CN114727223A

CN114727223A - Vehicle accurate positioning and communication method and system based on UWB technology

Info

Publication number: CN114727223A
Application number: CN202210515494.1A
Authority: CN
Inventors: 何增龙
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2022-05-12
Filing date: 2022-05-12
Publication date: 2022-07-08

Abstract

The invention discloses a vehicle accurate positioning and communication method and a system thereof based on UWB technology, the method comprises the following steps: transmitting a UWB pulse signal, and judging whether the distance between the vehicle and the mobile terminal reaches a preset distance range or not; and if so, responding to the pulse signal to enable a preset interaction mode to be started between the vehicle and the mobile terminal. By adopting the invention, the problems of difficult mutual searching and high communication cost of the driver and the passenger can be solved by improving the positioning precision of the relative position of the vehicle and the passenger. Meanwhile, the lost articles of the passengers can be sensed in time, and the problem that a large amount of time is wasted by both parties due to subsequent returning and communication is avoided.

Description

Vehicle accurate positioning and communication method and system based on UWB technology

Technical Field

The invention relates to a mobile communication and Ultra Wide Band (UWB) positioning fusion application technology, in particular to a vehicle accurate positioning and communication method and a system based on the UWB technology.

Background

With the development of technologies such as network communication and electronic maps, the internet car booking travel business is developed vigorously, and people select the internet car booking travel to become a part of daily life.

However, when a net appointment car is selected for traveling, the following problems are often encountered:

firstly, because the client APP of the current network taxi appointment platform usually uses satellite signals, for example, the client APP locates by receiving Global Positioning System (GPS) signals, and the locating accuracy of the civil GPS signals is not high, when a driver arrives at a taxi-in place preset by a passenger, the difference between the driver and the actual position of the passenger is often dozens of meters or even hundreds of meters, so that the passenger and the driver need to communicate with each other by telephone without stop, which results in a lot of communication costs.

Secondly, because net car booking platform APP's positioning accuracy is relatively poor, under the complicated road conditions scene, net car booking driver misses the predetermined place easily and leads to the vehicle to drive over when arriving the car place that the passenger predetermines, then the driver need spend long time turn around again, extravagant driver and passenger's time, take experience poor.

Thirdly, the passengers often leave valuables such as mobile phones (mobile terminals) on the internet appointment car after getting off the car, and the mobile phones are limited by the prior art, so that the drivers and the passengers are difficult to find the valuables at the first time, the subsequent process of finding the lost valuables is caused, and a lot of time is wasted for the drivers and the passengers.

What is more, in some urban roads with large topographic relief changes or in some three-dimensional traffic riding environments, such as airports and stations comprising multiple layers of roads, if a network taxi appointment client APP is used for taxi appointment, the adverse conditions that GPS positioning accuracy is low, satellite signals are weak or even no signals cover restrict, and a driver and passengers cannot judge which layer the position of the other party is in each other, so that the difficulty of telephone communication and mutual searching is higher.

Although a mature assisted GPS (a-GPS) technology can be used to locate a passenger's mobile phone by combining a mobile communication network base station signal with a GPS signal and then feed back location information to a driver side APP, the technology is still based on the GPS technology, and although the location accuracy in a plane traffic environment can be improved to a certain extent, the location effect is still unsatisfactory in a complex road condition scene. Particularly, in some three-dimensional traffic environments, the accurate positioning of the driver and the passenger in the application scenarios cannot be realized by comprehensively utilizing the GPS and the auxiliary GPS positioning technology.

In recent years, with the development of ultra-wideband (UWB) technology based on the ieee802.15.4a and ieee802.15.4z standards, the secure ranging and positioning technology using UWB has been popular in the application market. Since UWB is a wireless communication technology based on a non-sinusoidal wave (carrier), it employs nanoseconds (1ns to 10)^-9s) level or even picoseconds (1 ps-10)^-12s) the narrow pulse signal of level communicates, and the narrow pulse signal has that the penetrating power is strong, anti-interference, anti multipath is effectual, the advantage of high security and low-power consumption, utilizes UWB range finding and positioning technology in the aspect of indoor instant accurate positioning System (RTLS), can realize the dynamic positioning tracking and the navigation to indoor static or moving object and personnel to can provide the accurate positioning data of 10 centimetres level. Especially, after the ultra wideband antenna is developed on the basis of the extension of the IEEE802.15.4z standard, an additional security extension function is realized, so that the UWB can realize safer and more accurate centimeter-level ranging and positioning, and further support various applications in the fields or industries such as smart homes, smart buildings, Internet of Things (IoT), vehicle networking alliance (CCC) and the like.

