KR102578196B1 - Vehicle and control method thereof - Google Patents

Abstract

The vehicle determines the distance between the vehicle and the remote control device based on the UWB communication unit that transmits and receives UWB (Ultra Wide Band) signals to the remote control device, the LF communication unit that transmits LF (Low Frequency) signals to the remote control device, and the UWB signal. And, if the distance is less than a preset reference distance, it includes a control unit that corrects the distance based on the reception intensity value of the LF signal.

Description

Vehicle and vehicle control method {VEHICLE AND CONTROL METHOD THEREOF}

It relates to vehicles and vehicle control methods.

The vehicle's remote control system allows the driver to open and close the vehicle door and start the vehicle from the outside without having to insert a separate key into the vehicle's key box or perform any special operation. It uses a portable smart card or wireless communication. Remote control devices such as FOBs are used for this purpose.

The vehicle may estimate the location of the remote control device based on a signal received from the remote control device.

Specifically, by using the time it takes for a signal transmitted from the remote control device to reach the vehicle's antenna or the strength of the received signal, the vehicle can measure the distance between the vehicle and the remote control device and use the measured distance to The position of the operating device can be estimated.

The disclosed embodiment seeks to provide a vehicle and a vehicle control method that accurately estimates the location of a remote control device based on signals collected by a communication unit.

As a technical means for achieving the above-described technical problem, a vehicle according to one aspect includes a UWB communication unit that transmits and receives a UWB (Ultra Wide Band) signal to a remote control device, and an LF communication unit that transmits a LF (Low Frequency) signal to the remote control device. , and a control unit that determines the distance between the vehicle and the remote control device based on the UWB signal and, if the distance is less than a preset reference distance, corrects the distance based on the reception intensity value of the LF signal.

The UWB communication unit can receive the reception strength value of the LF signal from the remote control device.

The UWB communication unit can receive information about the transmission time and reception time of the UWB signal from the remote control device.

The vehicle may further include an RF communication unit that receives the reception intensity value of the LF signal from the remote control device through an RF communication network.

The control unit determines the distance between the vehicle and the remote control device based on the UWB signal, reduces the transmission period of the UWB signal if the determined distance is less than the first preset reference distance, and reduces the transmission period of the UWB signal if the determined distance is less than the preset second reference distance. If , the distance can be corrected based on the reception intensity value of the LF signal.

The UWB communication unit includes a plurality of UWB antennas installed in the vehicle, and the control unit determines the distance between the vehicle and the remote control device based on the UWB signal, and if the determined distance is less than a preset first reference distance, the UWB signal transmission period is adjusted. decreases, and if the determined distance is less than the preset second reference distance, the UWB antenna located outside the access area of the remote control device among the plurality of preset areas is deactivated, and if the determined distance is less than the preset third reference distance, the LF antenna is deactivated. The distance can be corrected based on the received strength value of the signal.

The plurality of areas may include a left area and a right area of the vehicle.

The control unit may determine the distance between the vehicle and the remote control device based on the transmission and reception points of the vehicle's UWB signal and the transmission and reception points of the remote control device's UWB signal.

The control unit determines the time difference between the vehicle's UWB signal transmission point and the remote control device's reception point of the UWB signal, and the time difference between the vehicle's UWB signal transmission point and the vehicle's UWB signal reception point, between the vehicle and the remote control device. The distance between them can be judged.

The UWB communication unit may include a plurality of UWB antennas, and the LF communication unit may include a plurality of LF antennas.

A vehicle control method according to another aspect includes the steps of transmitting and receiving a UWB (Ultra Wide Band) signal with a remote control device, determining the distance between the vehicle and the remote control device based on the UWB signal, and if the distance is less than a preset standard distance. , transmitting a low frequency (LF) signal to a remote control device, and correcting the distance based on the received intensity value of the LF signal.

Transmitting and receiving a UWB signal may include receiving a reception strength value of an LF signal from a remote control device.

Transmitting and receiving the UWB signal may include receiving information about the transmission time and reception time of the UWB signal from the remote control device.

The vehicle control method may further include receiving a reception intensity value of the LF signal from a remote control device through an RF communication network before determining the distance.

The step of correcting the distance includes reducing the transmission period of the UWB signal if the determined distance is less than or equal to a first preset reference distance, and based on the reception intensity value of the LF signal if the determined distance is less than or equal to the second preset reference distance. This may include a step of correcting the distance.

The step of correcting the distance includes reducing the transmission period of the UWB signal if the determined distance is less than a preset first reference distance, and if the determined distance is less than a preset second reference distance, the remote control device among a plurality of preset areas. It may include deactivating the UWB antenna located outside the access area, and correcting the distance based on the reception strength value of the LF signal if the determined distance is less than a preset third reference distance.

