CN111873942A - Automobile door handle module based on UWB technology and implementation method - Google Patents
Automobile door handle module based on UWB technology and implementation method Download PDFInfo
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- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
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- B60R25/2036—Means to switch the anti-theft system on or off by using the door logic and door and engine unlock means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
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Abstract
The invention provides an automobile door handle module based on UWB technology and an implementation method, wherein the implementation method comprises the following steps: step 1, when the door handle module receives a trigger signal for unlocking the car door, ToF ranging is carried out on the door handle module and the UWB intelligent equipment based on UWB technology, and T is calculatedTOFThe UWB intelligent equipment comprises an intelligent key and an intelligent mobile phone with a UWB module; step 2, carrying out AoA arrival angle measurement on the door handle module and the UWB intelligent equipment based on the UWB technology; step 3, converting T in step 1TOFCalculating the AoA data in the step 2 to obtain the three-dimensional coordinates of the UWB intelligent equipment; and 4, calibrating the inside and outside range of the vehicle according to the preset whole vehicle, judging whether the UWB intelligent equipment is in a legal area, and executing the vehicle door unlocking function if the UWB intelligent equipment is in the legal area. The invention utilizes the narrow-band pulse of UWB to respectively measure the flight time and the phase, utilizes the positioning algorithm combining ToF and AoA to carry out accurate positioning and prevent relay attack, and improves the automobileThe safety of (2).
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile door handle module based on a UWB technology and an implementation method thereof.
Background
Keyless entry and start systems are currently standard automotive vehicles. Vehicles equipped with keyless entry systems typically require the installation of several door handle modules with sensors, which are used primarily as a trigger source to accurately locate the vehicle key.
The door handle module which is the mainstream on the market at present is a 125kHz low-frequency door handle, and the positioning is carried out through the low-frequency electromagnetic field intensity. The scheme mainly comprises the following steps (as shown in figure 1) when entering the vehicle:
And step 102, judging whether the low-frequency trigger is effective and whether the vehicle state condition is met by the controller of the keyless system, if so, executing step 103, and if not, ending.
And 103, if the trigger is effective and the vehicle state condition is met, driving the 125kHz low-frequency antenna to transmit data and carrier waves by the low-frequency driving chip.
And 104, carrying out legality authentication on the key through the received data, carrying out a positioning function through measuring the electromagnetic field intensity of the carrier wave, executing the step 105 if the key is legally authenticated in an effective area, and finishing the step otherwise.
Step 105: the key sends an unlocking command to the keyless system starting controller through a 434MHz radio frequency signal.
And step 106, the controller of the keyless system receives the radio frequency signal sent by the key for verification, if the verification is passed, the step 107 is executed, and if not, the operation is ended.
And step 107, after the verification is passed, sending a door unlocking CAN (Controller Area Network, CAN for short, ISO international standardized serial communication protocol) message to a CAN bus, and executing a door unlocking function after a Body Controller Module (BCM) Controller receives a door unlocking CAN command.
The prior art is to measure the signal intensity sent by a 125kHz low-frequency doorknob module by using a smart key for positioning. Through the relay device, the 125kHz signal can be amplified, the smart key which is originally far away from the vehicle is identified to be close to the vehicle, and the smart key responds to the unlocking door signal and sends the unlocking signal. After the controller of the keyless system receives the unlocking signal (or relay), the vehicle door signal is sent to the BCM controller through the CAN message, and the BCM controller executes the function of unlocking the vehicle door. And after the thief enters the vehicle, continuing relaying to start the vehicle.
Therefore, there is a serious safety risk with the positioning technique of measuring the signal strength.
Disclosure of Invention
The invention provides an automobile door handle module based on a UWB technology and a method thereof, which are applied to unlocking an automobile door, can accurately position and prevent relay attack by utilizing the door handle based on the UWB technology, and solve the problem that a 125kHz low-frequency door handle in the prior art is easy to be attacked by relay attack.
