UWB digital key communication collision processing method, device, key, and medium

Abstract

The present application relates to the technical field of digital keys, and in particular to a UWB digital key communication collision processing method, a device, a key, and a medium, aiming at ensuring stable distance measurements for UWB digital keys and reducing communication collision times. The method provided in the present application comprises: an intelligent device obtaining distance measurement time differences between distance measurements for a first UWB digital key and second UWB digital keys, wherein the first UWB digital key is any one of a plurality of UWB digital keys in communicational connection with the intelligent device, the second UWB digital keys are the remaining UWB digital keys, and distance measurements for the plurality of UWB digital keys are performed within a first distance measurement time window; and in response to the distance measurement time difference between the first UWB digital key and at least one second UWB digital key satisfying a preset condition, notifying the first UWB digital key to hop to a second distance measurement time window for a distance measurement. On the basis of the method, an intelligent device can actively perform communication collision detection and processing for UWB digital keys, thereby ensuring rapid restoration of a normal distance measure for a UWB digital key.

Description

Communication collision processing method, device, key and medium for UWB digital key

[0001] This application claims priority to Chinese patent application No. 202410017770.0 filed on January 5, 2024, entitled “Communication collision processing method, device, key and medium for UWB digital key”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of digital key technology, and in particular to a communication collision processing method, device, key and medium for a UWB digital key. Background Art

[0003] UWB digital keys using ultra-wide band (UWB) technology are gradually replacing traditional car keys to control the vehicle such as unlocking and unlocking, greatly improving the convenience of vehicle control. Before using the UWB digital key, the UWB digital key and the vehicle need to be mutually authenticated to establish a connection, and the UWB digital key will control the vehicle to which it is connected. When a user approaches the vehicle with a UWB digital key, the UWB digital key will measure the distance of the vehicle again and again at certain time intervals. For each distance measurement, if the distance measurement is completed successfully, it indicates that a secure session has been established with the vehicle. At this time, if the user uses the UWB digital key to control the vehicle, the UWB digital key can respond to the user's operation to control the vehicle. It can be seen that the successful completion of the distance measurement is very important to the operational reliability of the UWB digital key.

[0004] In actual applications, a vehicle may simultaneously authenticate with multiple UWB digital keys, each capable of controlling the vehicle. When multiple UWB digital keys approach the vehicle simultaneously, they may experience communication collisions, as each key must perform ranging. This collision can cause some, or even all, of the UWB digital keys to fail to complete ranging.

[0005] To address the aforementioned communication collision issue, the CCC (Car Connectivity Consortium) 3.0 specification provides two methods: Adaptive Hopping and Continuous Hopping. With the Adaptive Hopping method, the UWB digital key determines whether it has lost responses from all UWB nodes in the vehicle. If so, it triggers Hopping, meaning it no longer performs ranging with the vehicle in the same ranging time window as other UWB digital keys, but instead jumps to a different ranging time window. This method requires the UWB node to receive the complete ranging message from the UWB digital key to properly trigger Hopping. However, in the event of a communication collision, the UWB node cannot receive the complete ranging message and therefore will not trigger Hopping immediately. Because the delayed triggering time is not fixed, it may take up to tens of seconds to trigger Hopping, resulting in the next ranging measurement being unable to be performed for tens of seconds. The Continuous Hopping method involves multiple UWB digital keys continuously triggering Hopping. While this method can avoid the aforementioned issue of Hopping being triggered only after tens of seconds, it also increases the probability of communication collisions among these UWB digital keys.

[0006] Accordingly, this field requires a new technical solution to solve the above problems. Summary of the Invention

[0007] In order to overcome the above-mentioned defects, the present application is proposed to solve or at least partially solve the technical problem of how to enable each UWB digital key to stably perform ranging and reduce the time of communication collision when a vehicle is connected to multiple UWB digital keys.

[0008] In a first aspect, a method for handling communication collisions of a UWB digital key is provided. The method is applied to a smart device, wherein the smart device is communicatively connected to multiple UWB digital keys, and the multiple UWB digital keys perform ranging with the smart device in a first ranging time window. The method comprises:

[0009] Obtaining a first ranging time for a first UWB digital key to measure the distance of the smart device, obtaining a second ranging time for a second UWB digital key to measure the distance of the smart device, and obtaining a ranging time difference between the first ranging time and the second ranging time, wherein the first UWB digital key is any one of the multiple UWB digital keys, and the second UWB digital key is the remaining UWB digital keys among the multiple UWB digital keys;

[0010] In response to a ranging time difference between the first UWB digital key and at least one second UWB digital key satisfying a preset condition, notifying the first UWB digital key to jump to a second ranging time window to perform ranging with the smart device, where the second ranging time window is different from the first ranging time window;

[0011] The preset condition is that the ranging time difference is within a preset communication collision range.

[0012] In one technical solution of the above-mentioned communication collision processing method, the smart device is provided with a communication host and a UWB node connected thereto, and the UWB node is used to receive a UWB message sent by each of the UWB digital keys when performing ranging with the smart device;

[0013] The obtaining of a first ranging time for the first UWB digital key to measure the distance of the smart device, and obtaining of a second ranging time for the second UWB digital key to measure the distance of the smart device, include:

[0014] The communication host receives a receiving timestamp corresponding to each of the UWB digital keys transmitted by the UWB node respectively;

[0015] The communication host obtains, by the first UWB digital key, a receiving timestamp corresponding to the first UWB digital key as the first ranging time, and obtains, by the second UWB digital key, a receiving timestamp corresponding to the second ranging time;

[0016] The receiving timestamp corresponding to each of the UWB digital keys is: the timestamp of the preset data frame in the UWB message sent by each of the UWB digital keys when the UWB node receives the UWB message.