The plurality of areas may include a left area and a right area of the vehicle.

Determining the distance may include determining the distance between the vehicle and the remote control device based on the transmission and reception points of the UWB signal of the vehicle and the transmission and reception points of the UWB signal of the remote control device.

The step of determining the distance is based on the time difference between the transmitting point of the UWB signal of the vehicle and the receiving point of the UWB signal of the remote control device, and the time difference between the transmitting point of the UWB signal of the remote control device and the receiving point of the UWB signal of the vehicle It may include determining the distance between the remote control device and the remote control device.

The step of transmitting and receiving a UWB signal may include a step of transmitting and receiving a UWB signal by a plurality of UWB antennas, and the step of transmitting an LF signal may include a step of transmitting an LF signal by a plurality of LF antennas.

According to the means for solving the above-described problem, the distance can be accurately measured even in situations where the distance between the remote control device and the vehicle is short, and thus the position of the remote control device can be accurately estimated.

1 is an exterior view of a vehicle according to an embodiment.
Figure 2 is a diagram showing the internal configuration of a vehicle according to an embodiment.
Figure 3 is a diagram for explaining a wireless signal transmission and reception process between a vehicle antenna of a vehicle and a remote control device according to an embodiment.
Figure 4 is a control block diagram of a vehicle according to one embodiment.
Figure 5 is a control flowchart of a vehicle according to an embodiment.
Figure 6 is a schematic diagram illustrating a method for estimating the distance between a UWB communication unit of a vehicle and a remote control device.
Figure 7 is a diagram for explaining the reason for correcting the distance between the vehicle and the remote control device.
Figure 8 is a diagram for explaining the correlation between the reception strength value of the LF signal and the distance of the remote control device.
Figure 9 is a diagram for explaining how the control unit calculates the correction distance.

Like reference numerals refer to like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains is omitted. The term 'unit, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'unit, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present invention will be described with reference to the attached drawings.

FIG. 1 is an exterior view of a vehicle according to an embodiment, and FIG. 2 is a view showing the internal configuration of a vehicle according to an embodiment.

Referring to FIG. 1, the exterior of the vehicle 100 according to one embodiment includes wheels 12 and 13 that move the vehicle 100, a door 15L that shields the inside of the vehicle 100 from the outside, and the vehicle 100. ) It includes a windshield 16 that provides a view of the front of the vehicle 100 to the driver inside, and side mirrors 14L and 14R that provide a view of the rear of the vehicle 100 to the driver.

The wheels 12 and 13 include a front wheel 12 provided at the front of the vehicle and a rear wheel 13 provided at the rear of the vehicle, and a driving device (not shown) provided inside the vehicle 100 ) provides rotational force to the front wheel (12) or rear wheel (13) to move forward or backward. Such a driving device may employ an engine that generates rotational force by burning fossil fuel or a motor that generates rotational force by receiving power from a capacitor.

The doors 15L, 15R (see FIG. 2) are rotatably provided on the left and right sides of the vehicle 100 to allow the driver or passenger to board the inside of the vehicle 100 when opened, and when closed, the vehicle ( 100) is shielded from the outside. In addition, handles 17L and 17R may be provided on the outside of the vehicle 100 to open and close the doors 15L and 15R (see FIG. 2), and vehicle antennas 111 and 121 capable of transmitting and receiving wireless signals. 131; see FIG. 4) and a touch detection unit (not shown) capable of recognizing the user's touch input.

When the touch sensor of the door 15L, 15R detects the user's touch input while the user is holding the remote control device 200 (see FIG. 3), the vehicle 100 connects the remote control device 200 and the wireless Authentication is performed through signal transmission and reception, and when authentication is completed, the door lock of the vehicle 100 is released and the door 15L can be opened by the user pulling the handles 17L and 17R. Here, the user refers to a person who possesses the remote control device 200.

The vehicle 100 according to one embodiment considers the presence of occupants other than the user in the vehicle 100, and automatically automatically detects the presence of occupants other than the user when the user leaves the vehicle 100 and there are no other occupants in the vehicle 100. The door can be locked.

The front glass 16 is provided on the front upper side of the main body to enable the driver inside the vehicle 100 to obtain visual information in front of the vehicle 100, and is also called a windshield glass.

In addition, the side mirrors 14L and 14R include a left side mirror 14L provided on the left side of the vehicle 100 and a right side mirror 14R provided on the right side, and the driver inside the vehicle 100 can use the vehicle ( 100) to obtain visual information of the side and rear.

In addition, the vehicle 100 may further include front lights (19aL, 19aR) and rear lights (19bL, 19bR) that selectively emit light when indicating a direction, braking, braking, or reversing, and the front lights (19aL, 19aR) and rear lights (19bL, 19bR) may be equipped with vehicle antennas (111a, 111b, 111c, 111d; see FIG. 3) capable of transmitting and receiving wireless signals, but the vehicle antennas (111a-111d) may be provided. The location is not limited to this.

