Use of Vehicle UWB System

Abstract

Use of Vehicle UWB Systems A method of use of a vehicular UWB system comprising one or more UWB sensors and having one or more registered identifiers is provided. The method includes periodically one or more location determinations. The one or more location determinations include, for each respective identifier, at least one respective location determination of the respective identifiers by the one or more UWB sensors. The one or more location determinations are spaced apart in time. The method includes periodically a plurality of radar measurements. The plurality of radar measurements includes a plurality of respective radar measurements for the at least one respective UWB sensor. The number of respective radar measurements is greater than the number of at least one respective location determinations of the identifiers by the one or more UWB sensors for each identifier. The method improves utilization of the vehicular UWB system.

Description

Technical Field

[0001] The present disclosure relates to the use of a vehicle UWB system (UWB is an abbreviation for Ultra-Wide Band).

Summary of the Invention

[0002] Technical Background Currently, some vehicles are equipped with a UWB system including one or more UWB sensors installed in the vehicle. The UWB system registers one or more identifiers, and the UWB system can then identify the positions of the one or more identifiers with one or more UWB sensors. However, the use of the UWB system is generally limited to this positioning function.

[0003] Therefore, an improved vehicle UWB system is needed.

[0004] Summary For this purpose, a method of using a vehicle UWB system is provided, the system including one or more UWB sensors and having one or more registered identifiers. This method is hereinafter referred to as the "method of use" or simply the "method". The method includes periodic identification of one or more positions. The identification of one or more positions includes, for each of the respective identifiers, at least one respective identification of each identifier by one or more UWB sensors. The identification of one or more positions is temporally separated. The method includes periodic multiple radar measurements. The multiple radar measurements include multiple respective radar measurements for at least one respective UWB sensor. The number of each respective radar measurement is greater than the number of at least one respective identification of the identifier by one or more UWB sensors for each identifier.

[0005] Each localization of each identifier by one or more UWB sensors may include a UWB exchange, each of which includes the transmission of a frame between the identifier and one or more UWB sensors. Each of the radar measurements of each UWB sensor may include the emission of a frame by each UWB sensor, temporally separated from the transmission of a frame between the UWB sensor and each identifier during the UWB exchange.

[0006] Each position of each identifier by one or more UWB sensors may be performed within a time interval comprising a series of time slots. One or more identifiers may include a priority identifier. Each radar measurement frame may be emitted within one of the time slots of the priority identifier.

[0007] The transmission of frames for UWB exchange between a priority identifier and one or more UWB sensors may take place within a series of slots belonging to a first group. This series may include a second group of one or more slots outside the first group. At least one frame of radar measurement may be transmitted within one of the one or more slots in the second group.

[0008] Each frame of a UWB exchange may be transmitted at the beginning of its respective time slot. Each frame of a radar measurement from a UWB sensor may be emitted at the end of its respective time slot. For each UWB sensor, each time slot in which the UWB sensor emits a radar measurement frame may differ from each time slot in which a UWB exchange frame is transmitted between one or more identifiers and the UWB sensor.

[0009] The radar measurement frame may be emitted orthogonally to the transmitted frame in the UWB exchange.

[0010] Each of the positions of each identifier by one or more UWB sensors may include the transmission of frames from the identifier to each UWB sensor in the start and end slots of the series, and for each UWB sensor, the transmission of frames from the UWB sensor to its respective identifier in each slot in the middle of the series.

[0011] A scheduling method is also provided for the use of a system by a vehicle UWB system that includes one or more UWB sensors and has one or more registered identifiers. This method is hereinafter referred to as the “scheduling method.” The scheduling method includes planning one or more localization and radar measurements.

[0012] The scheduling method may include detecting at least one scheduling in a given time slot for the emission of radar measurement frames and the transmission of one frame of the UWB exchange. The scheduling method may also include, for each of the at least one scheduling detected in a given time slot, a time shift in the scheduling of the emission of radar measurement frames with respect to the transmission of one frame of the UWB exchange.

[0013] A vehicle UWB system is also provided. The UWB system includes one or more UWB sensors. The system is configured to be used according to the method of use and / or to perform a scheduling method.

[0014] UWB sensors for vehicle UWB systems are also provided. The UWB sensors are configured for use in the system and / or to perform scheduling methods depending on the method of use.