The invention provides a realization method of an automobile door handle module based on UWB technology, which is applied to an automobile door unlocking system, wherein the automobile door unlocking system comprises a door handle module, a keyless system, a key and an automobile body controller module, the keyless system sends an unlocking door trigger signal for detecting the door handle module to the key for authentication, the key authentication passes and then sends an unlocking instruction to the keyless system, and the keyless system verifies that the keyless system passes and then sends an unlocking door CAN instruction to the automobile body controller module to execute the door unlocking function, and the realization method comprises the following steps:
step 1, when the doorknob module receives an unlocking car door trigger signal, ToF ranging is carried out on the doorknob module and UWB intelligent equipment based on UWB technology, and T is calculatedTOFThe UWB intelligent equipment comprises an intelligent key and an intelligent mobile phone with a UWB module;
step 2, carrying out AoA arrival angle measurement on the door handle module and the UWB intelligent equipment based on UWB technology;
and 4, calibrating the inside and outside range of the vehicle according to the preset whole vehicle, judging whether the UWB intelligent equipment is in a legal area, and executing the vehicle door unlocking function if the UWB intelligent equipment is in the legal area.
Optionally, the step 1 includes:
triggering the door handle module to send a first pulse signal, and recording the sending completion time as T1;
after receiving the first pulse signal, the UWB intelligent device records the receiving completion time as T2;
the UWB intelligent equipment sends a response, and records the sending completion time as T3;
after receiving the response data, the door handle module records the receiving completion time as T4;
the door handle module sends a second pulse signal, and the sending completion time is recorded as T5;
the UWB intelligent equipment receives the second pulse signal and records the receiving completion time as T6;
the above steps are represented as:
Tround1＝T4-T1；
Treply1＝T3-T2；
Treply2＝T5-T4；
Tround2＝T6-T3；
optionally, the step 2 includes:
setting the spacing between a first group of antennas (A1, A2) and a second group of antennas (B1, B2) of the UWB antenna array to be d, wherein the first group of antennas and the second group of antennas are perpendicular to each other;
establishing a Cartesian coordinate system by taking the centers of the first group of antennas and the second group of antennas as coordinate origins;
assuming that the UWB intelligent device is located at a position M (x, y, z), when the distance from the M point to A1 or A2 is larger than d:
the included angle between the M point and the A1 and the A2 is the included angle between the M point and the intermediate point of A1A2 and is marked as theta; the included angle between the M point and B1 and B2 is the included angle between the M point and the middle point of B1B2 and is marked as alpha; the included angle between the projection M' of the M point on the xoy plane and the middle point of B1B2 is psi;
while measuring the pulse signals of step 1, the arrival time and phase of each signal, i.e. phase difference from point M to A1 and A2, were recorded
Phase difference from point M to B1 and B2
According to the AoA algorithm, then there are
Where λ is the wavelength of UWB.
Optionally, in the step 3, T for the step 1TOFThe step of performing the calculation includes:
according to TTOFThe formula of (2) is derived and calculated to obtain the flight time T of the pulse signal between the UWB intelligent device and the door handle moduleTOF；
Determining the distance D between the UWB smart device and the doorknob module, i.e., determining the distance D between the UWB smart device and the doorknob module
D＝c·TTOF；
Where c is the speed of light.
Optionally, the step 3 includes:
calculating the three-dimensional coordinate of the UWB intelligent equipment according to the phase angle calculated by the phase difference:
the projection x of the M point on the x axis is D & cos alpha;
the projection z of the M point on the z axis is D & cos theta;
the distance between the point M and the point a1 is | MA1| ═ M' O | ═ D · sin θ;
the projection of the M point on the y axis is
From the above formula, the three-dimensional coordinate of the M point is obtained as:
wherein D is the distance between UWB smart machine and the door handle module.
Optionally, the implementation method further includes:
marking each measured time point (T1-T6) as a unique timestamp;
when the relay is attacked, the timestamp becomes large and the measured TTOFAnd if the distance D is larger, the distance D between the UWB intelligent device and the doorknob module is calculated to be farther so as to prevent relay attack.
Optionally, the legal area is obtained by calibrating the whole vehicle and is stored in the UWB smart device or the microcontroller of the door handle module.
Optionally, the frequency band of the UWB is 3.1-10.6 GHz.