The application number is 20211111451901.9, the name is Chinese invention application of "vehicle positioning prediction method, device and storage medium based on UWB", disclose a vehicle positioning prediction method based on UWB technology, it through utilize obtain present UWB positioning data and correspondent present moment of vehicle, historical UWB positioning data, historical speed and prediction mean acceleration of the vehicle at the first historical moment, the first historical moment is before the present moment, UWB positioning data of the vehicle are the most recent moment of renewal; according to present moment, first historical moment, historical UWB locating data, historical speed and prediction average acceleration, the current location data of prediction vehicle to lead to the unsafe problem of vehicle location when only relying on vehicle UWB locating data is improved, thereby promote vehicle positioning accuracy.

The application number is 202111505182.4, and the Chinese invention application is named as 'vehicle positioning method, system, equipment and storage medium', and discloses that an RTK positioning system and a UWB positioning system are deployed at a vehicle-mounted end, an RTK positioning observation value and a UWB positioning observation value of a vehicle are respectively obtained, the respective confidence coefficients of the RTK positioning system and the UWB positioning system are obtained, a target positioning observation value with the system confidence coefficient meeting a set condition is selected from the RTK positioning observation value and the UWB positioning observation value, and the target positioning observation value is used as a vehicle-end positioning result to improve the positioning precision of the vehicle, so that the vehicle is controlled to execute corresponding driving behaviors.

The invention discloses a Chinese invention application with the application number of 202111520713.7 and the name of 'a 4G/5G communication base station fusion method applying UWB positioning', and discloses a method for fusing a communication base station of the existing 4G/5G network with a UWB positioning system to enable the communication base station to meet the requirement of communication and realize accurate positioning at the same time, so that the cost of independently constructing and maintaining a positioning network is saved, and meanwhile, functions of underground positioning, underground navigation and the like are realized by binding a mobile phone and a positioning label and matching an electronic map.

However, the above prior art based on UWB cannot solve a series of problems caused by inaccurate positioning of the relative positions of the driver and the passenger in the present application, regardless of indoor positioning, improvement of the positioning accuracy of the automatic navigation and the automatic driving vehicle, or based on a concept of network fusion of the existing 4G/5G network and UWB.

Disclosure of Invention

In view of the above, the main objective of the present invention is to provide a vehicle accurate positioning and communication method and system based on UWB technology, so as to solve the problems of difficulty in finding between the driver and the passenger and high communication cost by improving the positioning accuracy of the relative position between the vehicle and the passenger. Meanwhile, the lost articles of the passengers can be sensed in time, and the problem that a large amount of time is wasted by both parties due to subsequent returning and communication is avoided.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a vehicle accurate positioning and communication method based on UWB technology comprises the following steps:

transmitting a UWB pulse signal, and judging whether the distance between the vehicle and the mobile terminal reaches a preset distance range or not;

and if so, responding to the pulse signal to enable a preset interaction mode to be started between the vehicle and the mobile terminal.

Further, after the vehicle or the mobile terminal responds to the UWB pulse signal, a preset interaction mode is opened between the vehicle and the mobile terminal, including: and a step of obtaining the current travel time length of the UWB pulse signals between the vehicle and the mobile terminal or obtaining the time difference of the UWB pulse signals received by different UWB base stations, calculating the relative distance between the vehicle and the mobile terminal, and then updating the position data.

Further, the step of transmitting a UWB pulse signal to determine whether the distance between the vehicle and the mobile terminal reaches a preset distance range, and if so, the method further includes the step of switching the satellite navigation positioning function used before the vehicle or/and the mobile terminal to the UWB positioning navigation.