[0015] Computer programs are also provided. These computer programs include program code instructions for the execution of methods of use and / or scheduling methods when the program is executed by a processor. [Brief explanation of the drawing]

[0016] A non-limiting example will be explained with reference to the following diagram: [Figure 1] Figure 1 shows an example of multiple location-specific planning. [Figure 2] Figure 2 shows an example of localization performed within a time interval that includes a series of time slots. [Figure 3] Figure 3 shows a first example of a plan for multiple radar measurements. [Figure 4] Figure 4 shows a second example of a plan for multiple radar measurements. [Figure 5] Figure 5 shows a third example of a plan for multiple radar measurements. [Figure 6] Figure 6 shows an example of vehicle usage based on localization and radar measurement planned according to a scheduling method. [Figure 7] Figure 7 shows an example of identifier location using one or more UWB sensors. [Figure 8] Figure 8 shows an example of determining the number of series for each time slot with respect to the identifier. [Figure 9] Figure 9 shows an example of a frame. [Figure 10] Figure 10 shows an example of a vehicle UWB system. [Modes for carrying out the invention]

[0017] Detailed explanation A method of using a vehicle UWB system including one or more UWB sensors and having one or more registered identifiers is provided. This method is hereinafter referred to as the "method of use" or simply the "method". The method includes a plurality of actions that are executed periodically. Those actions include one or more position identifications. The one or more position identifications include, for each of the respective identifiers, at least one respective position identification of each of the respective identifiers by one or more UWB sensors. The one or more position identifications are temporally separated. Those actions also include a plurality of radar measurements. The plurality of radar measurements include a plurality of respective radar measurements for at least one respective UWB sensor. The number (per period) of each respective radar measurement is (strictly) greater than the number (per period) of at least one respective position identification of the identifier by one or more UWB sensors for each identifier.

[0018] UWB can refer to a communication protocol, such as that defined by IEEE802.15.4.

[0019] A scheduling method that can be executed before the method of use is also provided. The scheduling method can include a plan for one or more position identifications and a plurality of radar measurements. The scheduling method may be executed once before the execution of the method of use, and the method of use may include performing one or more position identifications and a plurality of radar measurements periodically over a plurality of periods according to the plan determined by the scheduling method. Alternatively, the scheduling method may be executed multiple times during the execution of the method of use, for example, each time a predetermined number of periods elapses or after a specific event (such as the detection of a new identifier). Each new execution of the scheduling method may re-plan one or more position identifications and a plurality of radar measurements, and after each execution of the scheduling method, the method of use may include one or more position identifications and a plurality of radar measurements according to the plan determined by the new execution of the scheduling method.

[0020] This method enables improved use of the vehicle UWB system.

[0021] Specifically, this method enables one or more UWB localizations and multiple radar measurements to be performed periodically in parallel. This means that one or more UWB localizations and multiple radar measurements are performed within the same time interval (or "period"), and this interval is repeated over time. Thus, "in parallel" means that within this repeated time interval, the method of use enables both one or more UWB localizations and multiple radar measurements.

[0022] Furthermore, in this method, one or more predetermined sensors can be used for both performing its position measurement and performing radar measurement. Specifically, at least one UWB sensor is involved in each of the localizations and in each of the multiple radar measurements. In other words, each of the UWB sensors that performs radar measurement also has a dual function because it is involved in one or more localizations. This enables optimization of the number of UWB sensors in the system and avoids using one or more additional UWB sensors to perform the desired radar measurements. In other words, this method enables existing UWB sensors to be utilized as a radar function in addition to their original UWB localization function.

[0023] Furthermore, this method enables precise and accurate radar measurements. Specifically, for each period, with respect to each of at least one UWB sensor, the number of radar measurements is strictly greater than the number of localizations for at least one of each identifier. This greater number of radar measurements per period, i.e., this higher sampling frequency, guarantees relatively high radar measurement accuracy. Specifically, the relatively high sampling frequency enables relatively precise radar detection, for example, accurately detecting movement and / or small movements.

[0024] The method may include the use of one or more localization and / or radar measurements. For example, one use may detect an anomaly in the vehicle, such as a child being left unattended. For this purpose, the method may include, for example, detecting chest movement (as a child breathes) inside the vehicle after the vehicle has been closed, and activating an alarm. In another example, the use may be gesture detection. For example, a UWB sensor may be located on the rear bumper of the vehicle, and the method may include the detection of a foot movement (e.g., a kick-like foot movement) for opening the trunk of the vehicle by the UWB sensor located on the rear bumper of the vehicle, and opening the trunk after the foot movement has been detected.

[0025] For each identifier and for each period, the number of radar measurements per UWB sensor is exactly equal to or greater than the number of location locators for each identifier. The number of radar measurements may be, for example, at least twice the number of location locators. Each radar measurement may include the transmission of a frame by the UWB sensor, and the frequency of the frame transmission may be greater than the minimum frequency, for example, greater than 1 Hz, 10 Hz, or 100 Hz.

[0026] Identifier localization may include determining the relative position of each identifier with respect to the UWB system. For example, localization may include measuring the distance between each identifier and the UWB sensor for each UWB sensor. The distance measurement may include one or more UWB exchanges, each of which includes a transmission frame between the identifier and the UWB sensor (e.g., from the identifier to the UWB sensor and / or from the UWB sensor to the identifier). Based on the respective distance measurements, the relative position of the identifier with respect to the UWB system may be determined.