The invention provides an automobile door handle module based on UWB technology, which is applied to an automobile door unlocking system, the automobile door unlocking system comprises a door handle module, a keyless system, a key and an automobile body controller module, the keyless system sends an unlocking door trigger signal for detecting the door handle to the key for authentication, the key authentication passes and then sends an unlocking instruction to the keyless system, the keyless system verifies that the unlocking door CAN instruction passes and then sends the unlocking door to the automobile body controller module to execute the door unlocking function, the door handle module comprises:
an SBC unit for power supply and communication;
the UWB unit is connected with the SBC unit and used for executing the steps 1 and 2 and measuring the flight time and the phase;
the radio frequency switch unit is connected with the UWB unit and used for switching the UWB antenna array;
the microcontroller is respectively connected with the SBC unit and the UWB unit and is used for executing the step 3 and the step 4, processing UWB signals, positioning according to the UWB signals and sending out the processing result through the SBC unit;
and the trigger unit is connected with the microcontroller and is a trigger source of the door handle module.
Optionally, the triggering unit is a key or a capacitive sensor.
In summary, it can be seen that, in the embodiments provided by the present invention, the narrow-band pulse of UWB is used to perform the time-of-flight and phase measurement respectively; and a positioning algorithm combining ToF and AoA is utilized to perform accurate positioning and prevent relay attack, so that the safety of the automobile is improved.
Drawings
FIG. 1 is a schematic flow chart of a prior art low frequency doorknob module positioning;
fig. 2 is a schematic flow chart of a method for implementing an automobile door handle module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of ToF ranging provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a UWB antenna arrangement provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of establishing a Cartesian coordinate system according to an embodiment of the invention;
FIG. 6 is a schematic diagram of establishing a Cartesian coordinate system of a vehicle according to an embodiment of the invention;
fig. 7 is a block diagram of an automotive door handle module provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The terms "first", "second" in the description and claims of the invention and the above-described drawings "
Etc. are used to distinguish between similar objects and not necessarily to describe a particular order or sequence. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprise" and "have," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules expressly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus, wherein the division into blocks presented herein is merely a logical division and may be implemented in a practical application in a different manner, such that multiple blocks may be combined or integrated into another system or some feature vectors may be omitted or not implemented, and such that mutual or direct coupling or communicative coupling between blocks shown or discussed may be through interfaces, and indirect coupling or communicative coupling between blocks may be electrical or other similar, the present invention is not limited to these examples. The modules or sub-modules described as separate parts may or may not be physically separated, may or may not be physical modules, or may be distributed in a plurality of circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present invention.
UWB (Ultra Wideband, UWB for short), an Ultra Wideband technology is a new communication technology that is greatly different from the conventional communication technology. It does not need to use a carrier wave in a conventional communication system, but transmits data by transmitting and receiving extremely narrow pulses having nanosecond or less, thereby having a bandwidth in the order of GHz.
Compared with the traditional narrow-band system, the ultra-wide-band system has the advantages of strong penetrating power, low power consumption, good anti-multipath effect, high safety, low system complexity, capability of providing accurate positioning precision and the like. Therefore, the ultra-wideband technology can be applied to positioning, tracking and navigation of indoor stationary or moving objects and people, and can provide very accurate positioning precision.
Because the pulse speed of the UWB is approximate to the light speed, and no signal faster than the light speed exists in practical application, the invention uses the UWB for positioning, and can solve the safety problem of relay attack.
First, a method for implementing an automobile door handle module is described with reference to fig. 2, please refer to fig. 2, and fig. 2 is a schematic flow chart of the method for implementing an automobile door handle module according to an embodiment of the present invention.
The invention provides an implementation method of an automobile door handle module based on UWB technology, which is applied to an automobile door unlocking system, wherein the automobile door unlocking system comprises a door handle module, a keyless system, a key and an automobile body controller module, the keyless system sends an unlocking door trigger signal for detecting the door handle module to the key for authentication, the key authentication is passed, then an unlocking instruction is sent to the keyless system, the keyless system verifies that the unlocking door CAN instruction is sent to the automobile body controller module to execute the door unlocking function, and the implementation method of the automobile door handle module comprises the following steps:
The UWB intelligent device comprises an intelligent key and an intelligent mobile phone with a UWB module.
The ranging principle of UWB is a Two-Way Time of Flight (TW-ToF for short), and each module generates an independent Time stamp from the start.