In addition, the vehicle 100 may include a detection device such as a proximity sensor that detects rear or side obstacles or other vehicles, and a rain sensor that detects whether or not there is precipitation and the amount of precipitation.

Referring to FIG. 2, an Audio Video Navigation (AVN) display 71 and an AVN input unit 61 may be provided in the central area of the dashboard 29. The AVN display 71 can selectively display at least one of an audio screen, a video screen, and a navigation screen, as well as various control screens related to the vehicle 100 or screens related to additional functions.

The AVN display 71 may be implemented with a Liquid Crystal Display (LCD), Light Emitting Diode (LED), Plasma Display Panel (PDP), Organic Light Emitting Diode (OLED), or Cathode Ray Tube (CRT).

The AVN input unit 61 may be provided in the form of a hard key in an area adjacent to the AVN display 71, or, if the AVN display 71 is implemented as a touch screen type, in the form of a touch panel on the front of the AVN display 71. It may be provided.

Additionally, a jog shuttle type center input unit 62 may be provided near the front seat console box 20F between the driver's seat (18L) and the passenger seat (18R). The user can input a control command by turning the center input unit 62, pressing it, or pushing it in an up, down, left, or right direction.

In addition, a vehicle antenna 111b (see FIG. 3) that transmits and receives wireless signals with the remote control device 200 may be further provided in the front seat console box 20F between the driver's seat 18L and the passenger seat 18R, Although not shown, an additional vehicle antenna 111d may be provided within the rear seat console box.

The vehicle 100 may be provided with a sound output unit 80 capable of outputting sound, and the sound output unit 80 may be a speaker. The sound output unit 80 can output sounds necessary to perform audio functions, video functions, navigation functions, and other additional functions.

A steering wheel 27 is provided on the dashboard 29 on the driver's seat 18L side, and a remote control device 200 (for example, a FOB key; see FIG. 3) is located in an area adjacent to the steering wheel 27. A key groove 29a into which a can be inserted may be formed. When the remote control device 200 is inserted into the key groove 29a or authentication between the remote control device 200 and the vehicle 100 is completed through a wireless communication network, the remote control device 200 and the vehicle 100 can be connected. there is.

In addition, the dashboard 29 may be provided with a start button 31 for on/off control of starting the vehicle 100, and the remote control device 200 may be inserted into the key groove 29a or connected to a wireless communication network. If authentication between the remote control device 200 and the vehicle 100 is successful, the vehicle 100 may be started by pressing the start button 31 of the user.

Meanwhile, the vehicle 100 is equipped with an air conditioning device that can perform both heating and cooling, and the temperature inside the vehicle 100 can be controlled by discharging heated or cooled air through the vent 21.

Figure 3 is a diagram for explaining a wireless signal transmission and reception process between a vehicle antenna of a vehicle and a remote control device according to an embodiment.

For convenience of explanation, as described above with reference to FIGS. 1 and 2, the front lights (19aL, 19aR), rear lights (19L, 19R), and the front seat console box (20F) and rear seat console of the vehicle 100 The description will be made by taking the vehicle antennas 111a - 111d, 121a, and 121b provided on the box as an example, but the number and installation positions of the vehicle antennas 111a - 111d, 121a, and 121b are not limited to this.

The vehicle 100 according to one embodiment includes a plurality of UWB antennas 111a-111d that transmit and receive wireless signals through an Ultra Wide Band (UWB) communication network and wireless signals through a Low Frequency (LF) communication network. It may include a plurality of LF antennas 121a and 121b that transmit.

In addition, although not shown, the vehicle 100 may further include an RF antenna that receives wireless signals through a Radio Frequency (RF) communication network.

The UWB communication network is a communication network that generally realizes ultra-high-speed communication with low power over a wider band than the existing spectrum at a speed of more than 100Mbps in a frequency band of 3.1GHz to 10.6GHz.

The LF communication network is a communication network in a low frequency band of less than 300 kHz used to transmit the LF signal necessary for the vehicle 100 to search for the remote control device 200, for example, a communication network with a frequency band of 20 kHz to 150 kHz. It can be. When transmitting and receiving LF signals through an LF communication network, due to the characteristics of the low frequency band, the distance over which signals can be transmitted and received is shorter than that of an RF (Radio Frequency) communication network with a high frequency band. For example, the distance at which LF signals can be transmitted and received may be about 5 m, and the distance at which RF signals can be transmitted and received may be about 100 m.