[0027] Radar measurements using a UWB sensor may include a phase of frame emission by the UWB sensor. Frame emission of a radar measurement may have a duration between 100 and 520 microseconds. Radar measurements may also include a listening phase. The listening phase may begin simultaneously with (or immediately after) the emission phase. During this phase, the radar measurement may include detecting return signals corresponding to radar measurement frames that have been reflected and emitted by one or more objects located around the UWB sensor. Specifically, emitted frames may be reflected from one or more objects and therefore return to the UWB sensor, which may then detect them as return signals (also called radar echoes). Based on the emitted frames and return signals, the radar measurement may include detecting the presence of one or more objects and / or determining the position and / or velocity of one or more objects.

[0028] One or more location determinations are separated in time. This means that only one location determination is performed at any given time. For example, one or more location determinations may be performed successively. In other words, each location determination may be performed within its own time interval, and each time interval of each location determination may be temporally distinct. Two consecutive time intervals may be directly adjacent to each other (i.e., the endpoint of one location determination may correspond to the starting point of the next location determination) or they may actually be separated by a certain duration.

[0029] "Regular" means that, at predetermined time intervals, the method includes both one or more location determinations and multiple radar measurements, and that the method repeats one or more location determinations and multiple radar measurements at regular intervals within this predetermined time interval. The period represents the duration of this predetermined time interval in which location determinations and multiple radar measurements are performed.

[0030] The UWB system may register one or more identifiers other than the one or more identifiers involved in the method. The method may detect that one or more other identifiers are not within the vehicle's range and therefore may decide not to locate them.

[0031] For each identifier of one or more identifiers, the number of at least one location identifications for each identifier per period may depend on the identifier. For example, the method may include an exchange with the identifier that determines the number of at least one location identifications per period before the start of at least one location identification. The exchange may include the transmission of frequency information of the identifier from the identifier to the UWB system, and the calculation by the UWB system of the number of at least one location identifications per period based on the frequency information. The frequency information may be a frequency or duration specific to the identifier.

[0032] The term “identifier” refers to a moving object identifiable by a vehicle, such that its location permits or denies the vehicle one or more (specific) actions. For example, an identifier may be used to open the vehicle and / or start the vehicle’s engine. For example, the method may include opening the vehicle when the identifier is located in close proximity to the vehicle, or turning on the engine when the identifier is in the vehicle. The method may involve one or more keys and / or one or more smart devices such as a mobile phone as identifiers.

[0033] The emission of each frame of radar measurement may be temporally separated from the transmission of frames during UWB exchange. Therefore, the emission of frames during radar measurement may be interleaved with the transmission of frames during UWB exchange.

[0034] For example, the scheduling method may include one or more localization and radar measurement plans such that the emission of frames during each radar measurement is interleaved with the transmission of frames during each localization UWB exchange. "Interleaved" means that the emission of frames may be planned at time intervals different from the time intervals in which the frame transmissions are planned (without any overlap whatsoever).

[0035] The planning may be carried out for a certain duration, for example, a duration equal to one period or a duration equivalent to several times that period. The planning may include determining the respective time intervals during which each of one or more location identifications and each of multiple radar measurements is performed. For example, the planning may include determining the respective time intervals for each location identification and the respective time intervals for each subsequent radar measurement corresponding to each time interval of one or more location identifications, or conversely, the planning may include determining the respective time intervals for each radar measurement and the respective time intervals for each subsequent radar measurement corresponding to each subsequent location identification.

[0036] The duration over which the planning takes place can correspond to the time that has not yet elapsed, that is, the remaining time that will elapse with respect to the time the planning is performed. The length of this duration may be set, or it may change depending on, for example, the vehicle's environment.

[0037] Each UWB exchange may consist of the transmission of a frame between an identifier and one or more UWB sensors. One or more localization planning may include, for each localization, the determination of the temporal position of each frame transmission of that localization's UWB exchange. The frame transmission of a UWB exchange may have a duration of 60 to 137 microseconds.

[0038] Determining the temporal position of frame transmission may include determining the start and end times of frame transmission. The time between the start and end may be equal to the transmission duration. Transmission duration may depend on the frame length and transmission rate. The start and end positions may depend on the frame length and / or transmission rate.

[0039] Planning multiple radar measurements may include determining the temporal position of each radar measurement. The temporal position may be determined in a manner equivalent to the method used to determine the position-specific frame transmission for each radar measurement. Determining the temporal position of a radar measurement may include, for example, determining the start and end times of frame emission, where the time between the start and end is equal to the emission duration, which may depend on the frame length and emission rate. The temporal position of each radar measurement may differ from the temporal position of other radar measurements and the temporal position in which position-specific frame transmissions are planned.

[0040] Therefore, during each radar measurement, the emission of frames by the UWB sensor can be temporally isolated from other frame transmissions / emissions of other radar measurements and from each localization UWB exchange. This makes it possible to avoid collisions between radar measurements and localization. By avoiding collisions, it is possible to reduce the risk of radar measurements and / or localization being incorrect or impossible. Thus, the temporal isolation of frame emission / transmission improves the accuracy of the use and operation of the UWB system.

