TWI847345B

TWI847345B - Vehicle entry system and vehicle entry method

Info

Publication number: TWI847345B
Application number: TW111142647A
Authority: TW
Inventors: 雷皓強; 曹揚秋; 王林偉; 馬海波; 張旭
Original assignee: 大陸商立訊精密工業（昆山）有限公司
Priority date: 2021-12-30
Filing date: 2022-11-08
Publication date: 2024-07-01

Abstract

A vehicle entry system and a vehicle entry method, by setting a master node module with a master Bluetooth unit, and setting at least three slave node modules with a slave Bluetooth unit and a first ultra wideband unit around the vehicle, use the master Bluetooth unit to detect the distance between the vehicle and the vehicle key, and send a control signal when the distance is less than a predetermined value to control the slave Bluetooth unit to detect the broadcast signal strength of the vehicle key, Then, the distance between the vehicle and the vehicle key is measured by first ultra wideband units on at least two slave node modules with strong signal strength. Finally, the accurate position information of the vehicle key is obtained according to the distance information to control the vehicle lock, which can improve the positioning accuracy of the vehicle key while ensuring low energy consumption, so as to improve the sensitivity and accuracy of unlocking and locking.

Description

車輛進入系統及車輛進入方法Vehicle entry system and vehicle entry method

本發明涉及車輛智能控制領域，尤其是一種車輛進入系統及車輛進入方法。 The present invention relates to the field of vehicle intelligent control, in particular to a vehicle entry system and a vehicle entry method.

技術的發展推動了新產品的迭代推行，車輛的進入系統由早期的機械鑰匙變為遙控系統，而隨著無鑰匙系統技術的廣泛運用和汽車市場的多樣化，便捷化需求，遙控進入系統被無鑰匙進入系統替代已經成為趨勢，目前，中高級轎車的項級配置大都採用了無鑰匙進入系統。 The development of technology has promoted the iterative promotion of new products. The vehicle entry system has changed from the early mechanical key to the remote control system. With the widespread use of keyless system technology and the diversification and convenience needs of the automobile market, it has become a trend for the remote control entry system to be replaced by the keyless entry system. At present, most of the configurations of mid-to-high-end cars have adopted the keyless entry system.

現有的無線進入系統，當車主靠近車輛一定距離時，無需把鑰匙從包中或口袋中拿出，車輛會自動開鎖，發動機防盜鎖止系統也會自動解除。當車主離開車輛時，門鎖會自動鎖上並啟動防盜和發動機防盜鎖止系統。但目前無鑰匙進入系統還存在對智能數字鑰匙定位不夠準確，導致開關鎖不夠靈敏和準確，影響用戶體驗的問題。 With existing wireless entry systems, when the owner approaches the vehicle within a certain distance, the vehicle will automatically unlock and the engine anti-theft locking system will automatically release without taking the key out of the bag or pocket. When the owner leaves the vehicle, the door locks will automatically lock and the anti-theft and engine anti-theft locking systems will be activated. However, the current keyless entry system still has the problem of inaccurate positioning of the smart digital key, resulting in insensitive and inaccurate opening and closing, which affects the user experience.

有鑑於此，本發明的目的是提供一種能夠對車輛鑰匙進行更加精準的定位以提高用戶體驗的車輛進入系統及車輛進入方法。 In view of this, the purpose of the present invention is to provide a vehicle entry system and a vehicle entry method that can more accurately locate the vehicle key to improve the user experience.