The RF communication network is a communication network of wireless signals transmitted in a high frequency band of 300 kHz or more. For example, it may be a communication network that uses the ultra high frequency (UHF) frequency band of 300 MHz or more and 3 GHz, specifically, the frequency band of 300 MHz or more and 450 MHz or less. there is. When transmitting and receiving RF signals through an RF communication network, the distance over which signals can be transmitted and received is longer than the distance over which signals can be transmitted and received over an LF communication network with a low frequency band.

Referring to FIG. 3, when a wireless signal is transmitted from the remote control device 200 through a UWB communication network, activated UWB antennas 111a-111d each receive the signal transmitted from the remote control device 200. Additionally, the UWB antennas 111a-111d may transmit wireless signals through a UWB communication network, and the remote control device 200 may receive wireless signals transmitted from the UWB antennas 111a-111d.

The vehicle 100 can measure the reception time of the wireless signal received by each UWB antenna (111a-111d) and the transmission time of the wireless signal transmitted by the UWB antenna (111a-111d) to the remote control device 200, , it is possible to receive information about the transmission time of the wireless signal transmitted by the remote control device 200 and the reception time of the wireless signal from the remote control device 200.

Based on the transmitting and receiving timing of the wireless signal of the vehicle 100 and the transmitting and receiving timing of the wireless signal of the remote control device 200, the vehicle 100 operates each UWB antenna 111a-111d and the remote control. The distance between devices 200 can be measured. In addition, the vehicle 100 may measure the reception angle of each signal by detecting the reception direction of the signal received through each UWB antenna (111a-111d), and use triangulation (e.g., time of arrivals (TOA) ), the relative position of the remote control device 200 can be estimated using TDOA (time difference of arrivals) method.

Based on the transmission time and reception time of the wireless signal of the vehicle 100 and the transmission and reception time of the wireless signal of the remote control device 200, the connection between each UWB antenna 111a-111d and the remote control device 200 is made. The method of measuring the distance will be described later.

Additionally, the LF antennas 121a and 121b of the vehicle 100 may transmit wireless signals through an LF communication network, and the remote control device 200 may receive wireless signals transmitted from the LF antennas 111a-111d. there is.

The vehicle 100 may receive the reception intensity value of the wireless signal transmitted by the LF antennas 121a and 121b from the remote control device 200, and the LF antennas 121a and 121b based on the received reception intensity values. The distance between and the remote control device 200 can be measured.

A method of measuring the distance between the LF antennas 121a and 121b and the remote control device 200 will be described later.

As an example shown in FIG. 3, the remote control device 200 may be a fob key that is connected to the vehicle 100 to unlock the door or enable starting and driving.

The remote control device 200 in the embodiment disclosed in FIG. 3 may include any input device that controls the vehicle 100, such as unlocking the aforementioned door lock or enabling starting and driving, even if it is not a fob key. . For example, when a mobile device functions as a remote control device, it is possible for the remote control device 200 of the disclosed invention to include the mobile device. In this case, an application that can perform operations as the remote control device 200 may be installed on the mobile device. The mobile device may be sold with the application installed, or the application may be downloaded from a server after sale. Additionally, in order for the mobile device to operate as the remote control device 200 for the vehicle 100, it may undergo an authentication procedure.

The remote control device 200 may be sold together with the vehicle 100, and authentication information of the remote control device 200 may be registered in advance in the vehicle 100.

Figure 4 is a control block diagram of a vehicle according to one embodiment.

Referring to FIG. 4 , the vehicle 100 according to an embodiment includes a UWB communication unit 110, an LF communication unit 120, and a control unit 140, and may further include an RF communication unit 130.

The UWB communication unit 110 is capable of transmitting and receiving a wireless signal to the remote control device 200, and transmits a wireless signal transmitted from the remote control device 200 through the UWB frequency band by the remote control device 200. Information about the reception point of a wireless signal in the UWB frequency band that reaches the manipulation device 200 can be received. For example, the remote control device 200 may receive information about the time difference between the transmission point of a wireless signal transmitted through the UWB frequency band and the reception point of the wireless signal in the UWB frequency band that reaches the remote control device 200. You can.

The UWB communication unit 110 modulates the digital signal output from the UWB antenna 111 and the control unit 140, which transmits and receives wireless signals through the UWB communication network, into an analog wireless signal, or converts the digital signal into an analog wireless signal received by the UWB antenna 111. It may include a UWB conversion module 112 for demodulating the wireless signal into a digital signal.

When the UWB antenna 111 transmits and receives wireless signals in the UWB frequency band, the UWB antenna 111 can transmit and receive pulse signals at a preset period, and the pulse signals transmitted and received by the UWB antenna 111 are plural with short wavelengths. It may contain pulses.

The UWB antenna 111 may include a plurality of UWB antennas 111a-111d described above with reference to FIG. 3.