[0041] For each location identification, the time interval in which the identification is performed may consist of a series of time slots. This series of time slots may have substantially equal durations. Each slot may have a duration of, for example, 1 millisecond or more and / or 2 milliseconds or less. The duration of a slot may depend on the identifier involved in that location identification.

[0042] The number of time slots in a series may depend on the number of UWB sensors in the UWB system. The number of time slots may also depend on constants of the UWB system and / or one or more identifiers, which may represent the number of slots at the beginning and end of the series. For example, the number of time slots in a series may be greater than or equal to the sum of the number of UWB sensors in the system and the constant. Each UWB system may include a predetermined series number configured for the UWB system, and the number of time slots may correspond to one of the predetermined series numbers, for example, the closest and greatest number among the predetermined series numbers.

[0043] One or more identifiers may include a preferred identifier, i.e., a predetermined identifier or an identifier designated as such in the UWB system. If one or more identifiers include multiple identifiers, the identifier may include a preferred identifier and one or more secondary identifiers. A preferred identifier may have priority operations in localization over one or more secondary identifiers. For example, localization planning involving a preferred identifier may take precedence over localization planning involving one or more secondary identifiers. Planning may include canceling localization planning involving one or more secondary identifiers if localization is planned simultaneously with localization involving a preferred identifier.

[0044] Planning may include planning one or more location identifications involving an identifier for each identifier within each session corresponding to a single period. Sessions may have durations corresponding to multiples of a given time, such as 1x, 2x, 3x, or 10x of 96 milliseconds. Each session may be divided into multiple blocks. Each block may be divided into multiple time intervals, and location identifications involving an identifier may be performed within one of these time intervals. Each time interval may be divided into a series of time slots. Thus, for each identifier, planning may be based on a series of slots for that identifier. Each series of slots for a primary identifier may differ from each series of slots for one or more secondary identifiers. The method of use and / or scheduling method may include determining the number of series of time slots for each identifier, the number of time intervals in each block, and / or the number of blocks per session for each identifier.

[0045] Planning may include planning each radar measurement within one time slot of one of the series of priority identifiers. Planning of radar measurements within one time slot may include determining the start time of frame emission within the slot and ensuring that the end of emission occurs before the end of the slot. That is, the start time of emission is determined so that the emission ends before the end of the slot. Thus, the frame of each radar measurement may be emitted within one time slot of the priority identifier.

[0046] For each identifier, the transmission of UWB exchange frames between the identifier and one or more UWB sensors may occur within a series of time slots in the identifier's session. For a preferred identifier, for example, the transmission of UWB exchange frames between the identifier and one or more UWB sensors may occur within a series of time slots in the preferred identifier's session. For example, each transmission may occur in its own time slot. The series of time slots in which one of the frame transmissions occurs may form a first group. This series may also include a second group of one or more time slots other than the first group. For example, the number of location-specific UWB exchange frame transmissions may be strictly less than the number of time slot series, in which case the number of slots belonging to the second group may be equal to the difference between the number of time slot series and the number of location-specific UWB exchange frame transmissions. Thus, the use of time slots is optimized.

[0047] The number of frames transmitted in each location-specific UWB exchange may be less than the number of time slot series, provided that the rounding up factor in the following formula is 0 or greater: (4+N+X)*K*C=T N is the number of UWB sensors in the UWB system, K is the duration of the time slot, C is the number of time intervals per block, X is the rounded-up number, and T is a predetermined time (e.g., 96 milliseconds).

[0048] Planning multiple radar measurements may include planning at least one radar measurement within the range of one or more time slots belonging to a second group. Thus, each frame of a radar measurement may be emitted within the range of one or more time slots belonging to a second group (each in each slot of the second group). Planning of a radar measurement may include selecting one of the one or more time slots of the second group and determining the start time of emission of frames within the selected slot. Whether a slot is selected may depend on other radar measurements among them. For example, planning may assign each radar measurement to each slot of the second group.

[0049] Each frame in a UWB exchange may be transmitted at the start of its respective time slot. For example, each location planning may include determining a transmission start time such that it is substantially simultaneous with the start of each time slot in which the transmission is performed, with respect to each location frame transmission.

[0050] Each frame of a UWB sensor radar measurement may be emitted at the end of its respective time slot. For example, planning for each radar measurement may include determining the start time of the frame's emission so that the end of the emission substantially corresponds to the end of each time slot in which the emission is performed.

