component includes six UWB modules 1 and eighteen anchor antennas 2. Each UWB module is communicatively connected to a positioning device 4, and each UWB module 1 is time-shared connected to three anchor antennas 2 having different pointing positions by switching an electronic switch 3. Specifically, a first UWB module can be time-shared connected to A1, A2, and A3, a second UWB module can be time-shared connected to B1, B2, and B3, a third UWB module can be time-shared connected to C1, C2, and C3, a fourth UWB module can be time-shared connected to D1, D2, and D3, a fifth UWB module can be time-shared connected to E1, E2, and E3, and a sixth UWB module can be time-shared connected to F1, F2, and F3. The 18 anchor antennas 2 are divided into seven groups, one each installed in the left front area 101, right front area 102, left rear area 103, and right rear area 104 of the vehicle body, each group including three anchor antennas 2. Specifically, A1, A2, and A3 are installed in the left front area 101, D1, D2, and D3 are installed in the right front area 102, B1, B2, and B3 are installed in the left rear area 103, and C1, C2, and C3 are installed in the right rear area 104. One group is installed in the roof area 107 of the vehicle body and includes four anchor antennas 2, E2, E3, F2, and F3. One group is installed in the left area 105 and right area 106 of the vehicle body, each including one anchor antenna 2. Specifically, E1 is installed in the left area 105 and F1 is installed in the right area 106.

[0028] Furthermore, in one embodiment, the anchor antennas 2 installed in the left front area 101, the right front area 102, the left rear area 103 and the right rear area 104 of the vehicle body are used for signal transmission with the target tag 200 outside the vehicle, and the anchor antennas 2 installed in the left area 105, the right area 106 and the roof area 107 are used for signal transmission with the target tag 200 inside the vehicle. That is, the preset areas include a first preset area in the annular space around the vehicle and a second preset area inside the vehicle.

[0029] Furthermore, in another embodiment, anchor antennas 2 installed in the left front area 101, right front area 102, left rear area 103, right rear area 104, left area 105, and right area 106 of the vehicle body are used for signal transmission with target tags 200 outside the vehicle, and anchor antenna 2 installed in the roof area 107 is used for signal transmission with target tags 200 inside the vehicle.

[0030] Furthermore, in another embodiment, anchor antennas 2 installed in the left front area 101, right front area 102, left rear area 103, right rear area 104, left area 105, right area 106 and roof area 107 of the vehicle body are used for signal transmission with target tags 200 outside the vehicle, thereby realizing signal transmission with target tags 200 in preset areas in the hemispherical space around the vehicle.

[0031] Furthermore, in another embodiment, all or some of the anchor antennas 2 installed in the left front area 101, right front area 102, left rear area 103, right rear area 104, left area 105, right area 106, and roof area 107 of the vehicle body can be used simultaneously for signal transmission with target tags 200 outside and inside the vehicle.

[0032] In another embodiment, the positioning component includes a UWB module 1 and multiple anchor antennas 2. The output terminal of the UWB module 1 is rapidly switched to different anchor antennas 2 in a time-division manner for signal transmission and positioning.

[0033] In the present invention, by keeping the number of anchor antennas 2 the same, the number of UWB modules 1 attached can be reduced, the effective use time of each UWB module 1 can be improved, and production costs and usage costs can be reduced.

[0034] The present invention further provides a vehicle positioning system based on ultra-wideband, which includes the above-mentioned vehicle positioning component based on ultra-wideband and a positioning device 4. The positioning device 4 controls communication between the vehicle positioning component and the target tag 200, and positions the target tag 200 according to the communication information between the vehicle positioning component and the target tag 200.

[0035] The present invention also provides a vehicle positioning method based on ultra-wideband. Please refer to FIG. 4. FIG. 4 is a flowchart of a vehicle positioning method based on ultra-wideband provided by an embodiment of the present invention. This specification provides the operation steps of the method described in the embodiment or flowchart, but the method may include more or fewer operation steps based on routine or non-creative labor. The sequence of steps listed in the embodiment is merely one of many execution sequences of steps and does not represent the only execution sequence. When an actual device, apparatus, storage medium, or device product is implemented, it can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or drawings.

[0036] Specifically, as shown in FIG. 4, the method includes the following steps: S110: First ultra-wideband radio wave information between each anchor antenna 2 and the target tag 200 is obtained.

[0037] In an embodiment of the present invention, the first ultra-wideband radio wave information includes, but is not limited to, the signal strength and signal flight time of each first ultra-wideband signal transmitted between each anchor antenna and the target tag, and may further include communication data of each first ultra-wideband signal.

[0038] In practical applications, the target tag 200 may be a tag that can communicate with a vehicle positioning system based on ultra-wideband via an ultra-wideband signal and meets communication protocol requirements. Examples of hardware devices that may be tags include, but are not limited to, physical car keys, mobile devices with electronic car keys, drone remote control devices, sensing devices, ETC devices, etc.

[0039] In a specific embodiment, the control device can control the UWB module 1 to transmit or receive an ultra-wideband signal via each anchor antenna 2 to communicate with the target tag 200. When one UWB module 1 corresponds to multiple anchor antennas 2, the UWB module 1 can be connected to the corresponding anchor antenna 2 in a time-division switched manner. In an extreme situation, the vehicle positioning system may have only one UWB module 1 installed, and the control device may control the one UWB module 1 to be connected to all anchor antennas 2 in a time-division switched manner.

[0040] In some embodiments, step S110 may specifically be a step of obtaining first ultra-wideband radio wave information between each anchor antenna 2 and the target tag 200 in the preset area.

[0041] In practical application, the preset area includes a first preset area around the vehicle and / or a second preset area inside the vehicle.