The UWB conversion module 112 according to an embodiment modulates data to be transmitted to the remote control device 200 based on the control signal of the control unit 140 into a signal in a frequency band suitable for the UWB communication network to generate a wireless signal. The generated wireless signal can be transmitted to the remote control device 200 through the UWB antenna 111, and the wireless signal received by the UWB antenna 111 is demodulated into a signal that can be read by the control unit 140. 140).

Here, the UWB conversion module 112 may perform a process of filtering the wireless signal received through the UWB antenna 111. For example, the UWB conversion module 112 may further include a band-pass filter to extract a signal in the UWB frequency band, and the wireless signal that has passed the band-pass filter is subjected to a matched filter after the frequency band is converted. It can be converted into a wireless signal with an increased signal-to-noise ratio, and the converted wireless signal can be provided to the control unit 140.

The LF communication unit 120 may include an LF antenna 121 for transmitting a wireless signal through an LF communication network and an LF conversion module 122 for modulating the digital signal output from the control unit 140 into an analog wireless signal. there is.

The LF antenna 121 may include a plurality of LF antennas 121a-121b described above with reference to FIG. 3.

The LF conversion module 122 according to an embodiment modulates data to be transmitted to the remote control device 200 based on the control signal of the control unit 140 into a signal in a frequency band suitable for the LF communication network to generate a wireless signal. The generated wireless signal can be transmitted to the remote control device 200 through the LF antenna 121.

The vehicle 100 according to one embodiment may further include an RF communication unit 130, where the RF communication unit 130 includes an RF antenna 131 that receives a wireless signal through an RF communication network, and the RF antenna 131 receives a wireless signal. It may include an RF conversion module 132 for demodulating an analog wireless signal into a digital signal.

The RF conversion module 132 according to one embodiment may demodulate the wireless signal received by the RF antenna 131 into a signal that the control unit 140 can read and transmit it to the control unit 140.

Here, the RF conversion module 132 may perform a process of filtering the wireless signal received through the RF antenna 131. For example, the RF conversion module 132 may further include a band pass filter to extract a signal in the RF frequency band, and the wireless signal passing through the band pass filter is converted into a frequency band and then applied to the matched filter. It can be converted into a wireless signal with an increased signal-to-noise ratio, and the converted wireless signal can be provided to the control unit 140.

Meanwhile, the vehicle 100 according to one embodiment may receive the reception strength value of the LF signal received by the remote control device 200 from the remote control device 200, and receives it through the RF communication unit 130 described above. The intensity value may be received, or the reception intensity value may be received through the UWB communication unit 110. The received reception intensity value is used when calculating the distance between the vehicle 100 and the remote control device 200.

When the reception strength value of the LF signal is received through the UWB communication unit 110, the RF communication unit 130 may be omitted.

The control unit 140 generates control signals to control each component of the vehicle 100 and performs different control processes depending on the control mode.

The control unit 140 according to an embodiment may generate a control signal for controlling the UWB communication unit 110 and the LF communication unit 120, and when the RF communication unit 130 is included in the vehicle 100, the RF communication unit 100 A control signal to control (130) may also be generated.

Hereinafter, the control process of the control unit 140 will be described with reference to FIG. 5.

Figure 5 is a control flowchart of a vehicle according to an embodiment.

First, the control unit 140 can activate the UWB communication unit 110 and control the UWB communication unit 110 to transmit a wireless signal through a UWB communication network (1111).

Then, when the UWB communication unit 110 receives a wireless signal from the remote control device 200, the reception time of the received wireless signal and the transmission time of the wireless signal transmitted by the UWB communication unit 110 are determined, and the determination result and reception time are determined. The UWB communication unit 110 of the vehicle 100 and the remote control device 200 are connected to the UWB communication unit 110 of the vehicle 100 based on information about the transmission time and reception time of the wireless signal of the remote control device 200 included in the wireless signal from the remote control device 200. ) can be estimated.

Figure 6 is a schematic diagram illustrating a method for estimating the distance between a UWB communication unit of a vehicle and a remote control device.

Specifically, referring to FIG. 6, the UWB antenna 111 of the vehicle 100 may transmit a wireless signal at a first time t1 to search for the remote control device 200, and the remote control device 200 ) can receive a wireless signal transmitted at a second time point (t2) with a certain time difference (ToF) depending on the distance between the remote control device 200 and the vehicle 100.

The remote control device 200, which has received the wireless signal, can transmit the wireless signal back to the vehicle 100 as a response signal at a third time point t3 through the UWB communication network, and similarly, the remote control device 200 and the vehicle ( Due to the distance between the vehicle 100 and the UWB antenna 111 of the vehicle 100, the wireless signal transmitted at the fourth time point t4 can be received with a time difference (ToF). In this case, the UWB antenna 111 may receive a wireless signal including information about the second time point (t2) and the third time point (t3) from the remote control device 200.