[0051] For each UWB sensor, each time slot in which the UWB sensor emits a radar measurement frame may differ from each time slot in which a UWB exchange frame is transmitted between one or more identifiers and the UWB sensor. Emissions in different slots allow the UWB sensor to have time to change configuration between UWB exchange and radar measurement. The time between UWB exchange and radar measurement may be greater than a predetermined time (e.g., greater than 1 millisecond). After transmitting a UWB exchange frame, the UWB sensor may be configured to transmit a radar measurement frame and receive a return signal. Thus, this method reduces the risk that the time between transmitting a UWB exchange frame and emitting a radar measurement frame (and vice versa) for each UWB sensor will be shorter than the time required to make this configuration change. This contributes to improving the usability of UWB systems, and in particular UWB sensors.

[0052] Furthermore, the transmission of UWB exchange frames at the start of each slot and the emission of radar measurement frames at the end of each slot allow for intervals of duration equal to (or greater than) at least one time slot, thereby reducing the risk that the duration will be shorter than the time required to change the configuration of the UWB sensor.

[0053] The radar measurement frame may be emitted orthogonal to the transmitted frame of the UWB exchange. Alternatively or additionally, the frame emitted by each UWB sensor may be orthogonal to the frame emitted by each of the other UWB sensors. This orthogonality can be achieved by any orthogonality-based frame emission / transmission method, thereby avoiding interference with frame emission / transmission. For example, the frame may include a first segment (e.g., a synchronization segment) containing the frame's orthogonality parameter, which can be used to decode the frame. Orthogonality also allows for a reduction in noise between the UWB exchange and radar measurement frames.

[0054] The scheduling method may include detecting at least one scheduling in a given time slot for the emission of radar measurement frames and the transmission of one frame of a UWB exchange. For this purpose, the method may include analyzing the planning of one or more distance measurements and multiple radar measurements. For example, the detection may include determining that the start time of the emission is expected to be between the start and end of the transmission, and / or that the end of the emission is expected to be between the start and end of the transmission. For each of the at least one scheduling detected in a given time slot, the scheduling method may include a time shift of the scheduling of the emission of radar measurement frames with respect to the transmission of one frame of a UWB exchange. The time shift may include calculating the shift duration so that the emission is scheduled before or after the transmission. For example, the emission may be planned to start at time t1, and the shift may include calculating a time shift Δt and a new planning for the start of the emission at time t2 = t1 + Δt. This time shift allows for avoidance of collisions between the emitted frames of radar measurements and the transmitted frames of UWB exchanges, which improves the utilization of UWB systems.

[0055] UWB sensors for vehicle UWB systems are also provided. The UWB sensors are configured to perform a system usage and / or scheduling method according to the method of use.

[0056] A UWB sensor may be configured and / or programmed to perform both localization and radar measurement. A UWB sensor may be configured to receive one or more commands (e.g., received from a UWB system) to transmit a UWB exchange frame and / or emit a radar measurement frame. A UWB sensor may be configured to change its configuration after emitting a radar measurement frame and before transmitting a UWB exchange frame, or to emit a radar measurement frame after transmitting a UWB exchange frame. A UWB sensor may be configured to make this change in, for example, less than 1 millisecond.

[0057] A vehicle UWB system is also provided. The UWB system includes one or more UWB sensors. The system is configured to be used according to its method of use and / or to perform a scheduling method. The UWB system may be configured to send one or more commands to each UWB sensor in accordance with the planning, after planning and during the planning execution phase. One or more commands may include a request to send a frame of UWB exchange and / or a request to emit a frame of radar measurement.

[0058] Computer programs are also provided. These computer programs include program code instructions for executing their usage and / or scheduling methods when the program is executed by a processor. The computer programs may be stored in memory. The UWB system may include a processor and / or memory.

[0059] Next, an example is shown with reference to Figures 1 to 10.

[0060] Figure 1 shows an example of multiple localization planning. Figure 1 shows the respective blocks 111, 112, and 113 for each identifier 101, 102, and 103. Each block may last, for example, 288 milliseconds. Each of the blocks 111, 112, and 113 contains 18 time intervals 104. Each time interval may last, for example, 16 milliseconds. For each identifier, its usage includes localization of the identifier by one or more UWB sensors 121, 122, and 123. Localization 121 involves identifier 101, localization 122 involves identifier 102, and localization 123 involves identifier 103. Each localization includes an active RF portion (RF stands for Radio-Frequency). The active RF portion corresponds to a segment of the time interval in which the localization includes UWB exchange. In the figure, active portion FT131 corresponds to location identification related to identifier 101, active portion FT132 corresponds to location identification related to identifier 102, and active portion FT133 corresponds to location identification related to identifier 103. The figure also shows other active portions FT134 that correspond to location identification related to other identifiers not shown.

[0061] Figure 2 shows an example of location identification performed within a time interval containing a series of time slots. The figure shows session 201 of identifiers. The session may contain, for example, three blocks 202, 203, and 204, each containing, for example, six time intervals. The method of use involves location identification for each of the three blocks. For each block, location identification is performed within the range of one of the block's six time intervals (time interval 205 for block 202, time interval 206 for block 203, and time interval 207 for block 204).