第一方面，本發明實施例提供了一種車輛進入系統，該車輛進入系統包括：主節點模組，安裝在車輛上，與該車輛的車鎖通信連接，該主節點模組包括主藍牙單元，用於無線連接車輛鑰匙並根據該車輛鑰匙的位置控制該車鎖的開關；和至少3個從節點模組，分別安裝在該車輛四周，且分別與該主節點模組通信連接，每個該從節點模組包括從藍牙單元和第一超寬頻單元，該從節點模組用於無線連接該車輛鑰匙並確定該車輛鑰匙的位置；其中，該主節點模組被配置為通過該主藍牙單元檢測該車輛與車輛鑰匙之間的距離，當該距離小於預定值時向每個該從節點模組發送測距控制信號以控制每個該從節點模組啟動測距，每個該從藍牙單元啟動測距後將該藍牙廣播信號的強度信息發送至該主節點模組，該主節點模組根據該強度信息選擇向信號強度較強的至少2個該從藍牙單元對應的該從節點模組發送第二測距控制信號；每個該從節點模組被配置為響應於接收到該測距控制信號開啟從藍牙單元，用於檢測該車輛鑰匙的藍牙廣播信號，並將該藍牙廣播信號的強度信息發送至該主節點模組；該至少2個該從藍牙單元對應的該從節點模組被配置為響應於接收到該第二測距控制信號開啟該第一超寬頻單元，用於測量該車輛鑰匙與該從節點模組的距離信息，並將該距離信息發送至該主節點模組；該主節點模組還被配置為根據該距離信息，確定該車輛鑰匙的位置信息，根據該位置信息控制該車鎖。 In a first aspect, an embodiment of the present invention provides a vehicle entry system, the vehicle entry system comprising: a master node module, mounted on a vehicle, and connected to a vehicle lock of the vehicle, the master node module comprising a master Bluetooth unit, used to wirelessly connect to a vehicle key and control the switch of the vehicle lock according to the position of the vehicle key; and at least three slave node modules, respectively mounted around the vehicle and respectively connected to the master node module, each slave node module The slave node module includes a slave Bluetooth unit and a first ultra-wideband unit, and the slave node module is used to wirelessly connect to the vehicle key and determine the position of the vehicle key; wherein the master node module is configured to detect the distance between the vehicle and the vehicle key through the master Bluetooth unit, and when the distance is less than a predetermined value, send a ranging control signal to each of the slave node modules to control each of the slave node modules to start ranging, and each of the slave Bluetooth units starts ranging. Then, the strength information of the Bluetooth broadcast signal is sent to the master node module, and the master node module selects to send a second ranging control signal to the slave node modules corresponding to at least two of the slave Bluetooth units with stronger signal strength according to the strength information; each of the slave node modules is configured to turn on the slave Bluetooth unit in response to receiving the ranging control signal, so as to detect the Bluetooth broadcast signal of the vehicle key, and send the strength information of the Bluetooth broadcast signal to the master node module. to the master node module; the slave node modules corresponding to the at least two slave Bluetooth units are configured to turn on the first ultra-wideband unit in response to receiving the second ranging control signal, to measure the distance information between the vehicle key and the slave node module, and send the distance information to the master node module; the master node module is also configured to determine the location information of the vehicle key according to the distance information, and control the vehicle lock according to the location information.

進一步地，該第一超寬頻單元被配置為向該車輛鑰匙發出電磁波信號，並通過接收該車輛鑰匙返回的信號的時間，以飛行時間的方法計算出該車輛鑰匙與對應的該從節點模組之間的距離。 Furthermore, the first ultra-wideband unit is configured to send an electromagnetic wave signal to the vehicle key, and calculate the distance between the vehicle key and the corresponding slave node module by the flight time method through the time of receiving the signal returned by the vehicle key.

進一步地，該主節點模組被配置為根據開啟的至少2個該第一超寬頻單元獲取該車輛鑰匙的位置信息，當該車輛鑰匙進入第一預定位置區域時向該車鎖發送開鎖信號，當該車輛鑰匙離開第二預定位置區域時向該車鎖發送關鎖信號，該第二預定位置區域距離該車輛的半徑大於該第一預定位置區域距離該車輛的半徑。 Further, the master node module is configured to obtain the location information of the vehicle key according to the at least two first ultra-wideband units that are turned on, send an unlock signal to the vehicle lock when the vehicle key enters a first predetermined location area, and send a lock signal to the vehicle lock when the vehicle key leaves a second predetermined location area, and the radius of the second predetermined location area from the vehicle is greater than the radius of the first predetermined location area from the vehicle.