[0017] In one technical solution of the above-mentioned communication collision processing method, the ranging time difference being within the preset communication collision range means that: the representative value of the ranging time difference is within the preset first communication collision range or within the preset second communication collision range;

[0018] The representative value of the ranging time difference is: the result of performing a modulo operation on the absolute value of the ranging time difference with respect to the ranging period, wherein the ranging period is the time interval between two adjacent ranging operations performed by a UWB digital key on the smart device, and the ranging periods corresponding to the multiple UWB digital keys are all the same;

[0019] The preset first communication collision range is: [0, t1], t1=Δt, Δt is the duration of one ranging, and the duration of one ranging of the multiple UWB digital keys to the smart device is the same;

[0020] The preset second communication collision range is: [t2, t3], t2=T-Δt, t3=T, and T is the ranging period.

[0021] In a technical solution of the above-mentioned communication collision processing method, the method further includes: if the UWB message sent by the UWB digital key is lost, the UWB node actively monitors the UWB message sent by the UWB digital key when performing ranging with the smart device.

[0022] In a technical solution of the above-mentioned communication collision processing method, the method also includes: for each ranging, if the UWB node does not receive the UWB message sent by the UWB digital key within a preset time period after the start of each ranging, it is determined that the UWB message sent by the UWB digital key is lost.

[0023] In a second aspect, a communication collision processing method for a UWB digital key is provided. The method is applied to a first UWB digital key, the first UWB digital key is connected to a smart device, the smart device is communicatively connected to multiple UWB digital keys, the first UWB digital key is any one of the multiple UWB digital keys, and the multiple UWB digital keys perform ranging with the smart device in a first ranging time window. The method includes:

[0024] In response to the notification from the smart device, the first UWB digital key jumps to a second ranging time window to perform ranging with the smart device, where the second ranging time window is different from the first ranging time window;

[0025] The notification is sent by the smart device to the first UWB digital key in response to a ranging time difference between the first UWB digital key and at least one second UWB digital key meeting a preset condition, where the second UWB digital key is a remaining UWB digital key among the multiple UWB digital keys;

[0026] The ranging time difference is the time difference between a first ranging time and a second ranging time, the first ranging time is the time when the first UWB digital key measures the distance of the smart device, and the second ranging time is the time when the second UWB digital key measures the distance of the smart device;

[0027] The preset condition is that the ranging time difference is within a preset communication collision range.

[0028] In one technical solution of the above-mentioned communication collision processing method, the smart device is provided with a communication host and a UWB node connected thereto, the UWB node being configured to receive a UWB message sent by each of the UWB digital keys when performing ranging with the smart device, and to respond to each of the UWB digital keys after receiving the UWB message;

[0029] The method further comprises:

[0030] If no response is received from the UWB node for multiple consecutive times, the first UWB digital key jumps to the second ranging time window to perform ranging with the smart device.

[0031] In one technical solution of the above-mentioned communication collision processing method, there are multiple UWB nodes, and the method further includes:

[0032] The first UWB digital key monitors an NTF message received by the communication host, where the NTF message includes at least the RSSI of a response signal of each of the UWB nodes, where the response signal is a signal sent by the UWB node in response to the UWB digital key;

[0033] If the RSSIs of all UWB nodes in a plurality of consecutive NTF messages are all zero, it is determined that no response from the UWB node has been received for a plurality of consecutive times.

[0034] In a third aspect, a smart device is provided, wherein the smart device is communicatively connected to a plurality of UWB digital keys, and the smart device includes:

[0035] at least one processor;

[0036] and, a memory communicatively coupled to the at least one processor;

[0037] Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, any one of the communication collision processing methods for UWB digital keys provided in the first aspect is implemented.

[0038] In one technical solution of the above-mentioned smart device, the smart device is provided with a communication host and a UWB node in communication with the host;

[0039] The UWB node is used to receive a UWB message sent by each of the UWB digital keys when performing distance measurement with the smart device, and to respond to the UWB digital key after receiving the UWB message.

[0040] In one technical solution of the above-mentioned smart device, the communication host is a Bluetooth communication host; the UWB node includes a Bluetooth chip and a UWB chip;

[0041] Among them, the Bluetooth chip is used to receive the UWB message sent by the UWB digital key and respond to the UWB digital key; the UWB chip is used to parse the UWB message to obtain the timestamp of receiving the preset data frame in the UWB message.

[0042] In a fourth aspect, a UWB digital key is provided, comprising:

[0043] at least one processor;

[0044] and, a memory communicatively coupled to the at least one processor;

[0045] Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, any one of the communication collision processing methods for UWB digital keys provided in the second aspect is implemented.

[0046] In a fifth aspect, a computer-readable storage medium is provided, in which a plurality of program codes are stored. The program codes are suitable for being loaded and run by a processor to execute any one of the UWB digital key communication collision processing methods provided in the first and second aspects.

[0047] The above one or more technical solutions of this application have at least one or more of the following beneficial effects:

[0048] In a technical solution for implementing a communication collision processing method for a UWB digital key provided in the present application, the method is applied to a smart device, which is communicatively connected to a plurality of UWB digital keys, which perform ranging with the smart device in a first ranging time window. The method includes the following steps: obtaining a first ranging time for a first UWB digital key to perform ranging with the smart device, obtaining a second ranging time for a second UWB digital key to perform ranging with the smart device, and obtaining a ranging time difference between the first ranging time and the second ranging time, wherein the first UWB digital key is any one of the plurality of UWB digital keys, and the second UWB digital key is the remaining UWB digital keys in the plurality of UWB digital keys; in response to the ranging time difference between the first UWB digital key and at least one second UWB digital key meeting a preset condition, notifying the first UWB digital key to jump to a second ranging time window to perform ranging with the smart device, i.e., triggering hopping; wherein the second ranging time window is different from the first ranging time window, and the preset condition is that the ranging time difference is within a preset communication collision range. Based on the above implementation, when a smart device is connected to multiple UWB digital keys, the smart device can actively detect communication collisions of the UWB digital keys, and when a communication collision is detected (i.e., the ranging time difference meets the preset conditions), it will promptly notify the UWB digital key to trigger Hopping, thereby greatly shortening the time of the communication collision and ensuring that the UWB digital key can quickly resume normal ranging.