[0062] Next, the localization performed within interval 205 will be described in more detail. Other localizations may be performed in a similar manner. Time interval 205 includes a series of time slots 210, 211, 212, 213, 214, 215, 216, and 217. The identifiers involved in localization may be primary or secondary identifiers. Localization performed within interval 205 includes UWB exchanges between the identifier and one or more UWB sensors. Each UWB exchange includes the transmission of a frame between the identifier and one or more UWB sensors. The transmission of frames for UWB exchanges between the identifier and one or more UWB sensors takes place within a series of slots belonging to a first group. The first group includes time slots 210, 211, 212, 214, 215, and 216. The transmission of frame 220 takes place in slot 210, the transmission of frame 221 takes place in slot 211, and the transmission of frame 222 takes place in slot 212. Frames 220, 221, and 222 are sent from their identifier to each of one or more identifiers. In time slot 214, each of one or more identifiers transmits its respective frame to that identifier. Next, frame 225 is transmitted in slot 215, and frame 226 is transmitted in slot 216. Frames 225 and 226 are sent from their identifier to each of one or more identifiers. Frames 220, 221, 222, and 225 are transmitted at the beginning of time slots 210, 211, 212, and 215. The series also includes a second group of one or more slots 213, 217, in addition to the first group. At least one frame of the radar measurement may be emitted within the range of one of the one or more slots of the second group 217.

[0063] Figure 3 shows a first example of planning multiple radar measurements. Figure 3 shows session 230 of an identifier, and in particular block 229 of this session. Block 229 contains 18 time intervals. In this first example, the method includes multiple radar measurements. Multiple radar measurements include multiple respective radar measurements for two UWB sensors 231, 232 ("CPD1" and "CPD2"). The number of each radar measurement is greater than the number of each localization 234 for at least one identifier by one or more UWB sensors for each identifier. The figure shows session 230 of a preferred identifier, and in particular series 233 of time slots of time intervals in which localization 234 involved with the preferred identifier are performed. Radar measurements 231', 232' are performed within the time slots of series 233 of the preferred identifier. Each radar measurement includes the emission of frames within the range of one or more slots belonging to the second group 217. UWB sensor 231 emits frame 231', and UWB sensor 232 emits frame 232'. Frames 231' and 232' are emitted within the range of one of the slots 217 belonging to the second group. The duration 235 between the two radar measurements is substantially equal to the duration of the positioning time interval 234, which in this example is 16 milliseconds. Frames 231' and 232' of the respective radar measurements of UWB sensors 231 and 232 are emitted at the end of one of the slots 217. The time between the transmission of frame 236 and the emission of frame 231' is greater than 1 millisecond.

[0064] Figure 4 shows a second example of planning multiple radar measurements. Figure 4 also shows the session 230 of the identifier, and in particular block 229 of this session, which includes 18 time intervals. In this second example, for each UWB sensor, each time slot in which the UWB sensor emits a radar measurement frame is different from each time slot in which a UWB exchange frame is transmitted between one or more identifiers and the UWB sensor. The figure shows the UWB exchange between the identifier of session 230 and the two UWB sensors 231 and 232 during the time interval of localization 234 in this example. The figure shows in detail the frame transmission / emission 242 for UWB sensor 232 and frame transmission / emission 241 for UWB sensor 231 during localization 234.

[0065] The location assignment 234 includes two transmissions of frame 236 in slots ("0" and "1") from the identifier of session 230 to each of the two UWB sensors 231 and 232 at the start of a series of interval slots. The frame is transmitted from the identifier to each UWB sensor, and the figure shows the frame 236 received by each UWB sensor 241 and 242. For each UWB sensor, the location assignment 234 includes a transmission of a frame from the UWB sensor to the identifier in each slot in the middle of the series. This location assignment includes a first transmission of frame 237 from UWB sensor 241 to the identifier in slot "2" and a second transmission of frame 238 from UWB sensor 242 to the identifier in slot "3". The localization then involves sending two frames 239 from the session 230 identifier to each of the two UWB sensors 241 and 242 in slots at the end of the series ("Nresp+2" and "Nresp+3"). UWB sensor 231 emits frame 243 in slot "3".

[0066] Frames 236, 237, 238, and 239 are transmitted at the beginning of each slot ("0", "1", "2", "3", "Nresp+2", "Nresp+3") in which they are transmitted, and frames 243 and 244 are transmitted at the end of each slot ("3", "4") in which they are emitted. UWB sensor 241 emits frame 243 of the radar measurement in slot "3". Thus, UWB sensor 241 emits frame 243 in a different slot than slots "0", "1", "2", "Nresp+2", "Nresp+3" in which frames of the UWB exchange involving UWB sensor 231 are transmitted. Similarly, for UWB sensor 242, the latter emits frame 244 of the radar measurement in slot "4", which is different from slots "0", "1", "3", "Nresp+2", "Nresp+3" in which frames of the UWB exchange involving UWB sensor 232 are transmitted. With respect to the UWB sensor 231, the time interval between the transmission of frame 237 to the identifier and the emission of frame 243 for radar measurement is 1 millisecond or longer. This interval allows the UWB sensor 231 to change configuration between UWB exchange and radar measurement. Similarly, with respect to the UWB sensor 232, the time interval between the transmission of frame 238 to the identifier and the emission of frame 244 for radar measurement is greater than 1 millisecond, which allows the UWB sensor 232 to change configuration between UWB exchange and radar measurement.