Since the control unit 140 knows the first to fourth time points (t1-t4), it can calculate the time difference (ToF) using Equation 1 below, and the calculated time difference (ToF) and the previously known wireless signal can be calculated. Based on the speed, the distance between the UWB antenna 111 of the vehicle 100 and the remote control device 200 can be estimated.

[Equation 1]

ToF = {(t4-t1)-(t3-t2)}/2

Referring again to FIG. 5, the control unit 140 determines whether the calculated distance between the UWB antenna 111 and the remote control device 200 is less than or equal to the preset first reference distance (dref1) (1112), and determines whether the first If it is less than the reference distance (dref1) (“Yes” in 1112), the UWB communication unit 110 reduces the period of the pulse transmitted through the UWB communication network (1113), and if it is not less than the first reference distance (dref1) (“Yes” in 1112) “No”), the UWB communication unit 110 can be controlled to transmit a wireless signal while maintaining the pulse period (1111).

By reducing the pulse period, it is possible to precisely measure the distance between the vehicle 100 and the remote control device 200.

Next, the control unit 140 controls the UWB communication unit 110 to transmit a wireless signal with a reduced pulse period (1114), and when the UWB communication unit 110 receives the wireless signal from the remote control device 200, the received The reception time of the wireless signal and the transmission time of the wireless signal transmitted by the UWB communication unit 110 are determined, and the determination result and the wireless signal of the remote control device 200 included in the wireless signal from the received remote control device 200 are determined. Estimate the distance between the UWB communication unit 110 of the vehicle 100 and the remote control device 200 based on information about the transmission time and reception time, and determine whether the estimated distance is less than or equal to a preset second reference distance (dref2). Judge (1115). If the estimated distance is less than or equal to the second reference distance (dref2) (“Yes” in 1115), the control unit 140 selects a remote control device ( 200) determines the approaching area (1116).

In this case, the control unit 140 may measure the reception angle of each signal by detecting the reception direction of the wireless signal received through each UWB antenna (111a-111d), and may measure the reception angle of each signal using triangulation (e.g., TOA (time of arrivals), the relative position of the remote control device 200 can be estimated using TDOA (time difference of arrivals) method.

For example, if the plurality of preset areas include the left area around the driver's seat 18L and the right area around the passenger seat 18R, the control unit 140 determines whether the area to which the remote control device 200 approaches is the left area. Alternatively, it can be determined whether it is the right area or not.

On the other hand, if the estimated distance is not less than the second reference distance (dref2) (“No” in 1115), the control unit 140 may control the UWB communication unit 110 to transmit a wireless signal while maintaining the pulse period. (1114).

Next, in order to reduce power consumption due to the antenna, the control unit 140 activates only the UWB antenna 111 in the area where the remote control device 200 approaches and deactivates the UWB antenna 111 in areas outside the access area. You can.

For example, as shown in FIG. 3, when UWB antennas 111a-111d are installed and the remote control device 200 approaches the left area of the vehicle 100, the control unit 140 turns on the left front light of the vehicle 100. The UWB antennas (111b, 111d) installed on the (19aL) and left rear light (19bL) can be activated, and the UWB antennas (111a, 111c) installed on the right front light (19aR) and right rear light (19bR) can be deactivated. .

Conversely, when the remote control device 200 approaches the right area of the vehicle 100, the control unit 140 controls the UWB antenna 111a installed on the right front light 19aR and the right rear light 19bR of the vehicle 100. 111c) can be activated and the UWB antennas 111b and 111d installed on the left front light 19aL and the left rear light 19bL can be deactivated.

Next, the control unit 140 may control the UWB communication unit 110 so that the activated UWB antenna 111 transmits a wireless signal (1118).

When the UWB communication unit 110 receives a wireless signal from the remote control device 200, the control unit 140 determines the reception time of the received wireless signal and the transmission time of the wireless signal transmitted by the UWB communication unit 110, Based on the determination result and the information about the transmission and reception points of the wireless signal of the remote control device 200 included in the wireless signal received from the remote control device 200, the UWB communication unit 110 of the vehicle 100 and the remote control device 200 are connected to each other. The distance between the manipulation devices 200 is estimated, and it is determined whether the estimated distance is less than or equal to the third preset reference distance (dref3) (1119). If the estimated distance is less than or equal to the third reference distance (dref3), the control unit 140 activates the LF antenna 121 installed in the vehicle 100 (1120).

On the other hand, if the estimated distance is not less than the third reference distance (dref3) (“No” in 1119), the control unit 140 may control the UWB communication unit 110 to transmit a wireless signal while maintaining the pulse period. (1118).