[0042] S120: Determine an optimally positioned anchor antenna group according to the first ultra-wideband radio wave information. The optimally positioned anchor antenna group includes anchor antennas 2 of at least two preset installation areas, and any one anchor antenna 2 in the optimally positioned anchor antenna group is the anchor antenna 2 with the best visibility condition corresponding to the preset installation area. The best visibility condition is determined by at least one of signal flight time, signal strength, and the number and / or area of ​​metal parts of the vehicle body in the signal transmission direction of the anchor antenna 2.

[0043] In an embodiment of the present invention, each anchor antenna 2 in the optimal positioning anchor antenna group belongs to a different preset mounting area of ​​the vehicle body, and may belong to several preset mounting areas in descending order of visibility conditions with respect to the target tag 200. In addition, the distance between each anchor antenna 2 and the target tag 200 satisfies the visibility conditions.

[0044] In practical applications, the best visibility conditions are determined during vehicle calibration and pre-stored in the vehicle positioning system, or obtained by calculation during the target tag 200 positioning process.

[0045] In a specific embodiment, the method for determining the number and / or area of ​​the metal parts of the vehicle body in the signal transmission direction of the anchor antenna 2 is to obtain the coordinates of the anchor antenna 2 and each metal part of the vehicle body in a coordinate system pre-stored in the vehicle positioning system, and calculate the number and / or area of ​​the metal parts of the vehicle body that are blocked by the anchor antenna 2 in the signal transmission direction according to the coordinates of the anchor antenna 2 and the coordinates of each metal part of the vehicle body.

[0046] In some embodiments, when two or more anchor antennas 2 in the same preset mounting area meet the visibility conditions, the anchor antenna 2 that meets at least one of the following conditions is the anchor antenna 2 with the best visibility conditions: the shortest signal flight time, the strongest received signal strength, and the smallest number of metal parts of the vehicle body that block the anchor antenna 2 in the signal transmission direction and / or the smallest area of ​​metal parts of the vehicle body.

[0047] Furthermore, a priority may be set for each of the above conditions, and the anchor antenna 2 that meets the highest priority condition may be determined as the anchor antenna 2 with the best visibility condition. For example, in one embodiment, the priority of each condition, from high to low, is the shortest signal flight time, the strongest received signal strength, and the smallest number and / or area of ​​metal parts of the vehicle body that block the anchor antenna 2 in the signal transmission direction. If two anchor antennas 2 in the same preset installation area meet the shortest signal flight time and the strongest received signal strength, respectively, the anchor antenna 2 that meets the shortest signal flight time is determined as the anchor point 2 with the best visibility condition.

[0048] It should be noted that the priority of each of the above conditions may be set according to actual needs and is not limited to the above description.

[0049] In some other embodiments, when the best visibility conditions are determined by two or more target parameters, including the signal flight time, the signal strength, and the number and / or area of ​​the metal parts of the vehicle body that block the anchor antenna 2 in the signal transmission direction, the method for determining the anchor point antenna 2 with the best visibility conditions is as follows: Sorting all first ultra-wideband signals in one preset mounting area according to each target parameter, and obtaining a ranking value for each first ultra-wideband signal corresponding to different target parameters (the smaller the ranking value, the better the signal quality is set). Multiplying each ranking value of the first ultra-wideband signals corresponding to each target parameter by a corresponding weighting factor, and adding up the ranking values ​​multiplied by the weighting factor to obtain a statistical ranking value for each first ultra-wideband signal. The anchor antenna 2 with the smallest statistical ranking value is determined as the anchor antenna 2 with the best visibility conditions.

[0050] S130: Control the output terminal of the corresponding UWB module 1 to connect to each anchor antenna 2 in the optimal positioning anchor antenna group.

[0051] In the embodiment of the present invention, after the optimum positioning anchor antenna group is determined, each anchor antenna 2 in the optimum positioning anchor antenna group is controlled to be connected to the output terminal of the corresponding UWB module 1 .

[0052] In actual applications, if the optimal positioning anchor antenna group corresponds to the same UWB module 1, step S130 specifically controls the output terminal of the UWB module 1 corresponding to the optimal positioning anchor antenna group to switch each anchor antenna 2 in the optimal positioning anchor antenna group at each first preset time, so as to connect to each anchor antenna 2 in the optimal positioning anchor antenna group in a time-division manner.

[0053] In some embodiments, by switching the electronic switch 3, the output terminal of the UWB module 1 can be connected to the connection terminal of each anchor antenna 2 in the optimally positioned anchor antenna group in a time-division manner.

[0054] S140: Obtain second ultra-wideband radio wave information between the target tag 200 and each anchor antenna 2 in the optimal positioning anchor antenna group.

[0055] In an embodiment of the present invention, the UWB module 1 acquires second ultra-wideband radio wave information by transmitting signals between the anchor antenna 2 in the optimal positioning anchor antenna group and the target tag 200. The second ultra-wideband radio wave information includes communication data, signal strength, and signal flight time of each second ultra-wideband signal.

[0056] S150: The target tag 200 is located using the second ultra-wideband radio wave information, and the current location of the target tag 200 relative to the vehicle 100 is obtained.

[0057] In the embodiment of the present invention, the position of the target tag 200 relative to the current vehicle 100 is calculated based on the second ultra-wideband radio wave information, and the algorithm may be the same as the conventional ultra-wideband positioning algorithm, which is not limited to the present invention.

[0058] In practical application, the positioning position of the target tag 200 relative to the current vehicle 100 is the position of the target tag 200 in a coordinate system pre-stored in the vehicle positioning system.

[0059] In some embodiments, the present ultra-wideband based vehicle positioning methods may be based on the ultra-wideband based vehicle positioning components and systems described above.

[0060] Based on some or all of the above embodiments, in some embodiments, step S120 includes the following steps: S121a: Determine an estimated position of the target tag 200 relative to the current vehicle 100 based on the first ultra-wideband radio wave information.