進一步地，該主節點模組還被配置為根據該至少2個該從藍牙單元對應的該從節點模組發送的該距離信息得到至多兩個定位點，並根據每個該藍牙廣播信號的該強度信息確定該車輛鑰匙的方位，且根據該方位確定該至多兩個定位點的其中一個為該車輛鑰匙的位置。 Furthermore, the master node module is also configured to obtain at most two positioning points according to the distance information sent by the slave node module corresponding to the at least two slave Bluetooth units, and determine the position of the vehicle key according to the strength information of each Bluetooth broadcast signal, and determine one of the at most two positioning points as the position of the vehicle key according to the position.

進一步地，該主節點模組還包括：第二超寬頻單元，用於與該第一超寬頻單元共同對該車輛鑰匙進行定位；該主節點模組被配置為當該車輛鑰匙進入第二預定位置區域時向該從節點模組發送第三測距控制信號以控制全部該從節點模組啟動測距，並啟動該第二超寬頻單元進行測距。 Furthermore, the master node module also includes: a second ultra-wideband unit, used to locate the vehicle key together with the first ultra-wideband unit; the master node module is configured to send a third ranging control signal to the slave node module when the vehicle key enters the second predetermined location area to control all the slave node modules to start ranging, and start the second ultra-wideband unit to perform ranging.

進一步地，該主節點模組還包括：總線控制單元，用於根據該車輛鑰匙所在位置向該從節點模組和該車鎖發送控制信號；和介面單元，該從節點模組通過該介面單元與該主節點模組連接。 Furthermore, the master node module also includes: a bus control unit for sending a control signal to the slave node module and the vehicle lock according to the location of the vehicle key; and an interface unit, through which the slave node module is connected to the master node module.

進一步地，該車輛進入系統包括5個從節點模組，分別設置在該車輛四周和頂部位置。 Furthermore, the vehicle entry system includes 5 slave node modules, which are respectively arranged around and on the top of the vehicle.

另一方面，本發明實施例還提供了一種車輛進入方法，該方法包括如下步驟：主節點模組上的主藍牙單元向車輛鑰匙發送藍牙連接請求；該主藍牙單元與該車輛鑰匙藍牙連接成功後，檢測車輛與車輛鑰匙之間的距離；響應於該距離小於預定值，向每個從節點模組發送測距控制信號以控制每個該從節點模組啟動測距；每個該從節點模組響應於接收到該測距控制信號，通過從藍牙單元檢測該車輛鑰匙的藍牙廣播信號，並將該藍牙廣播信號的強度信息發送至該主節點模組；該主節點模組根據該強度信息選擇向信號強度較強的至少2個該從藍牙單元對應的該從節點模組發送第二測距控制信號；該至少2個該從藍牙單元對應的該從節點模組響應於接收到該第二測距控制信號，通過第一超寬頻單元測量該車輛鑰匙與該從節點模組的距離信息，並將該距離信息發送至該主節點模組；該主節點模組根據該距離信息確定該車輛鑰匙的位置信息；根據該位置信息控制車輛車鎖。 On the other hand, the embodiment of the present invention also provides a vehicle entry method, which includes the following steps: a master Bluetooth unit on a master node module sends a Bluetooth connection request to a vehicle key; after the master Bluetooth unit and the vehicle key are successfully connected by Bluetooth, the distance between the vehicle and the vehicle key is detected; in response to the distance being less than a predetermined value, a ranging control signal is sent to each slave node module to control each slave node module to start ranging; each slave node module responds to receiving the ranging control signal by detecting the Bluetooth broadcast signal of the vehicle key through the slave Bluetooth unit, and transmitting the Bluetooth broadcast signal to the master node module; The strength information of the vehicle key is sent to the master node module; the master node module selects to send a second ranging control signal to the slave node modules corresponding to at least two slave Bluetooth units with stronger signal strength according to the strength information; the slave node modules corresponding to the at least two slave Bluetooth units respond to receiving the second ranging control signal, measure the distance information between the vehicle key and the slave node module through the first ultra-wideband unit, and send the distance information to the master node module; the master node module determines the location information of the vehicle key according to the distance information; and controls the vehicle lock according to the location information.