Further, the distance between the vehicle and the mobile terminal reaches a preset distance range, specifically, is less than 200 meters.

Further, the starting of the preset interaction mode between the vehicle and the mobile terminal further comprises: and starting and establishing a UWB wireless communication link between the vehicle and the mobile terminal.

Further, after calculating the relative distance between the vehicle and the mobile terminal and updating the position data, the method further includes: and a step of transmitting the next UWB pulse signal again to calculate a new relative distance between the vehicle and the mobile terminal, and updating the position data again.

Furthermore, the mobile terminal is connected with a vehicle-mounted terminal of the vehicle through the UWB wireless communication link, and the vehicle is controlled to send out prompt signals in an acoustic and optical mode.

Further, the vehicle-mounted terminal of the vehicle is connected with the mobile terminal through the UWB wireless communication link, and the mobile terminal is controlled to send out a prompt signal in a flashing mode.

Further, the vehicle-mounted terminal and the mobile terminal of the vehicle establish a duplex communication channel through the UWB wireless communication link, and communicate in a voice or/and video mode.

Further, the step of judging whether the distance between the vehicle and the mobile terminal reaches a preset distance range is executed, and if not, the UWB pulse signal is continuously transmitted to search the vehicle or the mobile terminal.

A communication system for implementing the UWB technology-based vehicle precise positioning and communication method comprises the following steps:

the mobile terminal is used for keeping data connection with the positioning server through a mobile communication network, is used for ranging and positioning the vehicle-mounted terminal, and is used for establishing a UWB communication link with the vehicle-mounted terminal so as to upload first positioning data to the positioning server and receive second positioning data;

the vehicle-mounted terminal is used for keeping data connection with a positioning server through a mobile communication network, is used for ranging and positioning the mobile terminal, and is used for establishing a UWB communication link with the mobile terminal so as to upload second positioning data to the positioning server and receive the first positioning data;

and the positioning server is used for receiving the first positioning data and the second positioning data and issuing the second positioning data and the first positioning data to the mobile terminal or/and the vehicle-mounted terminal so as to update respective position data in the electronic map.

A mobile terminal comprising one or more processors and memory;

the processor is configured to read and execute one or more computer programs stored in the memory to implement the steps of the UWB technology based vehicle precision positioning and communication method.

An in-vehicle terminal comprising one or more processors and memory;

A positioning server comprising one or more processors and memory; the processor is configured to read and execute one or more computer programs stored in the memory to implement the steps of the UWB technology based vehicle precision positioning and communication method.

A computer readable storage medium storing one or more computer programs for reading by and/or execution by one or more processors to implement the steps of the UWB technology based vehicle precision positioning and communication method.

The invention discloses a vehicle accurate positioning and communication method and a system thereof based on UWB technology, which has the following beneficial effects:

1) when the network car is close to passengers, the positioning accuracy of the driver and the passenger can be improved by a high-accuracy UWB positioning technology, the positioning accuracy of UWB can reach about 10cm and is higher than that of a civil satellite, and because UWB signals have the advantages of high penetrability and anti-multipath fading effect, the influence of surrounding buildings and environments is avoided, the use scene is not limited, and therefore the positioning accuracy of the driver and the passenger under the scene of complex road conditions can be guaranteed.

2) When a driver approaches the position of a passenger, the passenger can control the twinkling or the color of lighting systems such as a double flashing of the net appointment car, a passenger indication board and the like through a UWB communication link, so that the passenger can more conveniently find the specific position of the net appointment car to be taken.

3) When a driver approaches the boarding position of a passenger, the driver can control the flashing and flashing frequency of the mobile phone flash lamp of the passenger through the UWB communication link, so that the driver can find the specific position of the passenger at night or in a place with more people.