[0061] In practical applications, the estimated location can be characterized as the target tag 200 being located within a certain directional angle range of the current vehicle 100. The estimated location can also be characterized as the target tag 200 being located in a three-dimensional spatial region of a certain three-dimensional coordinate range of the current vehicle 100.

[0062] In a specific embodiment, the vehicle positioning system pre-stores a coordinate system based on the current vehicle 100 itself, and pre-stores the positions in the coordinate system of all anchor antennas 2. According to the positions of the anchor antennas 2 and the first ultra-wideband radio wave information, the target tag 200 can determine an estimated position in the coordinate system.

[0063] S122a: Once the estimated position is obtained, a correspondence table between sub-areas in the preset area around the current vehicle 100 and positioning anchor antenna groups is retrieved. In practical application, the preset area includes multiple sub-areas, and the correspondence table records a preset correspondence between each sub-area and each positioning anchor antenna group used for positioning. The preset correspondence can be determined during vehicle calibration, and is determined by at least one of the signal flight time, signal strength, and the number and / or area of ​​metal parts of the vehicle body in the signal transmission direction between the calibration tag and each anchor antenna during the calibration process.

[0064] S123a: The estimated location is matched with the sub-areas in the correspondence table to determine the sub-area that includes the estimated location. S124a: A positioning anchor antenna group corresponding to a sub-area including the estimated location is determined, and the determined positioning anchor antenna group is set as an optimal positioning anchor antenna group.

[0065] In practical applications, the coordinate system pre-stored in the vehicle positioning system of the current vehicle 100 may be a coordinate grid. In some embodiments, the coordinate grid may be an equidistant coordinate grid with a side length of, for example, 50 centimeters. In some other embodiments, the coordinate grid may be a non-equidistant grid designed into segments according to the distance from the vehicle body. One or more grids in the coordinate grid may define corresponding areas as subareas, with each subarea having the same or different number of grids.

[0066] Furthermore, in one embodiment, the anchor antenna group 2 corresponding to each coordinate grid and having the best visibility conditions can be determined based on the geometric relationship between the coordinate grid and each anchor antenna 2, the signal shielding condition of the vehicle body (determined by the appearance and structure of the vehicle model, for example, the number and / or area of ​​metal parts of the vehicle body in the signal transmission direction of the anchor antenna), etc., and further the anchor antenna group corresponding to the subarea and having the best visibility conditions can be determined, and each subarea can be matched with one positioning anchor antenna group.

[0067] Furthermore, the vehicle positioning system stores a preset correspondence table in advance, searches for a positioning anchor antenna group corresponding to the subarea to which the determined estimated position belongs, and sets this positioning anchor antenna group as the current optimal positioning anchor antenna group.

[0068] Furthermore, the estimated location may belong to or include multiple subareas corresponding to multiple positioning anchor antenna groups, and the positioning anchor antenna group corresponding to the middle subarea among the multiple subareas is selected as the optimal positioning anchor antenna group. Alternatively, the positioning anchor antenna group having the strongest average signal strength and / or the shortest average signal flight time may be selected as the optimal positioning anchor antenna group.

[0069] Based on some or all of the above embodiments, in an embodiment of the present invention, step S121 includes the following steps: S1211a: Compare the signal strength of each first ultra-wideband signal with a first preset strength. S1212a: Determine a first ultra-wideband signal whose signal strength is equal to or greater than a first preset strength as a valid first ultra-wideband signal. S1213a: Determine an estimated location of the target tag 200 relative to the current vehicle 100 using the signal strength and signal time of flight of the available first ultra-wideband signal.

[0070] In practical applications, the first ultra-wideband signal whose signal strength is weaker than the first preset strength may be discarded.

[0071] In some embodiments, when n valid first ultra-wideband signals are obtained, the signal time of flight of each valid first ultra-wideband signal determines the distance between the corresponding anchor antenna 2 and the target tag 200. That is, by determining that the target tag 200 may be located in a spherical shell-shaped area having a specific thickness, with the corresponding anchor antenna 2 as the center of the sphere and the distance as the radius, the n valid first ultra-wideband signals correspond to the n spherical shell-shaped areas having the specific thickness, and the intersection area of ​​the n spherical shell-shaped areas having the specific thickness corresponds to the estimated position of the target tag 200 relative to the current vehicle 100.

[0072] In one embodiment, in a scene where a user enters a preset area with a device having a target tag 200, the user is generally a natural person, and his height is usually within a preset height range, so it can be determined that the device having the target tag 200 used by him is also within the preset height range. Therefore, after obtaining the intersection area of ​​n spherical shell-shaped areas with a specific thickness, the area whose intersection area is within the preset height range can be further determined as the estimated position of the target tag 200 relative to the current vehicle 100.

[0073] Based on some or all of the above embodiments, in an embodiment of the present invention, the second ultra-wideband radio wave information includes the signal flight time of each second ultra-wideband signal transmitted between each anchor antenna 2 in the optimal positioning anchor antenna group and the target tag 200. Step S150 specifically locates the target tag 200 according to the signal flight time of each second ultra-wideband signal.

[0074] In practical applications, the distance between each anchor antenna 2 in the optimal positioning anchor antenna group and the target tag 200 is calculated based on the signal flight time of each second ultra-wideband signal, and the position of the target tag 200 relative to the current vehicle 100 is calculated based on each distance.

[0075] Furthermore, each first ultra-wideband signal in the first ultra-wideband radio wave information may contain multipath signals, and the signal strength of some multipath signals may be greater than the first set strength, resulting in a discrepancy between the calculated estimated position and the actual position of the target tag 200. Recalculating the position using the second ultra-wideband radio wave information obtained by the optimal positioning anchor antenna group can reduce the influence of multipath signals and improve the accuracy of the positioning.