[0049] In another technical solution for implementing the communication collision processing method of the UWB digital key provided in the present application, the method is applied to a first UWB digital key, the first UWB digital key is connected to a smart device, the smart device is communicatively connected to multiple UWB digital keys, the first UWB digital key is any one of the multiple UWB digital keys, and the multiple UWB digital keys perform ranging with the smart device in a first ranging time window. The method includes the following steps: the first UWB digital key responds to the notification of the smart device and jumps to the second ranging time window to perform ranging with the smart device, i.e., triggering Hopping. Among them, the second ranging time window is different from the first ranging time window. The notification is sent by the smart device to the first UWB digital key in response to the ranging time difference between the first UWB digital key and at least one second UWB digital key meeting the preset condition. The second UWB digital key is the remaining UWB digital key among the multiple UWB digital keys; the ranging time difference is the time difference between the first ranging time and the second ranging time. The first ranging time is the time it takes for the first UWB digital key to measure the distance to the smart device, and the second ranging time is the time it takes for the second UWB digital key to measure the distance to the smart device; the preset condition is that the ranging time difference is within the preset communication collision range. Based on this embodiment, when a smart device is connected to multiple UWB digital keys, the UWB digital key can trigger Hopping in a timely manner when the smart device detects a communication collision, thereby greatly shortening the communication collision time and ensuring that the UWB digital key can quickly resume normal ranging.

[0050] In another technical solution for implementing the communication collision processing method for the UWB digital key provided in the present application, the method is still applied to the above-mentioned first UWB digital key, and the method includes: if no response is received from the UWB node for multiple consecutive times, the first UWB digital key jumps to the second ranging time window to perform ranging with the smart device, that is, triggering Hopping. When a smart device is connected to multiple UWB digital keys, the UWB digital key is unable to send UWB messages to the UWB node due to a communication collision, resulting in the smart device being unable to actively detect whether a communication collision has occurred. The above-mentioned implementation method can enable the UWB digital key to trigger Hopping in a timely manner, ensuring that the UWB digital key can quickly resume normal ranging. Similarly, when there are multiple smart devices and each smart device is connected to multiple UWB digital keys, if a communication collision occurs between the UWB digital key connected to the current smart device and the UWB digital key connected to other smart devices, the UWB digital key will be unable to send UWB messages to the smart device, and the smart device will be unable to actively detect whether a communication collision has occurred. At this time, the above implementation method can still enable the UWB digital key to trigger Hopping in time, ensuring that the UWB digital key can quickly resume normal ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The disclosure of this application will become more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Among them:

[0052] FIG1 is a schematic diagram of the communication timing of UWB digital keys 1 and 2 in the same channel without collision;

[0053] FIG2 is a schematic diagram of the communication timing when UWB digital keys 1 and 2 collide in the same channel;

[0054] FIG3 is a schematic diagram of three types of collisions that may occur when a smart device is connected to two UWB digital keys;

[0055] FIG4 is a schematic diagram showing the communication collision results after 1000 ranging times when a smart device is connected to five UWB digital keys;

[0056] FIG5 is a flow chart showing the main steps of a method for handling communication collisions of a UWB digital key according to an embodiment of the present application;

[0057] FIG6 is a schematic diagram of a process for performing communication collision processing on two UWB digital keys connected to the same vehicle according to one embodiment of the present application;

[0058] FIG7 is a schematic diagram of a communication host according to an embodiment of the present application;

[0059] FIG8 is a schematic flow chart of main steps of a method for obtaining ranging time difference according to an embodiment of the present application;

[0060] FIG9 is a timing diagram of a communication collision between two UWB digital keys according to an embodiment of the present application;

[0061] FIG10 is a flow chart showing the main steps of a method for handling communication collisions of a UWB digital key according to another embodiment of the present application;

[0062] FIG11 is a schematic diagram of a smart device according to an embodiment of the present application;

[0063] FIG12 is a schematic diagram of a UWB digital key according to an embodiment of the present application.

[0064] List of reference numerals:

[0065] 11: Memory; 12: Processor; 21: Memory; 22: Processor. DETAILED DESCRIPTION

[0066] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0067] In the description of this application, a "processor" may include hardware, software, or a combination of the two. A processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. A processor has data and / or signal processing capabilities. A processor may be implemented in software, hardware, or a combination of the two. Computer-readable storage media include any suitable medium capable of storing program code, such as a magnetic disk, a hard disk, an optical disk, flash memory, read-only memory, random access memory, and the like.

[0068] The relevant user personal information that may be involved in the various embodiments of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, and based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0069] The user personal information processed by this application will vary depending on the specific product / service scenario and must be based on the specific scenario in which the user uses the product / service. This may involve the user's account information, device information, driving information, vehicle information, or other related information. This application will treat the user's personal information and its processing with a high degree of diligence.

[0070] This application attaches great importance to the security of user personal information and has taken reasonable and feasible security protection measures that comply with industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

[0071] The following first briefly describes the communication collision of the UWB digital key with reference to the accompanying drawings, and then describes an embodiment of the communication collision processing method of the UWB digital key provided in this application.

[0072] When a smart device communicates with multiple UWB digital keys, these UWB digital keys use the same channel for ranging with the smart devices, following the principle of time division multiplexing (TDM) within the same channel. Because the same channel is used, there is a certain probability of communication collisions even when TDM is followed. Smart devices include but are not limited to driving devices, smart cars, robots, and other devices.

[0073] Refer to Figure 1, which shows a timing diagram of the communication between UWB digital keys 1 and 2 in the same channel without collision. As shown in Figure 1, UWB digital keys 1 and 2 each performed three ranging measurements, all without any collision. The ranging period is the time interval between two consecutive ranging measurements, and the ranging duration is the duration of a single ranging measurement.

[0074] Refer to Figure 2, which illustrates the communication timing diagram for a collision between UWB digital keys 1 and 2 in the same channel. As shown in Figure 2, UWB digital keys 1 and 2 each performed three ranging measurements, all of which experienced communication collisions. The collisions in the first and third ranging measurements resulted in unsuccessful ranging for UWB digital key 1, while the collision in the second ranging measurement resulted in unsuccessful ranging for UWB digital key 2. Each rectangle in Figure 2 represents a ranging measurement. A solid line indicates a successful ranging measurement, while a dashed line indicates a failed ranging measurement.