4) In the scheme of the invention, when a driver approaches to a passenger position, a channel can be established through UWB communication to carry out voice or video conversation with the passenger through APP after encryption, and because UWB has the characteristic of local area network, the driver can communicate with the passenger only near the passenger and after APP software encryption, so that the privacy of the driver and the passenger can be protected better, and because the communication is carried out by the hardware-based UWB technology, the consumption of telephone charge is avoided. The existing technology encrypts and then communicates the communication numbers of a driver and a passenger through the number forwarding function of the app, so that the existing technology can only carry out voice call but not video call. And because many mobile phones all possess the high-frequency communication number interception function now, have caused if the number of switching of the net car booking system of dialing frequency is higher then easy to be identified as the high-frequency calling number or pulled into the blacklist by the mobile phone, cause the communication to be obstructed. The existing network taxi booking software needs to reserve a large number of numbers for switching to solve the problem, and is very inconvenient.

5) When the passenger arrives at the destination, the vehicle-mounted UWB can also locate the mobile phone position of the passenger. The specific mode is that when the network car appointment reaches the destination, the vehicle-mounted UWB antenna starts to position the mobile phone of the passenger, when the car door is opened and then closed, if the system finds that the mobile phone of the passenger is still on the car, the system reminds the driver through the vehicle-mounted screen and the vehicle-mounted voice system, and the driver reminds the passenger to take back the mobile phone in time.

Drawings

FIG. 1 is a schematic diagram of a vehicle precision positioning and communication system based on UWB technology according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a vehicle accurate positioning and communication network based on UWB technology according to an embodiment of the invention;

fig. 3 is a schematic diagram of a time-of-flight (TOF) ranging method for implementing UWB positioning according to an embodiment of the present invention.

[ main assembly reference numerals ]

1: the vehicle 11: first positioning base station, 12: second positioning base station, 13: third positioning base station, 14: fourth positioning base station, 15: fifth positioning base station

2: mobile terminal, 3: vehicle-mounted terminal, 4: and positioning the server.

Detailed Description

The present invention will be described in further detail below with reference to the accompanying drawings and embodiments thereof.

The main conception of the invention is as follows: the vehicle 1, such as a network car, still uses the existing satellite navigation and positioning functions (such as GPS and BDS) in the course of receiving a reservation request from the passenger's mobile terminal 2 and traveling to the passenger's departure point. When the network car booking is in a preset range (such as 200 meters) close to a boarding point reserved by a passenger, a vehicle-mounted UWB positioning base station is started to scan and position the position of a mobile terminal 2 of the passenger, and after scanning and positioning are successful, the mobile terminal 2 responds to a UWB pulse signal, a preset interaction mode is started between the network car booking and the mobile terminal, and a UWB wireless communication link is established. At the moment, the system automatically switches the positioning system of the network car booking to the UWB positioning navigation function, and the driver can accurately position the passenger under the instruction of the electronic map, so that the trouble that the positions of the two parties need to be confirmed through repeated communication in the past is avoided, and the experience of taking the network car booking by the passenger is improved. Preferably, because the UWB ranging and positioning technology has a high-bandwidth characteristic in addition to a high-precision positioning function, the driver and the passenger can perform voice or/and video calls using a wireless communication network formed by the UWB technology, and can also control specific functions of a vehicle and a mobile phone, and the like, thereby further improving the riding experience of the passengers.

Fig. 1 is a schematic diagram of a vehicle accurate positioning and communication system based on UWB technology according to an embodiment of the present invention.

As shown in fig. 1, the vehicle accurate positioning and communication system based on the UWB technology mainly includes a vehicle 1, a mobile terminal 2 of a passenger, and a vehicle-mounted terminal 3. Wherein:

the vehicle 1 may be a net appointment car, a taxi, etc.

The mobile terminal 2 is an intelligent mobile terminal provided with an app of a car booking passenger end and is internally provided with a UWB tag.

The vehicle-mounted terminal 3 can be a vehicle-mounted computer, can also be an intelligent mobile terminal provided with a car booking driver end app, and can be in communication connection with a vehicle-mounted UWB base station in a wired or wireless communication mode. The vehicle-mounted UWB base station comprises a first positioning base station 11, a second positioning base station 12, a third positioning base station 13, a fourth positioning base station 14 and a fifth positioning base station 15. The first positioning base station 11, the second positioning base station 12, the fourth positioning base station 14 and the fifth positioning base station 15 are respectively arranged at four corners of the vehicle 1; the third positioning base station 13 is disposed at the top of the middle section in the vehicle 1. The first positioning base station 11, the second positioning base station 12, the third positioning base station 13, the fourth positioning base station 14, and the fifth positioning base station 15 all include a chip and a UWB antenna that support the UWB technology, and support the communication connection with the vehicle-mounted terminal 3 through communication interfaces such as an ethernet interface, a CAN bus, and an RS485 or through bluetooth communication or WIFI. The vehicle-mounted terminal 3 can perform data connection with the mobile terminal 2 in a UWB communication mode through any 3 or 4 or 5 UWB positioning base stations.