[0076] In some embodiments, the method further includes, before step S150, determining whether each second ultra-wideband signal in the second ultra-wideband radio wave information satisfies a preset condition, and if the preset condition is satisfied, performing step S150, and if the preset condition is not satisfied, repeating steps S120 to S140.

[0077] Furthermore, the optimal positioning anchor antenna group may re-acquire each second ultra-wideband signal at each preset second ultra-wideband signal sampling time, where the preset conditions include, but are not limited to, one or more of the following: whether the signal strength of each second ultra-wideband signal is equal to or greater than a first preset value; whether the difference in signal strength between two second ultra-wideband signals acquired at adjacent sampling times or preset interval times of each anchor antenna is equal to or less than a second preset value; whether the signal flight time of each second ultra-wideband signal is equal to or less than a first time threshold; and whether the difference in signal flight time between two second ultra-wideband signals acquired at adjacent sampling times or preset interval times of each anchor antenna is equal to or less than a second preset value. If each second ultra-wideband signal does not satisfy the preset conditions, due to the possibility of multipath signals, the estimated location and / or the corresponding optimal positioning anchor antenna group may be re-determined, and the location of the target tag 200 relative to the current vehicle 100 may be recalculated.

[0078] Furthermore, when calculating the estimated location using each first ultra-wideband signal, the selection conditions for the first ultra-wideband signal may be converged to select a first ultra-wideband signal whose signal strength is equal to or greater than a second preset strength, where the second preset strength is greater than the first preset strength, thereby reducing the possibility that multipath signals may interfere with the calculation results, improving the accuracy of determining the optimal positioning anchor antenna group, and ensuring that the best visibility conditions are met between the anchor antenna 2 used for positioning and the target tag 200.

[0079] Based on some or all of the above embodiments, in an embodiment of the present invention, the above method further includes, after step S150, a step of determining whether the subarea to which the position calculated in step S150 belongs is the same as the subarea to which the estimated position belongs. If the subarea to which the position calculated in step S150 belongs is different from the subarea to which the estimated position belongs, a positioning anchor antenna group matching the subarea to which the position calculated in step S150 belongs is re-searched using the preset correspondence table. The re-searched positioning anchor antenna group is determined as an updated optimal positioning anchor antenna group, updated second ultra-wideband radio wave information between the updated optimal positioning anchor antenna group and the target tag 200 is obtained, and the target tag 200 is re-positioned using the updated second ultra-wideband radio wave information to obtain an updated position of the target tag 200 relative to the current vehicle 100.

[0080] Based on some or all of the above embodiments, in some other embodiments, step S120 includes the following steps: S121b: Comparing the signal flight times of the first ultra-wideband signals in the first ultra-wideband radio wave information. S122b: Determine an optimal positioning anchor antenna group according to the comparison result, which includes at least a first anchor antenna having the shortest signal flight time and belonging to a first preset installation area, and a second anchor antenna having the smallest signal flight time difference with the first anchor antenna and belonging to a second preset installation area.

[0081] In practical application, the first anchor antenna with the shortest signal flight time is determined by comparing the signal flight times of each first ultra-wideband signal, and the first anchor antenna with the shortest signal flight time is selected as one anchor antenna 2 in the optimal positioning anchor antenna group. A second anchor antenna that does not belong to the first preset installation area and has the smallest difference in signal flight time from the first anchor antenna is selected as anchor antenna 2 in another optimal positioning anchor antenna group.

[0082] The optimal positioning anchor antenna group may include a third anchor antenna, etc., and the number of anchor antennas included may be set according to conditions such as the vehicle model and application scenario. The third anchor antenna is an anchor antenna 2 whose characteristics are similar to those of the second anchor antenna, which belongs to a third preset mounting area (different from the first and second preset mounting areas), and which has the smallest difference in signal flight time from the second anchor antenna. Similarly, a fourth anchor antenna, etc. may be determined.

[0083] For example, the top five digits of the signal flight time are M1 / M2 / M3 / M4 / M5, where M1 and M2 belong to the first preset mounting area, M3 and M4 belong to the second preset mounting area, and M5 belongs to the third preset mounting area. If the total number of anchor points in the optimal positioning anchor antenna group is set to three, M1, M3, and M5 form the optimal positioning anchor antenna group, where M1 is the first anchor antenna, M3 is the second anchor antenna, and M5 is the third anchor antenna.

[0084] Furthermore, after step S122b, a cyclic sampling step S123b may also be included, in which steps S121b and S122b are repeated at every preset sampling time to determine the optimal positioning anchor antenna group.

[0085] Furthermore, after step S123b, the method may further include a signal evaluation step S124b. In the signal evaluation step S124b, statistical data of the signal flight times of the first ultra-wideband signals of each anchor antenna 2 is obtained through a sampling time sequence. The statistical data includes the variance of each signal flight time obtained at each sampling time (or the distance between the anchor antenna 2 and the target tag 200 calculated based on each signal flight time) and / or the difference in the signal flight times of the first ultra-wideband signals corresponding to adjacent sampling times, so as to determine whether the first ultra-wideband signal is abnormal.

[0086] In some embodiments, if the dispersion is less than or equal to a preset dispersion value and / or the difference in signal flight times between adjacent sampling times is less than or equal to a preset adjacent time difference, it is determined that the first ultra-wideband signal is not abnormal, and the corresponding anchor antenna 2 can continue to be the positioning anchor antenna 2 in the optimal positioning anchor antenna group. Conversely, when re-entering S122a and re-determining the optimal positioning anchor antenna group, the anchor antenna 2 whose signal flight time is shorter than that of the abnormal anchor antenna 2 and whose difference in signal flight time is the smallest is selected to replace the current abnormal anchor antenna 2.