[0075] Refer to Figure 3, which shows three types of collisions that may occur when a smart device is connected to two UWB digital keys. DEV1 and DEV2 represent the ranging time windows of the two UWB digital keys, respectively. Collision type 1 is a complete collision between DEV1 and DEV2, and neither DEV1 nor DEV2 can successfully measure the distance. This is a low-probability type. Collision type 2 is a partial collision between DEV1 and DEV2, resulting in only one UWB digital key successfully measuring the distance. This is also a low-probability type. Collision type 3 is a partial collision between DEV1 and DEV2, but both UWB digital keys can successfully measure the distance, but the frequency of successful ranging is lower. This is a high-probability type.

[0076] Furthermore, in some scenarios, there may be multiple smart devices, each connected to multiple UWB digital keys. Communication collisions may occur between car keys connected to different smart devices. In this scenario, two types of collisions are possible. One type of collision is a complete collision between UWB digital keys connected to different smart devices, resulting in the failure of all of these UWB digital keys to successfully measure distance. This is a low-probability type. The other type of collision is a partial collision between UWB digital keys connected to different smart devices, resulting in occasional successful ranging between these UWB digital keys. This is a high-probability type.

[0077] Refer to Figure 4, which shows the communication collision results after 1000 ranging measurements when a smart device is connected to five UWB digital keys. In Figure 5, the number 457 indicates the number of times a communication collision with one UWB digital key was detected, the number 161 indicates the number of times two UWB digital keys were detected simultaneously, the number 57 indicates the number of times three UWB digital keys were detected simultaneously, the number 8 indicates the number of times four UWB digital keys were detected simultaneously, the number 1 indicates the number of times five UWB digital keys were detected simultaneously, and the number 316 indicates the number of times no UWB digital key communication collision was detected. Based on the above data, the probability of detecting at least one UWB digital key communication collision is (1 + 8 + 57 + 161 + 457) / 1000 = 68.4%, which is a relatively high probability.

[0078] The above is a brief description of the UWB digital key communication collision. The following describes an embodiment of the UWB digital key communication collision processing method provided in this application.

[0079] First, in conjunction with FIG5 , an embodiment of a method for handling communication collisions is described in which a smart device and a UWB digital key serve as the executing entities. In the embodiment of the present application, a smart device is connected to multiple UWB digital keys for communication, and these UWB digital keys perform ranging with the smart device in the first ranging time window, that is, ranging with the smart device in the same time window. It should be noted that all UWB digital keys connected to the same smart device perform ranging with the smart device in the same ranging time window, which is a conventional method in the field of UWB digital key technology. This embodiment does not elaborate on how all UWB digital keys perform ranging with the smart device in the same ranging time window.

[0080] As shown in FIG5 , the communication collision processing method in the embodiment of the present application mainly includes the following steps S101 to S103 .

[0081] Step S101: The smart device obtains the ranging time difference between the first and second UWB digital keys; wherein the ranging time difference is the time difference between the first ranging time and the second ranging time, the first ranging time is the time for the first UWB digital key to measure the distance to the smart device, and the second ranging time is the time for the second UWB digital key to measure the distance to the smart device; the first UWB digital key is any one of the multiple UWB digital keys that are communicatively connected to the smart device, and the second UWB digital key is the remaining UWB digital keys among the above multiple UWB digital keys.

[0082] The ranging time difference may be the difference between the starting times of the ranging of the two UWB digital keys in the same ranging time window.

[0083] Step S102: In response to the ranging time difference between the first UWB digital key and at least one second UWB digital key meeting a preset condition, the smart device notifies the first UWB digital key to jump to a second ranging time window to perform ranging with the smart device. In other words, the first UWB digital key is notified to trigger hopping. The second ranging time window is different from the first ranging time window.

[0084] The preset condition is that the ranging time difference is within the preset communication collision range. If the ranging time of the two UWB digital keys is within the preset communication collision range, it indicates that the two UWB digital keys have a communication collision; otherwise, no communication collision has occurred.

[0085] Step S103: In response to the notification from the smart device, the first UWB digital key jumps to the second ranging time window to perform ranging with the smart device.

[0086] The two UWB digital keys that have a communication collision are performing distance measurement with the smart device in the same ranging time window. After one of the UWB digital keys triggers Hopping, it can jump to another ranging time window for ranging. In this way, the two UWB digital keys can perform distance measurement in different ranging time windows, and each can successfully complete the ranging.

[0087] Based on the method described in steps S101 to S103 above, the smart device can actively detect communication collisions on the UWB digital key, and when a communication collision is detected, notify the UWB digital key to trigger Hopping. The UWB digital key can also trigger Hopping in a timely manner in response to the notification of the smart device, thereby greatly shortening the time of the communication collision and ensuring that the UWB digital key can quickly resume normal ranging.

[0088] In some embodiments, the smart device may be a vehicle, and the UWB digital key may be a vehicle key. A method for handling communication collisions between two UWB digital keys connected to the same vehicle will be briefly described below with reference to FIG6 .

[0089] As shown in Figure 6, when the distance between UWB digital keys 1 and 2 and the vehicle is within their respective communication ranges, they will establish a communication connection with the vehicle. The vehicle performs communication collision detection on UWB digital key 2, including: obtaining the ranging time difference between UWB digital keys 1 and 2. If the ranging time difference meets the preset conditions, the vehicle will notify UWB digital key 2 to trigger Hopping, and UWB digital key 2 will trigger Hopping after receiving the notification. If the ranging time difference does not meet the preset conditions, the vehicle will continue to obtain the ranging time difference between UWB digital keys 1 and 2 until the ranging time difference meets the preset conditions, and then execute the subsequent steps.

[0090] The above steps S101 and S102 are further explained below.

[0091] 1. Explain step S101.