In the embodiment of the invention, the vehicle 1, such as a network appointment vehicle, needs to be provided with at least 3 UWB positioning base stations which are not on the same line, and the passenger mobile terminal 2 also supports the UWB communication function.

When the taxi approaches the position of the passenger, the vehicle-mounted UWB antenna is started to search for the UWB signal transmitted from the mobile terminal 2 of the passenger, and the search process is a process in which the vehicle-mounted UWB antenna transmits the UWB positioning request signal of the mobile terminal 2 of the target passenger to the surrounding (refer to fig. 3). Each UWB antenna includes a globally unique Media Access Control Address (MAC) Address, and the MAC Address of the UWB in the mobile terminal 2 of the target passenger can be obtained by authorization in advance when the client APP drives the car.

When the mobile terminal of the non-target passenger receives the positioning request signal, the mobile terminal of the non-target passenger does not respond because the MAC address of the mobile terminal of the non-target passenger corresponds to the MAC address of the base station antenna which does not request positioning.

When the mobile terminal of the target passenger receives the positioning request, the MAC address can be corresponded, so that the mobile terminal can receive and answer the positioning request sent by the network appointment UWB base station antenna through the UWB antenna. After the UWB base station antenna of the network appointment car receives the mobile terminal response signal of the target passenger, other UWB base station antennas of the network appointment car sequentially send positioning requests to the target passenger.

Here, the principle of UWB base station antenna positioning for network appointment cars is: the Time of Flight (ToF) ranging algorithm is utilized to calculate distance using the signal travel Time.

As shown in fig. 3, a basic description of how the ToF algorithm works between a vehicle equipped with a UWB base station antenna and a mobile terminal UWB. The UWB base station antenna mounted on the vehicle 1 is on the left side, and the UWB base station antenna on the mobile terminal 2 is on the right side.

To calculate the time of flight (ToF), we measure the time it takes for a signal to be sent from the vehicle 1 until the vehicle 1 receives a return reply signal. We take a round trip reading of the message round trip time, which includes the processing time in the mobile terminal 2. The ToF is then determined by subtracting the treatment time and dividing by 2. To determine how much distance is covered during transmission, ToF is multiplied by the speed of light C.

Thus, the distance S between the net appointment car and the passenger is:

S＝C×ToF。 (2)

here, C represents the speed of light.

In formula (1): t0 is the time when the vehicle-mounted UWB base station sends a positioning request, T1 is the time when the passenger's mobile terminal receives a positioning request, T2 is the time when the mobile terminal sends a response signal through the UWB antenna, and T3 is the time when the vehicle-mounted UWB base station receives the response signal.

The ToF algorithm described in the above formula (1) is suitable for a scenario where both the transmitter and the receiver have a unified communication clock, and if the clocks of the transmitter and the receiver cannot guarantee strict synchronization, a large error will be generated in the positioning accuracy (i.e. the distance S between the transmitter and the receiver), but the positioning error distance is still within an acceptable range within the line-of-sight range. In order to reduce the error, a reverse measurement method may be adopted in which the mobile terminal 2 transmits a positioning request (packet) to the network-restricted in-vehicle UWB base station, and the in-vehicle UWB base station receives and automatically responds. By averaging the average values of forward and reverse multiple measurements, the influence of the offset is reduced all the time, so that the ranging error can be reduced.