[0087] Based on some or all of the above embodiments, in some other embodiments, step S120 includes the following steps: S121c: The signal strength of each first ultra-wideband signal in the first ultra-wideband radio wave information is compared. S122c: Determine an optimal positioning anchor antenna group based on the comparison result, which includes at least a first anchor antenna having the strongest signal strength and belonging to a first preset installation area, and a second anchor antenna having the smallest difference in signal strength from the first anchor antenna and belonging to a second preset installation area.

[0088] Based on some or all of the above embodiments, in some other embodiments, step S120 includes the following steps: S121d: Compare the number and / or area of ​​metal parts of the vehicle body with the signal transmission direction of the anchor antenna 2 corresponding to each first ultra-wideband signal in the first ultra-wideband radio wave information. S122d: Determine an optimal positioning anchor antenna group based on the comparison result, which includes at least a first anchor antenna that has the smallest number and / or area of ​​metal parts of the vehicle body and belongs to a first preset installation area, and a second anchor antenna that has the smallest difference between the number and / or area of ​​metal parts of the vehicle body of the first anchor antenna and that belongs to a second preset installation area.

[0089] In practical applications, the implementation methods of steps S121C and S122C, as well as S121D and S122D, the corresponding cyclic sampling steps and signal evaluation steps are similar to the above steps S121B and S122B, and only require replacing the signal flight time with the signal intensity or the number and / or area of ​​the metal parts of the car body, and are not repeated here.

[0090] Furthermore, in some other embodiments, step S120 includes the following steps: S121d: respectively, ranking the first ultra-wideband radio wave information according to at least two of the signal flight time, signal strength, and the number and / or area of ​​the metal parts of the car body of each first ultra-wideband signal, wherein the ranking rule is that the shorter the signal flight time, the stronger the signal strength, and when the number and / or area of ​​the metal parts of the car body is the smallest, the smaller the ranking value. S122d: Multiply each ranking value of each first ultra-wideband signal by a corresponding weighting factor, and then sum them to obtain an overall ranking value of the anchor antenna 2 to which the first ultra-wideband signal corresponds. S123d: Determine an optimal positioning anchor antenna group according to the overall ranking value, which includes at least a first anchor antenna having the smallest overall ranking value and belonging to a first preset installation area, and a second anchor antenna having the smallest overall ranking value difference from the first anchor antenna and belonging to a second preset installation area.

[0091] In practical application, the implementation manners of S121d to S123d, the corresponding cyclic sampling steps and signal evaluation steps are similar to steps S121B and S122B, and are not repeated here.

[0092] Based on some or all of the above embodiments, in an embodiment of the present invention, after step S150, the method may further include the following steps: S210: Monitor whether the position of the target tag 200 changes.

[0093] In practical application, the target tag 200 is repositioned every second preset time via the currently determined optimal positioning anchor antenna group, and the latest positioning result is compared with the previous positioning result to determine whether the position of the target tag 200 has changed. And / or the above steps S110 to S120 may be repeated every third preset time, and the latest estimated position is compared with the previous estimated position to determine whether the position of the target tag 200 has changed.

[0094] S220: If the monitoring result is 'yes', determine whether the first optimal positioning anchor antenna group currently used for positioning matches the current position of the target tag 200.

[0095] S230: If the result of the determination is "No", re-determine the second optimal positioning anchor antenna group according to the current position of the target tag 200. If the result of the determination is "Yes", re-execute step S210.

[0096] In practical application, the sub-area to which the current location belongs is determined, and the positioning anchor antenna group corresponding to the sub-area to which the current location belongs is searched through the preset correspondence table to determine whether the positioning anchor antenna group matches the first optimal positioning anchor antenna group currently used for positioning, and if not, the positioning anchor antenna group corresponding to the sub-area to which the current location belongs is determined as the second optimal positioning anchor antenna group.

[0097] S240: Control the output terminal of the corresponding UWB module 1 to connect to the anchor antenna 2 in the second optimally positioned anchor antenna group.

[0098] S250: Obtain third ultra-wideband radio wave information between the second optimally positioned anchor antenna group and the target tag 200.

[0099] S260: Reposition the target tag 200 according to the third ultra-wideband radio wave information.

[0100] S270: Step S210 is executed again.

[0101] The third ultra-wideband radio wave information includes, but is not limited to, communication data, signal strength, and signal time of flight of each third ultra-wideband signal.

[0102] For example, if one or more anchor antennas 2 receive a first ultra-wideband signal transmitted from the target tag 200 that is reflected by a strong reflector, an error signal may be present in each of the first ultra-wideband signals in the first ultra-wideband radio wave information. If the signal strength of one or more error signals is strong but the distance between the anchor antenna 2 and the target tag 200 calculated based on the signal flight time is incorrect, the deviation of the estimated position or the positioning location will be large. As a result, the determined optimal positioning anchor antenna group will not match the actual position of the target tag 200, resulting in either no positioning or a large positioning error. In some embodiments, steps S110 to S150 may be re-executed every fourth preset time to eliminate the error signal. For example, when the target tag 200 moves to a subarea that does not have the reflection of the strong reflector, an accurate positioning can be determined, eliminating the influence of the error signal on the positioning results.

[0103] In this way, when the position of the target tag 200 changes, the optimal positioning anchor antenna group also changes accordingly, thereby forming the optimal "positioning anchor antenna dynamic pattern." The positioning algorithm can use this optimal "positioning anchor antenna dynamic pattern" to calculate and output the position information of the target tag 200 with higher accuracy.