[0092] In some embodiments of step S101 above, the smart device is provided with a communication host and a UWB node connected thereto for communication. The UWB node is used to receive UWB messages sent by each UWB digital key when performing distance measurement with the smart device. In addition, the UWB node can also be used to respond to the UWB digital key that sent the UWB message after receiving the UWB message. The communication host can be connected to the smart device for communication. In some embodiments, the communication host can be a Bluetooth communication host using Bluetooth communication. Referring to FIG7 , FIG7 is a schematic diagram of a communication host. The BTM (Bluetooth Master) in FIG7 is the communication host. The BTM is also connected to four Bluetooth accessories (Bluetooth Ancillary, BTA), namely BTAL, BTARB, BTARR, and BTAR. These Bluetooth accessories are respectively used to assist the BTM in communicating with the outside world. Those skilled in the art can flexibly set the number of Bluetooth accessories and the function of each Bluetooth accessory according to actual needs, and this embodiment does not specifically limit them. As shown in Figure 7, BTM can communicate with UWB digital keys such as mobile phone 1, mobile phone 2, and KEYFOB.

[0093] 8 , in this embodiment, the smart device may obtain a first ranging time of the first UWB digital key and a second ranging time of the second UWB digital key through the following steps S1011 to S1012 .

[0094] Step S1011: The communication host receives the receiving timestamp corresponding to each UWB digital key transmitted by the UWB node respectively.

[0095] When measuring distance, the UWB digital key will send a UWB message to the UWB node on the smart device. This UWB message may include several data frames: Pre-Poll frame, Poll frame, Final frame, and Final_data frame. Specifically, the UWB digital key sends a Pre-Poll frame to the UWB node on the smart device, and the UWB digital key then sends a Poll frame to each UWB node. The UWB nodes then send an RSP frame to the UWB digital key, which then sends a Final frame to the UWB node. Finally, the UWB digital key sends a Final data frame to the UWB node, and the ranging is complete.

[0096] Since the UWB digital key cannot predict the time when the UWB message arrives at the UWB node, the communication host can obtain the time when the UWB node receives the UWB message, and use this reception time to replace the start time of the UWB digital key ranging. This reception time is used to obtain the ranging time difference between the two UWB digital keys. To this end, a preset data frame can be selected from the Pre-Poll frame, Poll frame, Final frame, and Final_data frame, and the time when this preset data frame is received is used as the start time of ranging. In some embodiments, the UWB digital key first sends the Pre-Poll frame during ranging. Therefore, the time when the Pre-Poll frame is received can most reliably replace the start time of the UWB digital key ranging. Therefore, the timestamp of the Pre-Poll frame in the UWB message sent by each UWB digital key can be obtained, and this timestamp can be used as the reception timestamp corresponding to the UWB digital key.

[0097] Step S1012: The communication host obtains the receiving timestamp corresponding to the first UWB digital key as the first ranging time, and obtains the receiving timestamp corresponding to the second UWB digital key as the second ranging time.

[0098] As described in step S1011 above, the UWB digital key's received timestamp can replace the UWB digital key's ranging start time to obtain the ranging time difference. Therefore, the time difference between the two UWB digital keys' received timestamps can be directly calculated and used as the ranging time difference between the two UWB digital keys.

[0099] It should be noted that when obtaining the receiving timestamps corresponding to two UWB digital keys, the receiving timestamps of the two UWB digital keys during any ranging time can be obtained. For example, the receiving timestamps of the two UWB digital keys during two adjacent ranging times can be obtained, or the receiving timestamps of the two UWB digital keys during two different ranging times can be obtained.

[0100] Based on the method described in steps S1011 to S1012 above, the timestamp of the UWB node receiving the preset data frame can be used to conveniently and accurately obtain the ranging timestamps between different UWB digital keys, which is conducive to quickly and accurately detecting whether a communication collision occurs between each two UWB digital keys.

[0101] The following table 1 is combined with a UWB digital key as an example to illustrate the time difference of ranging when the same UWB digital key is measured at different distances, wherein the preset data frame is a Pre Poll frame. It should be noted that the following description is mainly for explaining the time difference of ranging. The embodiment of the present application does not need to obtain the time difference of ranging when the same UWB digital key is measured at different distances, but rather obtains the time difference of ranging between different UWB digital keys. Table 1

[0102] The sequence number indicates the sequence number of the Pre Poll frame received by the UWB node. Since only one Pre Poll frame is sent in one ranging, this sequence number can also indicate the sequence number of the ranging.

[0103] The decimal timestamp is the timestamp when the UWB node receives the Pre Poll frame, and this timestamp is expressed in decimal.

[0104] The time difference (UWB Clock) represents the time difference calculated based on the time reference provided by the UWB chip in the UWB node. Taking the two Pre Poll frames numbered 1 and 2 as an example, the time difference between the two is 12759052232-12639246334=119805898.

[0105] Time difference (ms) represents the time difference calculated based on the time reference provided by the UWB chip. For example, if the time reference provided by the UWB chip is the value of the high-precision clock counter in the UWB chip, the interval between each increment of this high-precision clock counter is approximately 8µs. For example, the time difference of 119,805,898 can be converted to 119,805,898*0.000008=958.44718ms.

[0106] The Ranging Round Index is the ratio of the time difference to the ranging period. The ranging period is the time interval between two consecutive ranging measurements. Taking the Pre Poll frame number 2 as an example, if the ranging period is 192ms, the Ranging Round Index is 958.44718 / 192 = 4.991912.

[0107] The UWB node is further described below.

[0108] In some implementations of the embodiments of the present application, the UWB node can determine whether the UWB message sent by the UWB digital key is lost. If the UWB message is lost, the node can actively monitor the UWB message sent by the UWB digital key when performing ranging with the smart device. In other words, the UWB node switches from passive reception to active monitoring, so that after the UWB message sent by the UWB digital key is lost, the node can promptly and actively obtain the UWB message sent by the UWB digital key, ensuring that the reception timestamp corresponding to the UWB digital key can be obtained based on the actively obtained UWB message.