When the LF antenna 121 is activated, the control unit 140 can control the LF communication unit 120 to transmit a wireless signal to the remote control device 200 through the LF communication network, and transmit the wireless signal to the remote control device 200 from the remote control device 200. Alternatively, the remote control device 200 may receive the reception intensity value of a wireless signal (hereinafter referred to as LF signal) received through the LF communication network through the RF communication network (1121).

For example, when the UWB communication unit 110 receives the reception strength value of the LF signal, the control unit 140 may receive the reception strength value of the LF signal from the UWB communication unit 110.

For another example, when the RF communication unit 130 receives the reception strength value of the LF signal, the control unit 140 may receive the reception strength value of the LF signal from the RF communication unit 130.

Subsequently, as described above, the control unit 140 connects the remote control device 200 and the vehicle 100 using a wireless signal (hereinafter referred to as a UWB signal) transmitted and received by the UWB communication unit 140 with the remote control device 200. The distance (d) between the vehicles is estimated (1122), and the distance between the vehicle 100 and the remote control device 200 is corrected based on the estimated distance (d) and the received intensity value of the LF signal to obtain a correction distance (t). Calculate (1123).

Figure 7 is a diagram for explaining the reason for correcting the distance between the vehicle and the remote control device, Figure 8 is a diagram for explaining the correlation between the reception intensity value of the LF signal and the distance of the remote control device, and Figure 9 is a diagram for explaining the control unit This is a diagram to explain how to calculate the correction distance.

As described above with reference to FIG. 6, the distance between the UWB antenna 111 of the vehicle 100 and the remote control device 200 can be measured using the transmission/reception time difference (ToF), but in reality, the UWB antenna 111 on the vehicle 100 An error may occur due to a height difference between the antenna 111 and the remote control device 200 carried by the driver.

Referring to FIG. 7, when the remote control device 200 is located far away from the vehicle 100, as shown in (a), the actual distance between the vehicle 100 and the remote control device 200 (t= Although the error between 200cm) and the measured distance (d=215cm) is only 15cm, as shown in (b), when located close to the vehicle 100, the vehicle 100 and the remote control device 200 The error between the actual distance (t=30cm) and the measured distance (d=85cm) increases to 55cm.

Therefore, when the remote control device 200 is located at a certain short distance from the vehicle 100, distance correction is necessary. According to one embodiment, the control unit 140 of the vehicle 100 adjusts the distance using the reception intensity value of the LF signal. Correction can be performed.

Specifically, referring to FIG. 8, the reception intensity value of the LF signal has a larger value as the distance between the LF antennas 121a and 121b of the vehicle 100 and the remote control device 200 becomes shorter.

The control unit 140 of the vehicle 100 according to one embodiment may store a table between the reception intensity value of the LF signal and the distance in order to correct the distance between the UWB antenna 111 and the remote control device 200. .

Referring to FIG. 9, the control unit 140 of the vehicle 100 determines the measurement distance (d) measured using the UWB signal and the reception strength values (RSSI1, RSSI2) of the LF signal transmitted by each LF antenna (121a, 121b). ), and the distance (d) measured using the UWB signal with reference to the table for the distance (t) between the actual vehicle 100 and the remote control device 200 and the LF signal received by each LF antenna 121. The correction distance (t) corresponding to the reception intensity value can be determined as the actual distance.

In FIG. 9, the reception strength values of the LF signals (RSSI1, RSSI2) for the two LF antennas 121a and 121b are shown as stored as a table, but the number of LF antennas 121 is not limited to this, and the vehicle 100 It is also possible to store the reception strength value (RSSI) of the LF signal as the number of LF antennas 121 installed in a table.

If there is no correction distance (t) corresponding to the distance (d) measured using the UWB signal and the reception intensity value of the LF signal received by the LF antenna 121, the measured distance (d) and the LF signal The correction distance (t) closest to the reception intensity value can be determined as the actual distance.

The control unit 140 performs the above-described operations using a memory (not shown) that stores data for an algorithm for controlling the operation of components within the vehicle 100 or a program that reproduces the algorithm, and the data stored in the memory. It can be implemented with a processor (not shown). At this time, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

At least one component may be added or deleted in response to the performance of the components of the vehicle 100 shown in FIG. 4. Additionally, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed in response to the performance or structure of the system.