[0104] The following describes the ultra-wideband based vehicle positioning system and method provided by the present invention based on a vehicle positioning system with six groups of UWB modules 1 and 18 anchor antennas 2. Referring to Figures 2 and 3, each UWB module 1 is connected to three anchor antennas 2 in a time-division manner via an electronic switch. In the current vehicle 100, anchor antennas A1, A2, and A3 corresponding to the first UWB module are installed in the left front area 101, anchor antennas D1, D2, and D3 corresponding to the fourth UWB module are installed in the right front area 102, anchor antennas B1, B2, and B3 corresponding to the second UWB module are installed in the left rear area 103, anchor antennas C1, C2, and C3 corresponding to the third UWB module are installed in the right rear area 104, anchor antenna E1 is installed in the left area 105, anchor antenna F1 is installed in the right area 106, and anchor antennas E2, E3, F2, and F3 are installed in the roof area 107, where E1, E2, and E3 correspond to the fifth UWB module, and F1, F2, and F3 correspond to the sixth UWB module. In this embodiment, the first UWB module to the fourth UWB module are used to communicate with target tags 200 around the vehicle, and the fifth UWB module and the sixth UWB module are used to simultaneously communicate with target tags 200 around the vehicle and inside the vehicle.

[0105] Furthermore, the positioning device 4 controls all UWB modules 1 to connect to corresponding anchor antennas 2 in a time-division manner, communicate with the target tag 200, sequence each received first ultra-wideband signal, discard first ultra-wideband signals whose signal strength is lower than a first preset strength, and calculate an estimated position using the remaining first ultra-wideband signals.

[0106] 5 , the calculated position is located at the left front of the current vehicle 100, corresponding to one sub-area at the left front of the preset area, and the corresponding optimal positioning anchor antenna group includes anchor antennas D3, A2, E3, and B1. The electronic switch 3 of the first UWB module is controlled to connect to A2, the electronic switch 3 of the second UWB module is controlled to connect to B1, the electronic switch 3 of the fourth UWB module is controlled to connect to D3, and the electronic switch 3 of the fifth UWB module is controlled to connect to E3 to obtain each second ultra-wideband signal, and calculate the position of the target tag 200 relative to the current vehicle 100 according to the signal flight time of the second ultra-wideband signal.

[0107] Furthermore, the optimum positioning anchor antenna group is polled to monitor whether there is a change in the position of the target tag 200. When it is monitored that the position of the target tag 200 has changed, the subarea to which the calculated latest position belongs is determined, and it is determined whether the positioning anchor antenna group matching the subarea to which the latest position belongs matches the current optimum positioning anchor antenna group, and if they do not match, the positioning anchor antenna group matching the subarea to which the latest position belongs is updated to the current second optimum positioning anchor antenna.

[0108] Furthermore, the second optimally positioned anchor antenna communicates with the target tag 200 to reposition and obtain the latest updated location of the target tag 200 .

[0109] 6, it is monitored that the position of the target tag 200 has moved to the left rear of the current vehicle 100. The optimal positioning anchor antenna group corresponding to and matching one sub-area at the left rear of the preset area includes anchor antennas A3, E1, F3, and B2. The electronic switch 3 of the first UWB module is controlled to connect to A3, the electronic switch 3 of the second UWB module is controlled to connect to B2, the electronic switch 3 of the fifth UWB module is controlled to connect to E1, and the electronic switch 3 of the sixth UWB module is controlled to connect to F3, and the updated second ultra-wideband signals are obtained, and the position of the target tag 200 relative to the current vehicle 100 is recalculated according to the signal flight times of the updated second ultra-wideband signals.

[0110] 7-8, the prior art vehicle positioning system includes six UWB modules 1 and six anchor antennas 2, each of which is installed in a left front area 101, a right front area 102, a left rear area 103, a right rear area 104, a left area 105, a right area 106, and a roof area 107 of the vehicle body, respectively, and is designated A, B, C, D, E, F, and G. For a target tag 200 located in the left front area of ​​the vehicle, only anchor antennas 2 A, E, and G can be used for positioning; D and B are not visible due to limitations in the vehicle design. When the same number of UWB modules 1 are installed, the number of anchor antennas 2 used for positioning in each sub-area in the prior art is significantly less than that in the above embodiment of the present invention.

[0111] The present invention provides an ultra-wideband based vehicle positioning device, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the ultra-wideband based vehicle positioning method as described above.

[0112] The present invention provides a computer-readable storage medium having stored thereon at least one code or instruction, the at least one code or instruction being loaded and executed by a processor to implement the above-described method for vehicle positioning based on ultra-wideband.

[0113] In an embodiment of the present invention, the memory and / or storage medium may be used to store software programs and modules, and the processor executes the software programs and modules stored in the memory to perform various functional applications and data processing. The memory and / or storage medium mainly include a program storage area and a data storage area. The program storage area can store application programs necessary to operate the operating device, functions, etc. The data storage area can store data created by the use of the device, etc. Furthermore, the memory and / or storage medium may include high-speed random access memory, and may also include non-volatile memory such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Correspondingly, the memory and / or storage medium may further include a storage controller. The storage controller provides the processor with access to the memory and / or storage medium.

[0114] The present invention also provides a vehicle positioning device based on ultra-wideband. Referring to Figure 9, Figure 9 is a block diagram showing the structure of the vehicle positioning device based on ultra-wideband provided by the present invention. The vehicle positioning device based on ultra-wideband includes a first acquisition module 10, a first positioning anchor antenna group determination module 20, a first control module 30, a second acquisition module 40 and a first positioning module 50. The first acquisition module 10 is used to acquire first ultra-wideband radio wave information between each anchor antenna 2 of the current vehicle 100 and the target tag 200. The first ultra-wideband radio wave information includes the signal strength and signal flight time of each first ultra-wideband signal transmitted between each anchor antenna 2 and the target tag 200. The first positioning anchor antenna group determination module 20 is used to determine an optimal positioning anchor antenna group according to the first ultra-wideband radio wave information. The optimal positioning anchor antenna group includes anchor antennas 2 in at least two preset installation areas. Any one of the anchor antennas 2 in the optimal positioning anchor antenna group is the anchor antenna 2 corresponding to the preset installation area and having the best visibility condition. Here, the best visibility condition is determined by at least one of signal flight time, signal strength, and the number and / or area of ​​metal parts of the vehicle body in the signal transmission direction of the anchor antenna 2. The first control module 30 is used to control the output terminal of the corresponding UWB module 1 to connect to the anchor antenna 2 of the optimally positioned anchor antenna group. The second acquisition module 40 is used to acquire second ultra-wideband radio wave information between the target tag 200 and each anchor antenna 2 in the optimal positioning anchor antenna group. The first positioning module 50 is used to position the target tag 200 according to the second ultra-wideband radio wave information, and obtain the position of the target tag 200 relative to the current vehicle 100 .