In one embodiment of the invention, the frequency range of the UWB wireless pulse signal is between 3.1GHz and 10.6GHz, the data transmission rate can reach 500Mb/s, and the pulse repetition period is about 25ns to 1 ms. If the time calculated according to the pulse repetition period of 25ns is about 25ns (transmission) +25ns (reception) +10000ns (MCU processing) ═ 10050ns, that is, the time for completing positioning of 1 UWB base station antenna is 10050ns × 3 ═ 30150 ns. When the vehicle speed is 60KM/H when the net appointment vehicle approaches the passenger, the distance traveled by the vehicle per second is 16.67m, and the number of times that positioning can be completed in 1 second is 33167 times in 1s/30150 ns. Therefore, the net appointment car can send 33167 positioning wireless pulse signals to passengers every second, and the position change distance caused by the vehicle traveling is about 16.67m/33167 times ≈ 0.0005 m ≈ 0.05cm each time. Therefore, the error caused by the change of the vehicle speed is only 0.05cm, and the error distance can be ignored for searching passengers in the net appointment vehicle.

Embodiments of the present invention may also employ a Time Difference of Arrival (TDoA) algorithm for ranging and positioning. The TDoA algorithm is a method for positioning by using time difference of arrival, which is also called hyperbolic positioning. The specific process is as follows: the mobile terminal 2 sends out a UWB wireless pulse signal once to the outside, all UWB positioning base stations within the coverage of the UWB signal of the mobile terminal 2 receive the wireless pulse signal, and because the distances between different UWB positioning base stations and the mobile terminal 2 are different, time nodes at which different UWB positioning base stations receive the same wireless pulse signal are different. The positioning principle of the TDoA algorithm is to determine the position of the mobile terminal 2 by using the time difference of the pulse signals received by the UWB positioning base stations. The method for distance measurement and positioning by adopting the TDoA algorithm does not need repeated communication between the mobile terminal 2 and a UWB positioning base station, and only needs the mobile terminal 2 to transmit a UWB pulse signal once, so that the working time is shortened, and the power consumption is correspondingly reduced. Thus, higher positioning dynamics and positioning capacity are facilitated. Since the ranging and positioning principle of the TDoA algorithm is the prior art, the positioning process thereof will not be described in detail in the present invention.

In addition, in order to deal with and solve the problem of accurate positioning of the driver and the passenger under the condition of complex road conditions (such as multilayer roads and three-dimensional traffic environments), in another embodiment of the present invention, the network appointment car may also start 4 or 5 UWB base stations to perform ranging and positioning on the mobile terminal 2 of the passenger, so as to support realization of more accurate positioning of the driver and the passenger under the three-dimensional environment. The algorithm is slightly complex, but the adopted principle is similar to the ToF and TDoA algorithms, and the implementation of the present application is not described in detail. Meanwhile, other algorithms such as ToA and TW-ToF algorithms may also be used in the embodiments of the present invention for distance measurement and positioning.

In summary, after the system calculates the distances between 3 UWB antennas, 4 UWB antennas or 5 UWB antennas of the UWB base station of the network appointment and the mobile terminal 2 of the passenger, the distance and the direction between the network appointment and the passenger can be calculated according to simple mathematical operations, and then the positions of the passenger can be continuously updated in the electronic maps of the driver and the passenger by continuously repeating the positioning process (accordingly, all motion tracks are displayed in the apps of the driver and the passenger). The system updates the distance and the azimuth information into the APP maps of the mobile terminals of the taxi appointment and the passengers through the positioning server 4, replaces the currently used satellite positioning information with the UWB positioning information, and displays the specific positions of the taxi appointment and the passengers based on the UWB positioning in the APP maps.

Besides the high-precision positioning function, the UWB has a very high signal bandwidth, so that when the driver and the passenger establish UWB communication connection, the UWB can be used to perform functions such as voice call, video call, and vehicle signal control (for example, to a car light and a car horn).

For example, in this embodiment, when the driver approaches the position of the passenger, the passenger can control the flashing or color of the lighting system such as the double flashing of the net appointment and the passenger indication board through UWB, so that the passenger can more conveniently find the specific position of the net appointment in which the passenger is ready to take.

Correspondingly, when the driver approaches the position of the passenger, the driver can also control the flash lamp of the mobile terminal of the passenger through UWB technology to flash and flash frequency, so that the driver can find the specific position of the passenger at night or in a place with more people.