The ToF (Time of Flight, referred to as ToF) ranging method belongs to a two-way ranging technology, and mainly measures the distance between nodes by using the Time of Flight of a signal between two asynchronous transceivers (transceivers). ToF Ranging includes Single-sided Two-way Ranging (SS-TWR) and Double-sided Two-way Ranging (DS-TWR).
Where single-sided two-way ranging (SS-TWR) is a simple measure of the time of a single round-trip message, device a actively sends data to device B, which returns data to device a.
The Two-sided Two-way Ranging (Double-sided Two-way Ranging) is an extended Ranging method for one-sided Two-way Ranging, records Two round-trip timestamps, and obtains the flight time finally, although the response time is increased, the Ranging error is reduced. The two-way ranging is divided into two methods according to the number of the transmitted messages:
(1) four message modes (4 messages);
(2) three message modes (3 messages).
The following description is made for the features of the two methods:
the two-way ranging four-message mode:
the method comprises two times of distance measurement, wherein a device A actively initiates a first distance measurement message, and a device B responds to obtain 4 timestamps; then after a period of time, device B initiates ranging actively, device a responds, again with 4 different timestamps. The following four time differences can be obtained:
(1)Tround1
(2)Treply1
(3)Tround2
(4)Treply2
two-way ranging three message methods:
compared with the four-message mode, the initiating action of the second ranging is omitted, and after the device a receives the data, the data is returned immediately, and finally the following four time differences can be obtained:
(1)Tround1
(2)Treply1
(3)Tround2
(4)Treply2
the method for calculating the time of flight of the two-way ranging can be calculated by the following formula no matter in a 4-message mode or a 3-message mode:
and step 202, carrying out AoA arrival angle measurement on the door handle module and the UWB intelligent equipment based on the UWB technology.
UWB positioning includes ranging (TOF) positioning, time difference of arrival ranging (TDoA) positioning, and angle of arrival ranging (AOA) positioning. The former two localization methods can be used alone, and the latter AoA is usually fused with ToF localization or TDoA localization.
The three-dimensional coordinates of the UWB smart device can be calculated by establishing a cartesian coordinate system (cartesian coordinates). The cartesian coordinate system is a general term for a rectangular coordinate system and an oblique coordinate system. Two axes intersecting at the origin constitute a planar radial coordinate system. If the measurement units on the two axes are equal, the radial coordinate system is called as a Cartesian coordinate system. Two cartesian coordinate systems with mutually perpendicular axes are called cartesian rectangular coordinate systems, otherwise called cartesian oblique coordinate systems.
And 204, calibrating the inside and outside range of the vehicle according to the preset whole vehicle, and judging whether the UWB intelligent equipment is in a legal area.
And step 205, if the vehicle door is in a legal area, executing a vehicle door unlocking function.
And step 206, if the vehicle door is not in the legal area, the vehicle door unlocking function cannot be executed, and the vehicle door cannot be opened.
The preset whole vehicle calibration vehicle internal and external range is a legal area, can be obtained through whole vehicle calibration, and can be used for setting parameters of the legal area by a vehicle owner.
Specific steps of a method for implementing an automobile door handle module based on UWB technology will be described with reference to fig. 3 to 6, where fig. 3 is a schematic diagram of ToF ranging provided in an embodiment of the present invention, fig. 4 is a schematic diagram of UWB antenna arrangement provided in an embodiment of the present invention, fig. 5 is a schematic diagram of establishing a cartesian coordinate system provided in an embodiment of the present invention, and fig. 6 is a schematic diagram of establishing a complete automobile cartesian coordinate system provided in an embodiment of the present invention, as shown in the drawing.
The embodiment of the invention adopts a three-message two-way ranging method, as shown in figure 3. The steps are as followsIn step 201, T is calculatedTOFThe method comprises the following specific steps:
step one, triggering the doorknob module (i.e. the UWB doorknob module in fig. 3) to transmit a first pulse signal, and recording the transmission completion time as T1.
And step two, after receiving the first pulse signal in the step one, the UWB intelligent device records the receiving completion time as T2.
And step three, the UWB intelligent device sends a response to the doorknob module, and the sending completion time is recorded as T3.
And step four, after the doorknob module receives the response data of the UWB intelligent device, recording the receiving completion time as T4.