[0067] Figure 5 shows a third example of planning multiple radar measurements. The figure shows the planning of each localization for each identifier in a session. In particular, the figure shows sessions for three identifiers 301, 302, and 303. For each identifier 301, 302, and 303, the figure shows one block 301', 302', and 303' of the identifier's session, each containing 18 time intervals. Localization 311 is involved with identifier 301, which is the preferred identifier in this example, and is performed in the first time interval of block 301' of the session for identifier 301. Localization 312 is involved with identifier 302 and is performed in the third time interval of block 302' of the session for identifier 302. Localization 313 is involved with identifier 303 and is performed in the second to last time interval of block 303' of the session for identifier 303. The figure also shows the active RF portion 340 of each localization. The figure also shows several radar measurements planned for UWB sensor 320 ("CPD1") and UWB sensor 321 ("CPD2").

[0068] The scheduling method includes detecting at least one scheduling in a given time slot for the emission of each frame of the radar measurement and the transmission of one frame of the UWB exchange. For each of the at least one scheduling detected in a given time slot, the scheduling method includes a time shift of the scheduling of the emission of the radar measurement frames with respect to the transmission of one frame of the UWB exchange. For example, the scheduling method includes detecting whether the radar measurement 321 by the UWB sensor 320 is planned with respect to the same time as the positioning 344 and with respect to a time slot already used by a UWB exchange involving the UWB sensor 320. The scheduling method may then include a shift 321' of the radar measurement 321 to another time slot not used by the UWB sensor 320 (e.g., a second group of time slots or a slot used by a UWB exchange involving another sensor). Alternatively, the scheduling method may include a shift 321' of radar measurements other than positioning 344, which is achieved, for example, by advancing the radar measurement 321 so that it is performed before positioning 344.The scheduling method prevents radar measurement 331 from being scheduled for the same time as 341 (measurement 331 is delayed), prevents radar measurement 332 from being scheduled for the same time as 342 (measurement 332 is advanced or delayed), prevents measurement 333 from being scheduled for the same time as 343 (measurement 333 is advanced to a second group time slot or a slot used by UWB exchange that does not involve sensor 330), and prevents radar measurement 334 from being scheduled for the same time as 345 (measurement 334 is advanced to a second group time slot or a slot used by UWB exchange that does not involve sensor 330). The process includes similar steps to prevent radar measurement 335 from being scheduled at the same time as 346 (so that measurement 335 is advanced to a time slot for the second group or a slot used by a UWB exchange that does not involve sensor 330), and to prevent radar measurement 321 from being scheduled at the same time as 347 (so that measurement 335 is advanced to a time slot for the second group or a slot used by a UWB exchange that does not involve sensor 320).

[0069] [Figure 6] shows an example of vehicle use based on positioning and radar measurement planned according to a scheduling method.

[0070] While the vehicle is being driven / while the vehicle's engine is running, its use includes positioning the identifier in the driver's cab S10. After the stable position of the identifier in the driver's cab S20, its use includes re-evaluation of the placement of the identifier in the driver's cab S11. Next, its use includes changing the position of the identifier in the driver's cab S21, and then positioning the new identifier in the driver's cab S10. After the engine is stopped, its use again includes the stable position of the identifier in the driver's cab S20, re-evaluation of the placement of the identifier in the driver's cab S11, changing the position of the identifier in the driver's cab S21, and then positioning the new identifier in the driver's cab S10. When the doors are closed, its use includes writing to the CPD / LPD buffer memory S15. It also includes external positioning of all identifiers S15 after the identifiers have been positioned outside S22. It also includes the active CPD / LPD time S17 after closing, simultaneously with positioning all identifiers outside the vehicle S23. When closed, its use may include one or more radar measurements to confirm the absence of any occupants who may remain in the vehicle after closing.

[0071] [Figure 7] shows an example of identifier localization using one or more UWB sensors. Localization includes two transmissions 410 of frames in two first time slots from identifier 400 to each of UWB sensors 401, 402, and 403. Localization then includes transmissions of frames from each of the UWB sensors (frame 412 for 401, frame 413 for 402, and frame 414 for 403) sequentially and in each time slot. Localization then includes two transmissions 415 of frames in two last time slots from identifier 400 to each of UWB sensors 401, 402, and 403.