進一步地，該通過第一超寬頻單元測量該車輛鑰匙與該從節點模組的距離信息包括：第一超寬頻單元向該車輛鑰匙發出電磁波信號；通過接收該車輛鑰匙返回的信號的時間，以飛行時間的方法計算出該車輛鑰匙與對應的該從節點模組之間的距離。 Furthermore, the distance information between the vehicle key and the slave node module is measured by the first ultra-wideband unit, including: the first ultra-wideband unit sends an electromagnetic wave signal to the vehicle key; and the distance between the vehicle key and the corresponding slave node module is calculated by the flight time method through the time of receiving the signal returned by the vehicle key.

進一步地，該根據該位置信息控制車輛車鎖包括：響應於該車輛鑰匙進入第一預定位置區域，向該車鎖發送開鎖信號；響應於該車輛鑰匙離開第二預定位置區域，向該車鎖發送關鎖信號。 Furthermore, controlling the vehicle lock according to the position information includes: sending an unlock signal to the vehicle lock in response to the vehicle key entering the first predetermined position area; sending a lock signal to the vehicle lock in response to the vehicle key leaving the second predetermined position area.

進一步地，該該主節點模組根據該距離信息確定該車輛鑰匙的位置信息包括：該主節點模組根據該至少2個該從藍牙單元對應的該從節點模組發送的該距離信息得到至多兩個定位點；根據每個該藍牙廣播信號的該強度信息確定該車輛鑰匙的方位；根據該方位確定該至多兩個定位點的其中一個為該車輛鑰匙的位置。 Further, the master node module determines the location information of the vehicle key according to the distance information, including: the master node module obtains at most two positioning points according to the distance information sent by the slave node modules corresponding to the at least two slave Bluetooth units; determines the orientation of the vehicle key according to the strength information of each Bluetooth broadcast signal; and determines one of the at most two positioning points as the location of the vehicle key according to the orientation.

進一步地，該根據該位置信息控制車輛車鎖包括：響應於該車輛鑰匙進入第二預定位置區域，向該從節點模組發送第三測距控制信號以控制全部該從節點模組啟動測距，並啟動第二超寬頻單元進行測距；該從節點模組響應於接收到該第三測距控制信號，通過第一超寬頻單元測量得到距離信息，並將該距離信息發送至該主節點模組，該第二超寬頻單元測量得到第二距離信息；該主節點模組根據該距離信息和該第二距離信息共同確定該車輛鑰匙的精確位置信息；根據該精確位置信息控制車輛車鎖。 Further, the control of the vehicle lock according to the position information includes: in response to the vehicle key entering the second predetermined position area, sending a third ranging control signal to the slave node module to control all the slave node modules to start ranging, and starting the second ultra-wideband unit to perform ranging; the slave node module responds to receiving the third ranging control signal, measures the distance information through the first ultra-wideband unit, and sends the distance information to the master node module, and the second ultra-wideband unit measures the second distance information; the master node module jointly determines the precise position information of the vehicle key according to the distance information and the second distance information; and controls the vehicle lock according to the precise position information.

進一步地，該第一預定位置區域包括多個子區域；該響應於該車輛鑰匙進入第一預定位置區域，向該車鎖發送開鎖信號包括：響應於該車輛鑰匙進入該子區域，向該子區域對應位置的該車鎖發送開鎖信號。 Further, the first predetermined position area includes a plurality of sub-areas; in response to the vehicle key entering the first predetermined position area, sending an unlock signal to the vehicle lock includes: in response to the vehicle key entering the sub-area, sending an unlock signal to the vehicle lock at a position corresponding to the sub-area.