[0109] In some embodiments, the UWB node can determine whether the UWB message sent by the UWB digital key is lost by the following steps: for each ranging, if the UWB node does not receive the UWB message sent by the UWB digital key within the preset time length after the start of each ranging, it is determined that the UWB message sent by the UWB digital key is lost. The value of the preset time length can be a smaller value. If the preset time length is less than the set value, the time for determining the loss of the UWB message can be shortened, so that the UWB digital key that actively monitors the lost message can be monitored as quickly as possible. Those skilled in the art can flexibly set the value of the above-mentioned preset time length according to actual needs. This embodiment does not make specific limitations, as long as the value of the above-mentioned preset time length is ensured to be a smaller value. For example, when the duration of a ranging measurement is 10ms and the ranging period is 192ms, the above-mentioned preset time length can be 1s.

[0110] 2. Explain step S102.

[0111] As described in the preceding embodiments, the pre-set condition for determining whether a communication collision has occurred with a UWB digital key is that the ranging time difference is within a pre-set communication collision range. In some implementations of step S102, this pre-set condition may specifically be that the representative value of the ranging time difference is within a pre-set first communication collision range or a pre-set second communication collision range.

[0112] The representative value of the ranging time difference, the preset first communication collision range, and the preset second communication collision range are described below respectively.

[0113] 1. Representative value of ranging time difference

[0114] The representative value of the ranging time difference is the result of performing a modulo operation on the ranging period by taking the absolute value of the ranging time difference. The ranging period is the time interval between two consecutive ranging measurements performed by a UWB digital key on a smart device. The ranging period is the same for all UWB digital keys connected to the same smart device. Referring to Figure 9, Figure 9 shows a timing diagram of a communication collision between two UWB digital keys. T1 represents the receiving timestamp corresponding to UWB digital key 1, and T2 represents the receiving timestamp corresponding to UWB digital key 1. If T1 = 357ms and T2 = 555ms, and the ranging period is 192ms, the representative value of the ranging time difference between UWB digital keys 1 and 2 is |357 - 555| % 192 = 6, where % represents a modulo operation. As described in the aforementioned step S1012, when obtaining the receiving timestamps corresponding to the two UWB digital keys, the receiving timestamps of the two UWB digital keys during any ranging measurement can be obtained. In this regard, if the receiving timestamps of the two UWB digital keys are not obtained during two adjacent ranging measurements, the values ​​of T1 and T2 may also be: T1 = 357ms, T2 = 930ms. At this time, the representative value of the ranging time difference calculated is |357-930|%192=189.

[0115] 2. Preset first communication collision range

[0116] The preset first communication collision range is [0, t1], where t1 = Δt, where Δt is the duration of a ranging measurement. Each UWB digital key connected to the same smart device performs a ranging measurement with the smart device for the same duration. Referring again to Figure 9, the ranging duration Δt can be 10ms. Therefore, the preset first communication collision range is [0ms, 10ms]. As long as the representative value of the ranging time difference falls within this range, it indicates that a communication collision has occurred between UWB digital keys 1 and 2.

[0117] 3. Preset second communication collision range

[0118] The preset second communication collision range is [t2, t3], where t2 = T - Δt and t3 = T, where T is the ranging period. The ranging period is the time interval between two ranging measurements performed by a UWB digital key on a smart device. All UWB digital keys connected to the same smart device have the same ranging period. Referring again to Figure 9, the duration Δt of a ranging measurement can be 10ms, and the ranging period is 192ms. Therefore, the preset first communication collision range is [182ms, 192ms]. As long as the representative value of the ranging time difference falls within this range, it indicates that a communication collision has occurred between UWB digital keys 1 and 2.

[0119] The above is the description of step S102.

[0120] The method described in the preceding embodiment enables the smart device to proactively detect whether a communication collision has occurred with the UWB digital key and, when a communication collision is detected, notify the UWB digital key to trigger Hopping. However, if a complete collision occurs between the UWB digital keys, the UWB digital key will not be able to properly send UWB messages to the UWB node on the smart device. The smart device will also be unable to obtain the corresponding reception timestamp of the UWB digital key, and thus will not be able to obtain the ranging time difference, making it impossible to detect whether a communication collision has occurred.

[0121] In order to solve the above problems, in some embodiments of the communication collision processing method provided in the present application, a mechanism for passively triggering Hopping of the UWB digital key can be set, so that the UWB digital key can passively trigger Hopping when the smart device is unable to actively detect whether a communication collision occurs, thereby restoring normal communication in a timely manner.

[0122] Specifically, the communication collision processing method according to the embodiment of the present application mainly includes the following steps S201 to S202 shown in Figure 10.

[0123] Step S201: A first UWB digital key determines whether it has not received a response from a UWB node for multiple consecutive times, where the first UWB digital key is any one of a plurality of UWB digital keys communicatively connected to a smart device.

[0124] Those skilled in the art may flexibly set the number of times that no response from the UWB node is received consecutively according to actual needs, and this embodiment does not specifically limit this.

[0125] In some embodiments, there are multiple UWB nodes, and the UWB digital key can determine whether it has not received a response from the UWB node for multiple consecutive times by following the steps below: the UWB digital key monitors the NTF (notification) message received by the communication host. The NTF message includes at least the RSSI (Received Signal Strength Indication) of the response signal of each UWB node. The response signal is the signal that the UWB node responds to the UWB digital key. If the RSSI of all UWB nodes in multiple consecutive NTF messages is zero, it is determined that no response from the UWB node has been received for multiple consecutive times. It should be noted that the NTF message is sent by the UWB node to the communication host. Even if the UWB node does not send a response signal to the UWB digital key, the NTF message will also include the RSSI of the response signal, but the RSSI at this time is zero.

[0126] Through this implementation, the RSSI of the response signal in the NTF message can be used to accurately determine whether the UWB node responds to the UWB digital key, and thus accurately and reliably determine whether no response from the UWB node has been received for multiple consecutive times.

[0127] Step S202: In response to multiple consecutive failures to receive responses from UWB nodes, the first UWB digital key jumps to the second ranging time window to perform ranging with the smart device, triggering Hopping. Repeated failures indicate a loss of connection with all UWB nodes, most likely due to a communication collision. Therefore, Hopping can be triggered in this situation to restore normal communication.

[0128] Based on the method described in steps S201 to S202 above, when the smart device cannot actively detect a communication collision, the UWB digital key can trigger Hopping in a timely manner to ensure that the UWB digital key can quickly resume normal ranging.