And step five, the door handle module sends a second pulse signal to the UWB intelligent device, and the sending completion time is recorded as T5.
And step six, the UWB intelligent device receives a second pulse signal sent by the doorknob module and records the receiving completion time as T6.
Then, the above steps one to six are expressed as:
lround1＝T4-T1；
Treply1＝T3-T2；
Treply2＝T5-T4；
Tround2＝T6-T3；
the embodiment of the invention adopts an AoA positioning method, as shown in figures 4-6. In the step 202, the specific step of measuring the AoA arrival angle includes:
the UWB antenna arrangement is shown in fig. 4. Wherein antenna A1 and antenna a2 are a first set of antennas (A1, a2) of the UWB antenna array, A1a2 having a spacing d; antenna B1 and antenna B2 are a second set of antennas (B1, B2) of the UWB antenna array, with B1B2 being spaced apart by a distance d. The first group of antennas (A1, A2) and the second group of antennas (B1, B2) are perpendicular to each other.
Then, a cartesian coordinate system is established with the centers of the first group of antennas (a1, a2) and the second group of antennas (B1, B2) as the origin of coordinates (as shown in fig. 5), and the cartesian coordinate system established at the time of AoA positioning is moved to the entire vehicle with the main door handle as the origin (as shown in fig. 6).
In the embodiment of the present invention, the position where the UWB smart device is located is set to M (x, y, z). When the distance from the M point to A1 or A2 is greater than d:
the included angle between the M point and the A1 and the A2 is the included angle between the M point and the intermediate point of A1A2 and is marked as theta;
the included angle between the M point and B1 and B2 is the included angle between the M point and the middle point of B1B2 and is marked as alpha;
the included angle between the projection M' of the M point on the xoy plane and the middle point of B1B2 is psi;
while measuring the pulse signals of step 201, the arrival time and phase of each signal, i.e., phase difference between M points to A1 and A2, are recorded
Phase difference from point M to B1 and B2
According to the AoA algorithm, then there are
Wherein, lambda is the wavelength of UWB, and the frequency channel of UWB is 3.1 ~ 10.6 GHz.
The wireless UWB technology adopts pulse position modulation PPM single-period pulse to carry information and channel coding, the general working pulse width is 0.1-1.5ns (1 nanosecond-one-billion second), and the repetition period is 25-1000 ns. Therefore, UWB technology is regularly accurate, and is low cost and low power consumption.
In step 203, the specific step of calculating the three-dimensional coordinates of the UWB intelligent device includes:
(1) calculating TTOF
With respect to T according to step 201TOFThe formula is deduced and calculated, so that the flight time T of the pulse signal between the UWB intelligent device and the door handle module can be obtainedTOFAccording to the time of flight TTOFThe distance D between the UWB smart device and the door handle module can be determined, i.e.
D＝c·TTOF；
Where c is the speed of light.
Since c is the speed of light, even TTOFThe time is short and the distance D is also long. Therefore, ToF ranging can effectively prevent relay attack using measurement time. At each point in time of the measurement, a unique timestamp is marked. When a thief performs relay attack, the time stamp at the moment becomes large, and the measured TTOFThe distance D (namely the distance from the car) between the UWB intelligent device and the door handle module is calculated to be far, so that the system can judge that the UWB intelligent device is not in a legal unlocking area and cannot open the car door, and therefore relay attack can be prevented.
(2) Calculating three-dimensional coordinates of UWB smart device from calculated AoA data
Calculating the three-dimensional coordinates of the UWB intelligent device according to the phase angle (θ, α) calculated by the phase difference in the step 202:
the projection x of the M point on the x axis is D & cos alpha;
the projection z of the M point on the z axis is D & cos theta;
the distance between the point M and the point a1 is | MA1| ═ M' O | ═ D · sin θ;
the projection of the M point on the y axis is
From the above formula, the three-dimensional coordinate of the M point is obtained as:
wherein D is the distance between UWB smart machine and the door handle module.
To sum up, after calculating the three-dimensional coordinate of UWB intelligent equipment, just can fix a position UWB intelligent equipment, can judge whether UWB intelligent equipment is in legal area, and legal area can be set for by the car owner by oneself, if in legal area, just can unblock the door, otherwise can't open the door.