In the embodiment of the invention, when a driver approaches the position of a passenger, the driver can carry out voice/video call with the passenger through the UWB technology after encryption of the app, and because the UWB has the local characteristic, the driver can only communicate with the passenger near the passenger and after the driver is encrypted by the app software in the respective terminal, so that the privacy of the driver and the passenger can be protected. In addition, since both the driver and the passenger communicate by the hardware-based UWB technology, the telephone fee is not generated.

Most of existing network car booking platforms encrypt the communication numbers of a driver and a passenger and then carry out two-party call through the number forwarding function of app at present, and generally only voice call but not video call can be carried out. And because many mobile terminals all possess the telephone number interception function of the high frequency of use now, have caused the switching number of the car booking system of the network to be distinguished as the high frequency calling number or pulled into the blacklist by the mobile terminal easily if dial the frequency relatively high, cause to dial the contact mode of making a telephone and hinder. If the existing network booking platform needs to solve the problem, a large number of numbers need to be reserved for switching, and the network booking platform is very inconvenient.

And when the passenger arrives at the destination, the vehicle-mounted UWB can also locate the position of the mobile terminal of the passenger. The specific mode is as follows: when the network appointment car reaches the destination, the vehicle-mounted UWB antenna is started to position the mobile terminal of the passenger, when the car door is opened and then closed, if the system finds that the mobile terminal of the passenger is still on the car, the system reminds the driver of the passenger through the vehicle-mounted screen and the vehicle-mounted voice system that the mobile terminal of the passenger is still on the car, and the passenger is reminded to get back the mobile terminal in time.

Fig. 2 is a schematic diagram of vehicle accurate positioning and communication network composition based on UWB technology according to an embodiment of the present invention.

As shown in fig. 2, in the schematic diagram of the vehicle accurate positioning and communication network based on the UWB technology, the mobile terminal 2, the in-vehicle terminal 3, and the positioning server 4 realize wireless connection and data communication through a mobile communication network. The mobile communication network is a 3G/4G or 5G network. And when the relative distance of the vehicle reaches a certain range, the mobile terminal 2 establishes a duplex communication link with the vehicle-mounted terminal 3 through the UWB base station in a UWB wireless communication mode to carry out communication.

The positioning server 4 is configured to run one or more computer programs for implementing services of network car appointment and electronic map (real-time) positioning through the vehicle-mounted terminal 3 or/and the mobile terminal 2. The positioning server 4 can update respective positions in the electronic map in real time according to the satellite navigation position data such as a GPS (global positioning system), a Beidou navigation system (BDS) and the like received and uploaded by the vehicle-mounted terminal 3 or/and the mobile terminal 2, and send the respective position data to the mobile terminal 2 or/and the vehicle-mounted terminal 3.

Preferably, when the vehicle-mounted terminal 3 and the mobile terminal 2 enter a certain preset distance range, the positioning server 4 receives the respective distance and positioning data of the vehicle-mounted terminal 3 or/and the mobile terminal 2 in the UWB communication network through the mobile communication network, and sends the respective distance and positioning data to the vehicle-mounted terminal 3 or/and the mobile terminal 2 through the mobile communication link, so as to update the respective position information in the electronic map in real time.

In another embodiment, if the positioning server 4 is capable of data communication with any one of the mobile terminal 2 or the in-vehicle terminal 3 when the mobile terminal 2 or the in-vehicle terminal 3 is in the coverage area without mobile network signals, the in-vehicle terminal 3 or the mobile terminal 2 may be instructed to transmit/update the position information of itself in the electronic map to the mobile terminal 2 or the in-vehicle terminal 3 through the UWB communication link. For example, when the mobile terminal 2 is in a coverage blind area of the mobile communication network, the positioning server 4 issues an instruction, and the vehicle-mounted terminal 3 transmits/updates the positioning data/information of the position where the vehicle-mounted terminal 3 is located to the mobile terminal 2 through the UWB communication link, so that the driver and the passenger can still grasp their respective distances and positioning information in real time.