[0129] The above is a description of an embodiment of a method for handling communication collisions in which a smart device and a UWB digital key are jointly executed. The following describes an embodiment of a method for handling communication collisions in which a smart device and a UWB digital key are independently executed.

[0130] 1. An embodiment of a communication collision handling method implemented by a smart device as the sole execution subject is described.

[0131] In an embodiment of a communication collision processing method for a smart device provided by the present application, the smart device is communicatively connected with multiple UWB digital keys, and these UWB digital keys perform ranging with the smart device in a first ranging time window. The smart device may perform the following steps:

[0132] A first ranging time for a first UWB digital key to measure the distance of a smart device is obtained, a second ranging time for a second UWB digital key to measure the distance of the smart device is obtained, and a ranging time difference between the first ranging time and the second ranging time is obtained. The first UWB digital key is any one of multiple UWB digital keys that are communicatively connected to the smart device, and the second UWB digital key is the remaining UWB digital key in the multiple UWB digital keys. In response to the ranging time difference between the first UWB digital key and at least one second UWB digital key meeting a preset condition, the first UWB digital key is notified to jump to a second ranging time window to measure the distance with the smart device, i.e., triggering hopping. The second ranging time window is different from the first ranging time window, and the preset condition is that the ranging time difference is within a preset communication collision range. Through the above method, the smart device can actively detect communication collisions with the UWB digital key and, if a communication collision is detected, notify the UWB digital key to trigger hopping, thereby significantly shortening the communication collision time and ensuring that the UWB digital key can quickly resume normal ranging.

[0133] It should be noted that the method for the smart device to obtain the ranging time difference is the same as the relevant method in the aforementioned embodiment in which the smart device and the UWB digital key are jointly executed. The above-mentioned preset conditions are also the same as the preset conditions in the aforementioned embodiment, and will not be repeated here.

[0134] 2. An embodiment of a method for handling communication collisions using a UWB digital key as the sole execution entity is described.

[0135] In an embodiment of a communication collision processing method for a UWB digital key provided in the present application, a first UWB digital key is connected to a smart device, and the smart device is communicatively connected to multiple UWB digital keys. The first UWB digital key is any one of the multiple UWB digital keys mentioned above. The multiple UWB digital keys perform ranging with the smart device in a first ranging time window. The first UWB digital key can respond to a notification from the smart device and jump to a second ranging time window to perform ranging with the smart device, i.e., trigger Hopping. The second ranging time window is different from the first ranging time window. The method for the smart device to notify the UWB digital key is the same as the relevant method in the aforementioned embodiment in which the smart device and the UWB digital key are jointly executed, and will not be repeated here.

[0136] In some embodiments, the first UWB digital key can also determine whether it has not received a response from the UWB node for multiple consecutive times. If it has not received a response from the UWB node for multiple consecutive times, the first UWB digital key jumps to the second ranging time window to perform ranging with the smart device. This method is similar to the mechanism of passively triggering hopping by the UWB digital key in the aforementioned embodiment where the smart device and the UWB digital key are jointly executed, and will not be repeated here.

[0137] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effect of the present application, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These adjusted solutions are equivalent to the technical solutions described in this application, and therefore will also fall within the scope of protection of this application.

[0138] It will be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment of the present application can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry the computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0139] Another aspect of the present application provides a computer-readable storage medium.

[0140] In an embodiment of a computer-readable storage medium according to the present application, the computer-readable storage medium may be configured to store a program for executing the method of any of the above-mentioned method embodiments, and the program may be loaded and run by a processor to implement the method of any of the above-mentioned method embodiments. For ease of explanation, only the parts related to the embodiments of the present application are shown. For specific technical details not disclosed, please refer to the method section of the embodiment of the present application. The computer-readable storage medium may be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-transitory computer-readable storage medium.

[0141] Another aspect of the present application provides a smart device.

[0142] In an embodiment of a smart device according to the present application, the smart device can be communicatively connected with multiple UWB digital keys, and the smart device may include at least one processor; and a memory communicatively connected to the at least one processor; wherein a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the method described in any embodiment in which the smart device is the sole execution subject is implemented. The smart device described in the present application may include driving devices, smart cars, robots and other devices. Referring to Figure 11, Figure 11 exemplarily shows that the memory 11 and the processor 12 are communicatively connected via a bus. In some embodiments, the smart device is provided with a communication host and multiple UWB nodes communicatively connected thereto, and the UWB node is used to receive the UWB message sent by each UWB digital key when performing ranging with the smart device, and to respond to the UWB digital key after receiving the UWB message. Furthermore, in some embodiments, the communication host is a Bluetooth communication host, and the UWB node includes a Bluetooth chip and a UWB chip. The Bluetooth chip is used to receive UWB messages sent by the UWB digital key and respond to the UWB digital key, and the UWB chip is used to parse the UWB message to obtain the timestamp of the preset data frame in the received UWB message. The functions of the above-mentioned UWB node and communication host can also be referred to the functions of the UWB node and communication host in the aforementioned method embodiment, and will not be repeated in this embodiment.

[0143] In some embodiments of the present application, the smart device may further include at least one sensor for sensing information. The sensor is communicatively connected to any of the types of processors mentioned in this application. Optionally, the smart device may further include an autonomous driving system for guiding the smart device to drive autonomously or provide assisted driving. The processor communicates with the sensor and / or autonomous driving system to perform the method described in any of the above embodiments.

[0144] Another aspect of the present application also provides a UWB digital key.

[0145] In an embodiment of a UWB digital key according to the present application, the UWB digital key may include at least one processor and a memory communicatively connected to the at least one processor. The memory stores a computer program that, when executed by the at least one processor, implements the method described in any of the aforementioned embodiments in which the UWB digital key serves solely as the execution subject. Referring to FIG. 12 , FIG. 12 exemplarily illustrates a memory 21 and a processor 22 communicatively connected via a bus.