The invention is explained below from the point of view of a vehicle door handle module based on UWB technology.
Referring to fig. 7, fig. 7 is a block diagram of an automobile door handle module according to an embodiment of the present invention. In this embodiment, an automobile door handle module based on UWB technology is applied to an automobile door unlocking system, the automobile door unlocking system includes a door handle module, a keyless system, a key and an automobile body controller module, the keyless system sends an unlocking door trigger signal, which detects a door handle, to the key for authentication, the key for authentication passes through and then sends an unlocking instruction to the keyless system, and the keyless system verifies that the door for unlocking CAN instruction is sent to the automobile body controller module after passing through to perform a door unlocking function.
In this embodiment, the automobile door handle module (i.e., the UWB door handle module) includes an SBC (System Basis Chip, SBC for short) unit 701, a UWB unit 702, a microcontroller 703, a trigger unit 704, and a radio frequency switch unit 705.
The SBC unit is used for power supply and communication.
A System Base Chip (SBC) is an independent Chip that includes characteristics such as power supply, communication, monitor and diagnosis, and security monitoring, and GPIO (General-purpose input/output, abbreviated as GPIO). The power supply can be a linear power supply or a switch power supply; the communication includes CAN (controller area Network, CAN for short), CAN fd (CAN With Flexible Data-Rate, CAN fd for short) and LIN (local interconnect Network, LIN for short); the monitoring diagnosis includes wake-up input, watchdog, reset, interrupt, and fail output after circuit diagnosis.
The UWB unit 702 is connected to the SBC unit 701, and is configured to execute steps 201 to 202 in fig. 2 and perform time-of-flight and phase measurement.
The radio frequency switch unit 705 is connected to the UWB unit 702 and is configured to switch an array of UWB antennas, which includes a first group of antennas (a1, a2) and a second group of antennas (B1, B2).
The triggering unit 704 is connected to the microcontroller 703 and is a triggering source of the UWB doorknob module. The triggering unit 704 may be a key or a capacitive sensor.
In one embodiment, the triggering unit 704 may be disposed on an automobile door handle and may be triggered by a button or a capacitive sensor.
The embodiment of the invention also provides a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and the program is used for realizing the steps of the method for realizing the automobile door handle module based on the UWB technology when being executed by a processor.
The embodiment of the invention also provides a processor, wherein the processor is used for running a program, and the program executes the steps of the implementation method of the automobile door handle module based on the UWB technology when running.
The embodiment of the invention also provides terminal equipment, which comprises a processor, a memory and a program which is stored on the memory and can be run on the processor, wherein the program code is loaded and executed by the processor to realize the steps of the implementation method of the automobile door handle module based on the UWB technology.
The invention also provides a computer program product adapted to perform the steps of the above-described method for implementing an automotive door handle module based on UWB technology when executed on a data processing device.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. An implementation method of an automobile door handle module based on UWB technology is applied to an automobile door unlocking system, the automobile door unlocking system comprises a door handle module, a keyless system, a key and an automobile body controller module, the keyless system sends an unlocking door trigger signal for detecting the door handle module to the key for authentication, the key authentication sends an unlocking instruction to the keyless system after passing, the keyless system verifies that an unlocking door CAN instruction is sent to the automobile body controller module after passing to execute a door unlocking function, and the implementation method is characterized by comprising the following steps:
step 1, when the doorknob module receives an unlocking car door trigger signal, ToF ranging is carried out on the doorknob module and UWB intelligent equipment based on UWB technology, and T is calculatedTOFThe UWB intelligent equipment comprises an intelligent key and an intelligent mobile phone with a UWB module;
step 2, carrying out AoA arrival angle measurement on the door handle module and the UWB intelligent equipment based on UWB technology;
step 3, converting T in the step 1TOFAnd 2, calculating the AoA data to obtain the three-dimensional coordinates of the UWB intelligent equipment;
and 4, calibrating the inside and outside range of the vehicle according to the preset whole vehicle, judging whether the UWB intelligent equipment is in a legal area, and executing the vehicle door unlocking function if the UWB intelligent equipment is in the legal area.