本發明實施例的車輛進入系統和車輛進入方法在車輛上安裝具有主藍牙單元的主節點模組，並在車輛四周設置至少3個具有從藍牙單元和第一超寬頻單元的從節點模組，使用主藍牙單元檢測車輛與車輛鑰匙之間的距離，並在距離小於預定值時發送測距控制信號，控制從藍牙單元檢測車輛鑰匙的廣播信號強度，再由信號強度較強的至少2個從節點模組上的第一超寬頻單元對車輛鑰匙進行測距，最後根據距離信息得到車輛鑰匙的精確位置信息以控制車鎖。通過上述系統設置及方法，本發明在保證能耗較低的同時大大提高了車輛進入系統對車輛鑰匙的定位精確程度，從而提高了開鎖和關鎖的靈敏度和準確度，提高了用戶體驗。 The vehicle entry system and vehicle entry method of the embodiment of the present invention install a master node module with a master Bluetooth unit on the vehicle, and set at least three slave node modules with slave Bluetooth units and first ultra-wideband units around the vehicle, use the master Bluetooth unit to detect the distance between the vehicle and the vehicle key, and send a ranging control signal when the distance is less than a predetermined value, control the slave Bluetooth unit to detect the broadcast signal strength of the vehicle key, and then use the first ultra-wideband units on at least two slave node modules with stronger signal strength to measure the distance of the vehicle key, and finally obtain the precise position information of the vehicle key according to the distance information to control the vehicle lock. Through the above system settings and methods, the present invention greatly improves the positioning accuracy of the vehicle key by the vehicle entry system while ensuring low energy consumption, thereby improving the sensitivity and accuracy of unlocking and locking, and improving the user experience.

1、N0、N6:主節點模組 1. N0, N6: Master node module

2、N1、N2、N3、N4、N5:從節點模組 2. N1, N2, N3, N4, N5: From the node module

s1、s2、s3、s4:車門 s1, s2, s3, s4: car doors

z1、z2、z3、z4:子區域 z1, z2, z3, z4: sub-areas

a1:第一預定位置區域 a1: The first predetermined location area

a2:第二預定位置區域 a2: Second predetermined location area

M1、M2:定位點 M1, M2: positioning points

r1:預定值 r1: preset value

11:主藍牙單元 11: Main Bluetooth unit

12:第二超寬頻單元 12: Second ultra-wideband unit

13:總線控制單元 13: Bus control unit

14:介面單元 14: Interface unit

21:從藍牙單元 21: From Bluetooth unit

22:第一超寬頻單元 22: First ultra-wideband unit

S1~S8、S61~S62、S71~S73、S81~S84、S801~S804、S811、S821:步驟 S1~S8, S61~S62, S71~S73, S81~S84, S801~S804, S811, S821: Steps

〔圖1〕係本發明實施例的車輛進入系統的具體結構示意圖。 [Figure 1] is a schematic diagram of the specific structure of the vehicle entry system of an embodiment of the present invention.

〔圖2〕係本發明實施例的車輛進入系統的整體結構及工作方法示意圖。 [Figure 2] is a schematic diagram of the overall structure and working method of the vehicle entry system of an embodiment of the present invention.

〔圖3〕係本發明實施例的車輛進入系統對車輛鑰匙定位的原理示意圖。 [Figure 3] is a schematic diagram showing the principle of positioning the vehicle key by the vehicle entry system of an embodiment of the present invention.

〔圖4〕係本發明實施例的車輛進入方法的整體步驟示意圖。 [Figure 4] is a schematic diagram of the overall steps of the vehicle entry method of the embodiment of the present invention.

〔圖5〕係本發明實施例的車輛進入方法的步驟S6的具體步驟示意圖。 [Figure 5] is a schematic diagram of the specific steps of step S6 of the vehicle entry method of the embodiment of the present invention.

〔圖6〕係本發明實施例的車輛進入方法的步驟S7的具體步驟示意圖。 [Figure 6] is a schematic diagram of the specific steps of step S7 of the vehicle entry method of the embodiment of the present invention.

〔圖7〕係本發明實施例的車輛進入方法的步驟S8的具體步驟示意圖。 [Figure 7] is a schematic diagram of the specific steps of step S8 of the vehicle entry method of the embodiment of the present invention.

〔圖8〕係本發明實施例的車輛進入方法的步驟S8的另一具體步驟示意圖。 [Figure 8] is another specific step schematic diagram of step S8 of the vehicle entry method of the embodiment of the present invention.

〔圖9〕係本發明實施例的車輛進入方法的步驟S81和步驟S82的具體步驟示意圖。 [Figure 9] is a schematic diagram of the specific steps of step S81 and step S82 of the vehicle entry method of the embodiment of the present invention.