Meanwhile, some components shown in FIG. 4 may be software and/or hardware components such as Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which the present invention pertains will understand that the present invention can be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle
110: UWB communication department
111: UWB antenna 112: UWB conversion module
120: LF Communications Department
121: LF antenna 122: LF conversion module
130: RF communication department
131: RF antenna 132: RF conversion module
140: control unit

Claims (20)

A UWB communication unit that transmits and receives UWB (Ultra Wide Band) signals with a remote control device;
an LF communication unit that transmits a LF (Low Frequency) signal to the remote control device; and
A control unit that determines the distance between the vehicle and the remote control device based on the UWB signal and, if the distance is less than a preset reference distance, corrects the distance based on the reception intensity value of the LF signal,
The control unit,
A vehicle that reduces the transmission period of the UWB signal if the distance is less than a preset first reference distance, and corrects the distance based on the reception strength value of the LF signal if the distance is less than a preset second reference distance. According to claim 1,
The UWB communication unit receives the reception strength value of the LF signal from the remote control device. According to claim 1,
The UWB communication unit receives information about the transmission time and reception time of the UWB signal from the remote control device. According to claim 1,
A vehicle further comprising an RF communication unit that receives a reception intensity value of the LF signal from the remote control device through an RF communication network. delete A UWB communication unit that transmits and receives UWB (Ultra Wide Band) signals with a remote control device;
an LF communication unit that transmits a LF (Low Frequency) signal to the remote control device; and
A control unit that determines the distance between the vehicle and the remote control device based on the UWB signal and, if the distance is less than a preset reference distance, corrects the distance based on the reception intensity value of the LF signal,
The UWB communication unit includes a plurality of UWB antennas installed in the vehicle,
The control unit,
If the distance is less than a preset first reference distance, the transmission period of the UWB signal is reduced, and if the distance is less than a preset second reference distance, the UWB located in an area outside the access area of the remote control device among a plurality of preset areas A vehicle that deactivates the antenna and corrects the distance based on the reception strength value of the LF signal if the distance is less than a preset third reference distance. According to claim 6,
A vehicle wherein the plurality of areas include a left area and a right area of the vehicle. According to claim 1,
The control unit determines the distance between the vehicle and the remote control device based on the time of transmission and reception of the UWB signal of the vehicle and the time of transmission and reception of the UWB signal of the remote control device. According to claim 1,
The control unit based on the time difference between the transmission point of the UWB signal of the vehicle and the reception point of the UWB signal of the remote operation device, and the time difference between the transmission point of the UWB signal of the remote control device and the reception point of the UWB signal of the vehicle A vehicle that determines the distance between the vehicle and the remote control device. According to claim 1,
The UWB communication unit includes a plurality of UWB antennas,
The LF communication unit is a vehicle including a plurality of LF antennas. Transmitting and receiving an Ultra Wide Band (UWB) signal with a remote control device;
determining a distance between a vehicle and the remote control device based on the UWB signal;
If the distance is less than a preset reference distance, transmitting a low frequency (LF) signal to the remote control device; and
Comprising the step of correcting the distance based on the received intensity value of the LF signal,
The step of correcting the distance is,
Reducing the transmission period of the UWB signal if the distance is less than or equal to a first preset reference distance, and correcting the distance based on the reception strength value of the LF signal if the distance is less than or equal to a second preset reference distance. A vehicle control method including. According to claim 11,
Transmitting and receiving the UWB signal includes receiving a reception strength value of the LF signal from the remote control device. According to claim 11,
The step of transmitting and receiving the UWB signal includes receiving information about the transmission time and reception time of the UWB signal from the remote control device. According to claim 11,
Before determining the distance,
A method of controlling a vehicle further comprising receiving a reception intensity value of the LF signal from the remote control device through an RF communication network. delete Transmitting and receiving an Ultra Wide Band (UWB) signal with a remote control device;
determining a distance between a vehicle and the remote control device based on the UWB signal;
If the distance is less than a preset reference distance, transmitting a low frequency (LF) signal to the remote control device; and
Comprising the step of correcting the distance based on the received intensity value of the LF signal,
The step of correcting the distance is,
If the distance is less than a preset first reference distance, reducing the transmission period of the UWB signal; if the distance is less than a preset second reference distance, a device located in an area outside the access area of the remote control device among a plurality of preset areas. Deactivating a UWB antenna, and correcting the distance based on the reception strength value of the LF signal if the distance is less than or equal to a third preset reference distance. According to claim 16,
The plurality of areas include a left area and a right area of the vehicle. According to claim 11,
The step of determining the distance includes determining the distance between the vehicle and the remote control device based on the time of transmission and reception of the UWB signal of the vehicle and the time of transmission and reception of the UWB signal of the remote control device. A vehicle control method including: According to claim 11,
The step of determining the distance includes a time difference between the transmission point of the UWB signal of the vehicle and the reception point of the UWB signal of the remote operation device, and the time difference between the transmission point of the UWB signal of the remote control device and the reception point of the UWB signal of the vehicle. A method of controlling a vehicle comprising determining a distance between the vehicle and the remote control device based on a time difference. According to claim 11,
The step of transmitting and receiving the UWB signal includes transmitting and receiving the UWB signal by a plurality of UWB antennas,
The step of transmitting the LF signal includes a step of transmitting the LF signal by a plurality of LF antennas.

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