2. The method according to claim 1, wherein the step 1 comprises:
triggering the door handle module to send a first pulse signal, and recording the sending completion time as T1;
after receiving the first pulse signal, the UWB intelligent device records the receiving completion time as T2;
the UWB intelligent equipment sends a response, and records the sending completion time as T3;
after receiving the response data, the door handle module records the receiving completion time as T4;
the door handle module sends a second pulse signal, and the sending completion time is recorded as T5;
the UWB intelligent equipment receives the second pulse signal and records the receiving completion time as T6;
the above steps are represented as:
Tround1＝T4-T1；
Treply1＝T3-T2；
Treply2＝T5-T4；
Tround2＝T6-T3；
3. the method according to claim 2, wherein the step 2 comprises:
setting the spacing between a first group of antennas (A1, A2) and a second group of antennas (B1, B2) of the UWB antenna array to be d, wherein the first group of antennas and the second group of antennas are perpendicular to each other;
establishing a Cartesian coordinate system by taking the centers of the first group of antennas and the second group of antennas as coordinate origins;
assuming that the UWB intelligent device is located at a position M (x, y, z), when the distance from the M point to A1 or A2 is larger than d:
the included angle between the M point and the A1 and the A2 is the included angle between the M point and the intermediate point of A1A2 and is marked as theta; the included angle between the M point and B1 and B2 is the included angle between the M point and the middle point of B1B2 and is marked as alpha; the included angle between the projection M' of the M point on the xoy plane and the middle point of B1B2 is psi;
while measuring the pulse signals of step 1, the arrival time and phase of each signal, i.e. phase difference from point M to A1 and A2, were recorded
Phase difference from point M to B1 and B2
According to the AoA algorithm, then there are
Where λ is the wavelength of UWB.
4. The method according to claim 3, wherein in step 3, T in step 1 is measuredTOFThe step of performing the calculation includes:
according to TTOFThe formula of (2) is derived and calculated to obtain the flight time T of the pulse signal between the UWB intelligent device and the door handle moduleTOF；
Determining the distance D between the UWB smart device and the doorknob module, i.e., determining the distance D between the UWB smart device and the doorknob module
D＝c·TTOF；
Where c is the speed of light.
5. The implementation method of claim 4, wherein the step 3 comprises:
calculating the three-dimensional coordinate of the UWB intelligent equipment according to the phase angle calculated by the phase difference:
the projection x of the M point on the x axis is D & cos alpha;
the projection z of the M point on the z axis is D & cos theta;
the distance between the point M and the point a1 is | MA1| ═ M' O | ═ D · sin θ;
the projection of the M point on the y axis is
From the above formula, the three-dimensional coordinate of the M point is obtained as:
wherein D is the distance between UWB smart machine and the door handle module.
6. The implementation method of claim 5, further comprising:
marking each measured time point (T1-T6) as a unique timestamp;
when the relay is attacked, the timestamp becomes large and the measured TTOFAnd if the distance D is larger, the distance D between the UWB intelligent device and the doorknob module is calculated to be farther so as to prevent relay attack.
7. The method of claim 1, wherein the legal area is obtained from a full car calibration and stored in the UWB smart device or the microcontroller of the door handle module.
8. The realization method of claim 3, wherein the frequency band of UWB is 3.1-10.6 GHz.
9. An automobile door handle module based on UWB technology, which is applied to an automobile door unlocking system, the automobile door unlocking system comprises a door handle module, a keyless system, a key and an automobile body controller module, the keyless system sends an unlocking door trigger signal for detecting the door handle to the key for authentication, the key authentication sends an unlocking command to the keyless system after passing, the keyless system verifies that an unlocking door CAN command is sent to the automobile body controller module after passing to execute a door unlocking function, and the door handle module comprises:
an SBC unit for power supply and communication;
the UWB unit is connected with the SBC unit and used for executing the steps 1 and 2 and measuring the flight time and the phase;
the radio frequency switch unit is connected with the UWB unit and used for switching the UWB antenna array;
the microcontroller is respectively connected with the SBC unit and the UWB unit and is used for executing the step 3 and the step 4, processing UWB signals, positioning according to the UWB signals and sending out the processing result through the SBC unit;
and the trigger unit is connected with the microcontroller and is a trigger source of the door handle module.
10. A vehicle door handle module according to claim 9, wherein the triggering unit is a key or a capacitive sensor.
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