以下基於實施例對本發明進行描述，但是本發明並不僅僅限於這些實施例。在下文對本發明的細節描述中，詳盡描述了一些特定的細節部分。對本領域具有通常知識者來說沒有這些細節部分的描述也可以完全理解本發明。為了避免混淆本發明的實質，公知的方法、過程、流程、元件和電路並沒有詳細敘述。 The present invention is described below based on embodiments, but the present invention is not limited to these embodiments. In the detailed description of the present invention below, some specific details are described in detail. For those with ordinary knowledge in the field, the present invention can be fully understood without the description of these details. In order to avoid confusing the essence of the present invention, the known methods, processes, procedures, components and circuits are not described in detail.

此外，本領域普通具有通常知識者應當理解，在此提供的圖式是為了說明的目的，並且圖式不一定是按比例繪製的。 Furthermore, it should be understood by those of ordinary skill in the art that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

同時，應當理解，在以下的描述中，“電路”是指由至少一個元件或子電路通過電氣連接或電磁連接構成的導電回路。當稱元件或電路“連接到”另一元件或稱元件/電路“連接在”兩個節點之間時，它可以是直接耦接或連接到另一元件或者可以存在中間元件，元件之間的連接可以是物理上的、邏輯上的、或者其結合。相反，當稱元件“直接耦接到”或“直接連接到”另一元件時，意味著兩者不存在中間元件。 At the same time, it should be understood that in the following description, "circuit" refers to a conductive loop composed of at least one element or subcircuit through electrical connection or electromagnetic connection. When an element or circuit is said to be "connected to" another element or an element/circuit is said to be "connected between" two nodes, it can be directly coupled or connected to another element or there can be an intermediate element. The connection between the elements can be physical, logical, or a combination thereof. On the contrary, when an element is said to be "directly coupled to" or "directly connected to" another element, it means that there is no intermediate element between the two.

除非上下文明確要求，否則在說明書的“包括”、“包含”等類似詞語應當解釋為包含的含義而不是排他或窮舉的含義；也就是說，是“包括但不限於”的含義。 Unless the context clearly requires otherwise, the words "include", "including" and similar words in the specification should be interpreted as inclusive rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

在本發明的描述中，需要理解的是，術語“第一”、“第二”等僅用於描述目的，而不能理解為指示或暗示相對重要性。此外，在本發明的描述中，除非另有說明，“多個”的含義是兩個或兩個以上。 In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

本發明實施例提供了一種車輛進入系統，如圖1和圖2所示，本發明實施例的車輛進入系統包括主節點模組1和從節點模組2。其中，主節點模組1安裝在車輛頂部中心位置，與車輛的車鎖通信連接，主節點模組1包括主藍牙單元11，用於根據車輛鑰匙的位置控制車鎖的開關。從節點模組2至少包括N1、N2和N3三個，分別安裝在車輛四周，且分別與主節點模組1通信連接，從節點模組2包括從藍牙單元21和第一超寬頻單元22，用於無線連接車輛鑰匙並確定車輛鑰匙的位置。具體的，主節點模組1被配置為通過主藍牙單元11檢測車輛與車輛鑰匙之間的距離，當距離小於預定值r1時向每個從節點模組2發送測距控制信號以控制每個從節點模組2啟動測距。從節點模組2被配置為響應於接收到測距控制信號開啟從藍牙單元21，並用從藍牙單元21連接車輛鑰匙，檢測車輛鑰匙的藍牙廣播信號，並將藍牙廣播信號的強度信息發送至主節點模組1。主節點模組1還配配置為根據強度信息選擇向信號強度較強的至少2個從藍牙單元21對應的從節點模組2發送第二測距控制信號。至少2個從藍牙單元21對應的從節點模組2被配置為響應於接收到第二測距控制信號開啟第一超寬頻單元22，通過第一超寬頻單元22測量車輛鑰匙與從節點模組2的距離信息，並將距離信息發送至主節點模組1。主節點模組1還被配置為根據距離信息，確定車輛鑰匙的位置信息，根據位置信息控制車鎖。 The embodiment of the present invention provides a vehicle entry system, as shown in FIG1 and FIG2, the vehicle entry system of the embodiment of the present invention includes a master node module 1 and a slave node module 2. The master node module 1 is installed at the center of the top of the vehicle and is connected to the vehicle lock by communication. The master node module 1 includes a master Bluetooth unit 11, which is used to control the switch of the vehicle lock according to the position of the vehicle key. The slave node module 2 includes at least three N1, N2 and N3, which are installed around the vehicle respectively and are connected to the master node module 1 by communication respectively. The slave node module 2 includes a slave Bluetooth unit 21 and a first ultra-wideband unit 22, which are used to wirelessly connect the vehicle key and determine the position of the vehicle key. Specifically, the master node module 1 is configured to detect the distance between the vehicle and the vehicle key through the master Bluetooth unit 11, and when the distance is less than a predetermined value r1, send a ranging control signal to each slave node module 2 to control each slave node module 2 to start ranging. The slave node module 2 is configured to turn on the slave Bluetooth unit 21 in response to receiving the ranging control signal, connect the vehicle key with the slave Bluetooth unit 21, detect the Bluetooth broadcast signal of the vehicle key, and send the strength information of the Bluetooth broadcast signal to the master node module 1. The master node module 1 is also configured to select, according to the strength information, to send a second ranging control signal to the slave node modules 2 corresponding to at least two slave Bluetooth units 21 with stronger signal strength. At least two slave node modules 2 corresponding to the slave Bluetooth units 21 are configured to turn on the first ultra-wideband unit 22 in response to receiving the second ranging control signal, measure the distance information between the vehicle key and the slave node module 2 through the first ultra-wideband unit 22, and send the distance information to the master node module 1. The master node module 1 is also configured to determine the location information of the vehicle key according to the distance information, and control the vehicle lock according to the location information.