[0072] Figure 8 shows an example of determining the number of series for each time slot of an identifier. This determination may be based on the application of a standard, for example, using Table 500. The determination includes determining the time slot duration 501 of the identifier. For example, the identifier may communicate its duration to the UWB system. Table 500 includes a series of numbers 502 configured for the UWB system. The determination includes determining the number of time slots per time interval based on series 502. The number of time slots corresponds to a given number of series that is equal to or greater than the sum of the number of UWB sensors in the system and a constant (e.g., 4) and is the closest to that sum. Table 500 also includes the number of time intervals per block as a function of the time slot duration and the number of time slots per series. For example, in this Table 500, for a time slot duration of 1 millisecond and 12 time slots per series, the number of time slots per block is 8. The determination may include determining the number of time intervals per block depending on the time slot duration and the number of time slots per time interval.

[0073] Figure 9 shows three examples of frames 601, 602, and 603. Each example includes a first segment "SYNC" and "SFD" and marker 604. Following marker 604, each example includes a second segment containing segments "PHR" and "PSDU" for the first example, a segment "STS" for the third example, and a segment "STS" followed by segments "PHR" and "PSDU" for the second example. The first example 601 may be a frame transmitted during UWB exchange between an identifier and a UWB sensor. The third example 603 may be an emitted frame of radar measurement.

[0074] Figure 10 shows an example of a UWB system 710 of a vehicle 700. The UWB system includes a number of UWB sensors 720 located at the front of the vehicle, at the rear of the vehicle, or in the driver's cab of the vehicle. The figure also shows an identifier 730. Location is determined by a UWB exchange 740 between the identifier 730 and each UWB sensor 720.

Claims

1. A method for using a vehicle UWB system comprising one or more UWB sensors and having one or more registered identifiers, - One or more location identifiers, wherein each of the one or more location identifiers includes, with respect to each of the respective identifiers, at least one location identifier of each of the respective identifiers by the one or more UWB sensors, and the one or more location identifiers are temporally separated, - Multiple radar measurements, wherein each of the multiple radar measurements includes multiple radar measurements with respect to at least one UWB sensor, and the number of each radar measurement is greater than the number of at least one location identifications of the identifier by the one or more UWB sensors with respect to each identifier. It periodically includes, Each of the localizations of each identifier by the one or more UWB sensors includes a UWB exchange, each of which includes the transmission of a frame between the respective identifier and the one or more UWB sensors, and each of the multiple radar measurements includes the emission of a frame by each UWB sensor with respect to each of the respective radar measurements of each UWB sensor, the emission being temporally separated from the transmission of the frame between the respective UWB sensor and the respective identifier during the UWB exchange. Each of the localizations of each identifier by the one or more UWB sensors is performed within a time interval including a series of time slots. A method wherein the one or more identifiers include a priority identifier, and the frame of each radar measurement is emitted within the range of one of the time slots of the priority identifier.

2. The method according to claim 1, wherein the transmission of the UWB exchange frame between the priority identifier and the one or more UWB sensors is performed within the range of slots in the series belonging to a first group, the series includes a second group of one or more slots other than the first group, and at least one frame of the radar measurement is emitted within the range of one of the one or more slots in the second group.

3. Each frame of the UWB exchange is transmitted at the start of each time slot, and each frame of the radar measurement of the UWB sensor is emitted at the end of each time slot. With respect to each UWB sensor, the time slot in which the UWB sensor emits a radar measurement frame is different from the time slot in which a UWB exchange frame is transmitted between one of the one or more identifiers and the UWB sensor. The method according to claim 1.

4. The method according to claim 1, wherein the frame of the radar measurement is emitted orthogonally to the transmitted frame of the UWB exchange.

5. Each of the location determinations of each identifier by the one or more UWB sensors is, - Transmission of frames from the identifier to each UWB sensor in the slot at the start and end of the series, - Transmission of frames from each UWB sensor to each identifier in each slot during the series for each UWB sensor, The method according to claim 1, including the method described in claim 1.

6. A scheduling method performed by a vehicle UWB system, wherein the vehicle UWB system comprises one or more UWB sensors and has one or more registered identifiers, with respect to the use of the system as described in claim 1, and the method comprises planning the one or more location and radar measurements.

7. The aforementioned method, - Detection of at least one scheduling in a given time slot for the emission of the radar measurement frame and the transmission of one of the frames of the UWB exchange, - With respect to each of the at least one scheduling detected in a given time slot, the temporal shift of the scheduling of the emission of the frame of the radar measurement relating to the transmission of one of the frames of the UWB exchange, The scheduling method according to claim 6, including the method described in claim 6.

8. A vehicle UWB system comprising one or more UWB sensors, configured to be used by the method of any one of claims 1 to 5 and / or to perform the method of claim 6 or 7.

9. A UWB sensor for a vehicle UWB system, configured for use of the system according to any one of claims 1 to 5 and / or to perform the method according to claim 6 or 7.

10. A computer program, which, when executed by a processor, includes program code instructions for executing the method described in any one of claims 1 to 5 and / or the method described in claim 6 or 7.

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