[0115] In the embodiment of the present invention, the first positioning anchor antenna group determining module 20 includes an estimated position determining unit, a correspondence table calling unit, a subarea determining unit and a first optimum positioning anchor antenna group determining unit. The estimated position determining unit is used to determine the estimated position of the target tag 200 relative to the current vehicle 100 according to the first ultra-wideband radio wave information. The correspondence table recall unit is used to recall the correspondence table between the sub-area of ​​the preset area around the current vehicle 100 and the positioning anchor antenna group when the estimated position is obtained. The sub-area determining unit is used to match the estimated location with the sub-areas in the correspondence table and determine the sub-area that includes the estimated location. The first optimum positioning anchor antenna group determining unit is used to determine the anchor antenna group to which the sub-area including the estimated location corresponds, and set the determined anchor antenna group as the optimum positioning anchor antenna group.

[0116] In some embodiments, the first positioning anchor antenna group determination module 20 includes a signal time-of-flight comparison unit and a second optimal positioning anchor antenna group determination unit. The signal time-of-flight comparing unit is used to compare the signal time-of-flight of each first ultra-wideband signal in the first ultra-wideband radio wave information. The second optimal positioning anchor antenna group determination unit is used to determine an optimal positioning anchor antenna group according to the comparison result, which includes at least a first anchor antenna having the shortest signal flight time and belonging to a first preset mounting area, and a second anchor antenna belonging to a second preset mounting area and having the smallest difference with the signal flight time of the first anchor antenna.

[0117] In some other embodiments, the first positioning anchor antenna group determination module 20 includes a signal strength comparison unit and a third optimal positioning anchor antenna group determination unit. The signal strength comparison unit is used to compare the signal strength of each first ultra-wideband signal in the first ultra-wideband radio wave information. The third optimal positioning anchor antenna group determination unit is used to determine an optimal positioning anchor antenna group according to the comparison result, which includes at least a first anchor antenna with the strongest signal strength and belonging to a first preset installation area, and a second anchor antenna with the smallest difference in signal strength from the first anchor antenna and belonging to a second preset installation area.

[0118] In an embodiment of the present invention, the device further includes a monitoring module, a determining module, a second positioning anchor antenna group determining module, a second control module, a third acquiring module and a second positioning module. The monitoring module is used to monitor whether the position of the target tag 200 changes. If the monitoring result is “yes”, the judgment module is used to determine whether the first optimum positioning anchor antenna group currently used for positioning matches the current position of the target tag 200 . If the determination result is “no”, the second positioning anchor antenna group determination module is used to re-determine the second optimal positioning anchor antenna group according to the current location of the target tag 200 . The second control module is used for controlling the output terminal of the corresponding UWB module 1 to connect to the anchor antenna 2 of the second optimally positioned anchor antenna group. The third acquisition module is used to acquire third ultra-wideband radio wave information between the re-determined optimal positioning anchor antenna group and the target tag 200 . The second positioning module is used to reposition the target tag 200 according to the third ultra-wideband radio wave information.

[0119] In an embodiment of the present invention, the estimated position determining unit includes a comparing subunit, a valid first ultra-wideband signal determining subunit and an estimated position determining subunit. The comparing sub-unit is used to compare the signal strength of each first ultra-wideband signal with a first preset strength. The valid first ultra-wideband signal determining subunit determines a first ultra-wideband signal whose signal strength is equal to or greater than a first preset strength as a valid first ultra-wideband signal. The estimated location determination sub-unit is used to determine the estimated location of the target tag 200 relative to the current vehicle 100 according to the signal strength and signal time of flight of the available first ultra-wideband signal.

[0120] In an embodiment of the present invention, the second ultra-wideband radio wave information includes the time of flight of each second ultra-wideband signal transmitted between each anchor antenna 2 in the optimal positioning anchor antenna group and the target tag 200. The first positioning module 60 is used to position the target tag 200 according to the signal time of flight of each second ultra-wideband signal.

[0121] In an embodiment of the present invention, when the optimal positioning anchor antenna group corresponds to the same UWB module 1, the first control module 40 is used to control the output terminal of the UWB module 1 corresponding to the optimal positioning anchor antenna group to switch between each anchor antenna 2 in the optimal positioning anchor antenna group at every first preset time.

[0122] The apparatus and method embodiments in the apparatus embodiment are based on the same inventive concept.

[0123] The present invention provides a vehicle that includes an ultra-wideband based vehicle positioning component, apparatus or device as described above.

[0124] From the above-mentioned embodiments of the vehicle positioning component, method, apparatus, device, system, storage medium or vehicle based on ultra-wideband provided by the present invention, it can be seen that the present invention can reduce the number of UWB modules 1 while installing the same number of anchor antennas, thereby increasing the effective use time of a single UWB module 1 and reducing manufacturing costs and use costs.