The positioning server 4, the in-vehicle terminal 3 and the mobile terminal 2 are each provided with a computer-readable storage medium and one or more (computer) processors, such as a CPU or MPU or MCU. The computer readable storage medium includes, but is not limited to, an internal memory, a flash memory and an external memory, in which one or more computer programs are stored for reading and/or execution by the one or more computer processors to implement the UWB technology based vehicle precision positioning and communication method of the present invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.

Claims

1. A vehicle accurate positioning and communication method based on UWB technology is characterized by comprising the following steps:

and if so, responding to the UWB pulse signal, and enabling a preset interaction mode to be started between the vehicle and the mobile terminal.

2. The UWB technology based vehicle precise positioning and communication method according to claim 1, wherein the responding to the UWB pulse signal and enabling the preset interaction mode between the vehicle and the mobile terminal comprises:

and acquiring the current travel time length of the UWB pulse signals between the vehicle and the mobile terminal or acquiring the time difference of different UWB base stations receiving the UWB pulse signals, calculating the relative distance between the vehicle and the mobile terminal, and updating position data.

3. The method according to claim 1, wherein the method comprises the steps of determining whether the distance between the vehicle and the mobile terminal reaches a preset distance range, and if so, switching the satellite navigation positioning function used by the vehicle or/and the mobile terminal to the UWB positioning navigation function.

4. The UWB technology based vehicle precision positioning and communication method of claim 1, wherein the distance between the vehicle and the mobile terminal reaches a preset distance range, specifically less than 200 meters.

5. The UWB technology based vehicle accurate positioning and communication method of claim 2, wherein a preset interaction mode is opened between the vehicle and the mobile terminal, further comprising: and starting and establishing a UWB wireless communication link between the vehicle and the mobile terminal.

6. The UWB technology-based vehicle precision positioning and communication method according to claim 2, wherein after calculating the relative distance between the vehicle and the mobile terminal and updating the position data, further comprising: and transmitting the next UWB pulse signal again to calculate a new relative distance between the vehicle and the mobile terminal, and updating the position data again.

7. The UWB technology based vehicle accurate positioning and communication method according to claim 5, wherein the mobile terminal is connected with a vehicle-mounted terminal of the vehicle through the UWB wireless communication link, so that the vehicle emits a prompt signal in a preset sound and/or a preset light mode.

8. The UWB technology based vehicle precision positioning and communication method of claim 5, wherein the vehicle-mounted terminal of the vehicle is connected with a mobile terminal through the UWB wireless communication link, and the mobile terminal is controlled to automatically send out a prompt signal in a preset flash mode.

9. The UWB technology based vehicle accurate positioning and communication method according to claim 5, wherein a vehicle-mounted terminal and a mobile terminal of the vehicle establish a duplex communication channel through the UWB wireless communication link, and establish communication connection in a voice or/and video mode.

10. The UWB technology based vehicle precision positioning and communication method of claim 1, wherein the step of judging whether the distance between the vehicle and the mobile terminal reaches a preset distance range is executed, and if not, UWB pulse signals are continuously transmitted to search the vehicle or the mobile terminal.

11. A communication system for implementing the UWB technology-based vehicle precise positioning and communication method according to any one of claims 1 to 10, comprising:

the mobile terminal is used for keeping data connection with the positioning server through a mobile communication network, also used for ranging and positioning the vehicle-mounted terminal, and used for establishing a UWB communication link with the vehicle-mounted terminal so as to upload first positioning data to the positioning server and receive second positioning data;

12. A mobile terminal comprising one or more processors and memory;

the processor is configured to read and execute one or more computer programs stored in the memory to implement the steps of the UWB technology based vehicle precision positioning and communication method according to any of claims 1 to 10.

13. An in-vehicle terminal comprising one or more processors and memory;

14. A positioning server comprising one or more processors and memory; the processor is configured to read and execute one or more computer programs stored in the memory to implement the steps of the UWB technology based vehicle precision positioning and communication method according to any of claims 1 to 10.

15. A computer readable storage medium, characterized in that the computer readable storage medium stores one or more computer programs for reading and/or execution by one or more processors for implementing the steps of the UWB technology based vehicle precision positioning and communication method according to any of claims 1 to 10.