[0146] Thus far, the technical solution of the present application has been described in conjunction with an embodiment shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A communication collision handling method for a UWB digital key, characterized in that, The method is applied to an intelligent device, which is communicatively connected to a plurality of UWB digital keys, and the plurality of UWB digital keys perform ranging with the intelligent device in a first ranging time window; The method includes: Obtaining a first ranging time when a first UWB digital key performs ranging on the intelligent device, obtaining a second ranging time when a second UWB digital key performs ranging on the intelligent device, and obtaining a ranging time difference between the first ranging time and the second ranging time, where the first UWB digital key is any one of the plurality of UWB digital keys, and the second UWB digital key is the remaining UWB digital keys among the plurality of UWB digital keys; In response to the ranging time difference between the first UWB digital key and at least one second UWB digital key meeting a preset condition, notifying the first UWB digital key to jump to a second ranging time window to perform ranging with the intelligent device, where the second ranging time window is different from the first ranging time window; Wherein, the preset condition is that the ranging time difference is within a preset communication collision range.

2. The method according to claim 1, wherein The intelligent device is provided with a communication host and UWB nodes communicatively connected thereto, and the UWB nodes are used to receive UWB messages sent by each of the UWB digital keys when performing ranging with the intelligent device; The obtaining the first ranging time when the first UWB digital key performs ranging on the intelligent device and obtaining the second ranging time when the second UWB digital key performs ranging on the intelligent device includes: The communication host respectively receives the reception timestamps corresponding to each of the UWB digital keys transmitted by the UWB nodes; The communication host obtains the reception timestamp corresponding to the first UWB digital key as the first ranging time, and obtains the reception timestamp corresponding to the second UWB digital key as the second ranging time; Wherein, the reception timestamp corresponding to each of the UWB digital keys is: the timestamp of a preset data frame in the UWB message sent by each of the UWB digital keys received by the UWB node.

3. The method according to claim 1 or 2, characterized in that, The ranging time difference being within a preset communication collision range means that: the representative value of the ranging time difference is within a preset first communication collision range or within a preset second communication collision range; Wherein, The representative value of the ranging time difference is: the result of taking the remainder of the absolute value of the ranging time difference with respect to the ranging period, where the ranging period is the time interval between two adjacent rangings of an UWB digital key on the intelligent device, and the ranging periods corresponding to the plurality of UWB digital keys are the same; The preset first communication collision range is: [0, t1], t1 = Δt, where Δt is the duration of one ranging, and the durations of one ranging of the plurality of UWB digital keys on the intelligent device are the same; The preset second communication collision range is: [t2, t3], t2 = T - Δt, t3 = T, where T is the ranging period.

4. The method according to claim 2, wherein The method further includes: If the UWB message sent by the UWB digital key is lost, the UWB node actively listens for the UWB message sent by the UWB digital key when ranging with the intelligent device.

5. The method according to claim 2 or 4, characterized in that, The method further includes: For each ranging, if the UWB node does not receive the UWB message sent by the UWB digital key within a preset duration after the start of each ranging, it is determined that the UWB message sent by the UWB digital key is lost.

6. A communication collision handling method for a UWB digital key, characterized in that, The method is applied to a first UWB digital key, the first UWB digital key is communicatively connected to an intelligent device, the intelligent device is communicatively connected to multiple UWB digital keys, the first UWB digital key is any one of the multiple UWB digital keys, and the multiple UWB digital keys perform ranging with the intelligent device in a first ranging time window. The method includes: The first UWB digital key responds to the notification of the intelligent device and jumps to a second ranging time window to perform ranging with the intelligent device, and the second ranging time window is different from the first ranging time window; Wherein, The notification is sent by the intelligent device in response to the ranging time difference between the first UWB digital key and at least one second UWB digital key satisfying a preset condition, and the second UWB digital key is the remaining UWB digital keys among the multiple UWB digital keys; The ranging time difference is the time difference between a first ranging time and a second ranging time, the first ranging time is the time when the first UWB digital key ranges with the intelligent device, and the second ranging time is the time when the second UWB digital key ranges with the intelligent device; The preset condition is that the ranging time difference is within a preset communication collision range.

7. The method according to claim 6, characterized in that, The intelligent device is provided with a communication host and a UWB node communicatively connected thereto. The UWB node is configured to receive the UWB message sent by each UWB digital key when ranging with the intelligent device, and respond to each UWB digital key after receiving the UWB message; The method further includes: If the response from the UWB node is not received continuously for multiple times, the first UWB digital key jumps to the second ranging time window to perform ranging with the intelligent device.

8. The method according to claim 7, wherein There are multiple UWB nodes, and the method further includes: The first UWB digital key listens to the NTF message received by the communication host, and the NTF message includes at least the RSSI of the response signal of each UWB node, and the response signal is the signal for the UWB node to respond to the UWB digital key; If the RSSI of all UWB nodes in multiple consecutive NTF messages is zero, it is determined that the response from the UWB node has not been received continuously for multiple times.

9. An intelligent device, characterized in that, The intelligent device is communicatively connected to multiple UWB digital keys, and the intelligent device includes: At least one processor; And a memory communicatively connected to the at least one processor; Among them, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, it implements the communication collision handling method of the UWB digital key described in any one of claims 1 to 5.

10. The intelligent device according to claim 9, characterized in that, The intelligent device is provided with a communication host and a UWB node communicatively connected thereto; The UWB node is configured to receive the UWB message sent by each of the UWB digital keys during ranging with the intelligent device, and reply to the UWB digital key after receiving the UWB message.

11. The intelligent device according to claim 10, wherein The communication host is a Bluetooth communication host; The UWB node includes a Bluetooth chip and a UWB chip; Among them, the Bluetooth chip is configured to receive the UWB message sent by the UWB digital key and reply to the UWB digital key; the UWB chip is configured to parse the UWB message to obtain the timestamp of the preset data frame received in the UWB message.

12. A UWB digital key, characterized in that, Including: At least one processor; And a memory communicatively connected to the at least one processor; Among them, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, it implements the communication collision handling method of the UWB digital key described in any one of claims 6 to 8.

13. A computer-readable storage medium storing multiple program codes, characterized in that, The program code is adapted to be loaded and run by a processor to execute the communication collision handling method of the UWB digital key described in any one of claims 1 to 8.

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