[0125] By now, it should be understood by those skilled in the art that, although illustrative embodiments of the present invention have been shown and described in detail herein, numerous other variations or modifications consistent with the principles of the present invention may be directly determined or derived from the teachings of the present invention without departing from the spirit and scope of the present invention, and therefore the scope of the present invention should be understood to encompass all such other variations or modifications. [Explanation of symbols]

[0126] 1 UWB module 2 Anchor Antenna 3 Electronic Switch 4 Positioning device 100 Current Vehicles 101 Left front area 102 Right front area 103 Left rear area 104 Right rear area 105 Left Area 106 Right Area 107 Roof Area 200 Target Tags

Claims

1. Obtaining first ultra-wideband radio wave information between each anchor antenna of the current vehicle and the target tag, the first ultra-wideband radio wave information including signal strength and signal flight time of each first ultra-wideband signal transmitted between each anchor antenna and the target tag; determining an optimally positioned anchor antenna group according to the first ultra-wideband radio wave information, the optimally positioned anchor antenna group including anchor antennas of at least two preset installation areas, any one of the anchor antennas in the optimally positioned anchor antenna group being an anchor antenna with the best visibility condition corresponding to the preset installation area, the best visibility condition being determined by at least one of a signal flight time, a signal strength, and the number and / or area of ​​metal parts of a vehicle body that block the anchor antenna in the signal transmission direction; controlling an ultra-wideband (UWB) module capable of transmitting or receiving an ultra-wideband signal via an anchor antenna to connect to each anchor antenna in the optimally positioned anchor antenna group; obtaining second ultra-wideband radio wave information between the target tag and each anchor antenna in the optimal positioning anchor antenna group; and positioning the target tag according to the second ultra-wideband radio wave information and obtaining the position of the target tag relative to the current vehicle. After the target tag is located by the second ultra-wideband radio wave information, monitoring whether the position of the target tag changes; If the monitoring result is "yes", determining whether the first optimal positioning anchor antenna group currently used for positioning matches the current location of the target tag; If the result of the determination is "no", re-determine a second optimal positioning anchor antenna group according to the current location of the target tag; controlling a corresponding ultra-wideband (UWB) module to connect to an anchor antenna in the second optimally positioned anchor antenna group; obtaining third ultra-wideband radio wave information between the second optimal positioning anchor antenna group and the target tag; Repositioning the target tag according to the third ultra-wideband radio wave information; 1. A method for vehicle positioning based on ultra-wideband, comprising:

2. The step of determining an optimal positioning anchor antenna group according to the first ultra-wideband radio wave information includes: a sub-step of determining an estimated position of the target tag relative to the current vehicle according to the first ultra-wideband radio wave information; Once the estimated position is obtained, a sub-area within a preset area around the current vehicle is calculated. a sub-step of calling up a correspondence table between the positioning anchor and the antenna group; a sub-step of matching the estimated location with a sub-area in the correspondence table to determine a sub-area that includes the estimated location; a sub-step of determining a positioning anchor antenna group corresponding to a sub-area including the estimated position, and setting the determined positioning anchor antenna group as an optimal positioning anchor antenna group; 2. The method of claim 1, further comprising:

3. The step of determining an optimal positioning anchor antenna group according to the first ultra-wideband radio wave information includes: a sub-step of comparing signal times of flight of each first ultra-wideband signal in the first ultra-wideband radio wave information; a sub-step of determining an optimal positioning anchor antenna group according to the result of the comparison, the optimal positioning anchor antenna group including at least a first anchor antenna having the shortest signal flight time and belonging to a first preset mounting area, and a second anchor antenna belonging to a second preset mounting area and having the smallest difference in signal flight time from the first anchor antenna; 2. The method of claim 1, further comprising:

4. The step of determining an optimal positioning anchor antenna group according to the first ultra-wideband radio wave information includes: a sub-step of comparing the signal strength of each first ultra-wideband signal in the first ultra-wideband radio wave information; a sub-step of determining an optimal positioning anchor antenna group according to the result of the comparison, the optimal positioning anchor antenna group including at least a first anchor antenna having the strongest signal strength and belonging to a first preset mounting area, and a second anchor antenna having the smallest difference in signal strength with the first anchor antenna and belonging to a second preset mounting area; 2. The method of claim 1, further comprising:

5. The step of determining an estimated position of the target tag relative to the current vehicle using the first ultra-wideband radio wave information includes: comparing a signal strength of each of the first ultra-wideband signals to a first preset strength; a sub-step of determining a first ultra-wideband signal having a signal strength equal to or greater than the first preset strength as a valid first ultra-wideband signal; determining an estimated location of the target tag relative to the current vehicle using the signal strength and signal time-of-flight of a valid first ultra-wideband signal; 3. The method for vehicle positioning based on ultra-wideband according to claim 2, comprising:

6. The second ultra-wideband radio wave information includes a signal flight time of each second ultra-wideband signal transmitted between each anchor antenna in the optimal positioning anchor antenna group and the target tag, and locating the target tag using the second ultra-wideband radio wave information includes: The method for locating a vehicle based on ultra-wideband as claimed in claim 1, characterized in that locating the target tag by the signal flight time of each of the second ultra-wideband signals.

7. When the optimally positioned anchor antenna group corresponds to the same ultra-wideband (UWB) module, controlling the ultra-wideband (UWB) module capable of transmitting or receiving an ultra-wideband signal through the anchor antenna to connect to each anchor antenna in the optimally positioned anchor antenna group includes:

2. The method for vehicle positioning based on ultra-wideband of claim 1, characterized in that the output terminal of the ultra-wideband (UWB) module corresponding to the optimal positioning anchor antenna group is controlled to switch each anchor antenna in the optimal positioning anchor antenna group at a first preset time.

8. The ultra-wideband based vehicle positioning device includes a processor and a memory; The memory stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the vehicle positioning method based on ultra-wideband according to any one of claims 1 to 7.

1. A vehicle positioning device based on ultra-wideband, comprising:

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