在本發明本實施例中，車輛鑰匙為電子鑰匙，具體可以為具有數字身份標識的任何電子產品，如手機等。主藍牙單元11的連接範圍和距離的預定值r1的大小由具體情況而定，本實施例中以藍牙連接範圍50m，r1為10m為例。當用戶攜帶車輛鑰匙在車輛附近移動時，主藍牙單元11會向車輛鑰匙發送藍牙連接信號，若車輛鑰匙與車輛之間的距離處於藍牙連接範圍50m之內時，主節點模組1會通過主藍牙單元11讀取車輛鑰匙的數字身份信息，以判定其是否與本車輛相匹配，若匹配成功主藍牙單元11與車輛鑰匙之間會建立藍牙連接。之後主節點模組1將通過RSSI(Received Signal Strength Indication)的方法獲取主藍牙單元11的接收信號強度，從而判斷車輛鑰匙與車輛的距離，當距離小於預定值10m時，則向從節點模組2發送測距控制信號。在另一種可行的方案中，主節點模組1也可以通過預設用戶的行走速度來判斷車輛鑰匙與車輛的距離，例如預設用戶行走速度為1m/s，則在主藍牙單元11與車輛鑰匙建立藍牙連接後開始計時，此時距離為50m，預估用戶走到預定值10的時間為(50-10)/1=40s，則主節點模組在計時到達40s時向每一個從節點模組2發送測距控制信號。每一個從節點模組2在接收到測距控制信號後，都會開啟從藍牙單元21，從藍牙單元21將與車輛鑰匙建立藍牙連接，然後通過RSSI的方法獲取車輛鑰匙的藍牙廣播信號強度，並將藍牙廣播信號的強度信息發送至主節點模組1。由於每個從節點模組2所在的位置不同，其距離車輛鑰匙的距離也不同，因此其所收到的藍牙廣播信號強度也不同，主節點模組1在接收到強度信息後，將會向信號強度最強的至少2個從藍牙單元21所在的從節點模組2發送第二測距控制信號。信號強度最強的至少2個從藍牙單元21所在的從節點模組2在接收到第二測距控制信號後將開啟第一超寬頻單元22，第一超寬頻單元22會向車輛鑰匙發出電磁波信號，然後通過收到車輛鑰匙返回的信號的時間，利用飛行時間(TOF，time of flight)的方法計算出車輛鑰匙與從節點模組2之間的精確距離，並將該精確距離信息發送至主節點模組1中。由於從節點模組2有多個，且位於不同的位置，而主節點模組1中已經提前預存了各個從節點模組2的位置坐標，因此主節點模組1能夠根據車輛鑰匙與各個從節點模組2之間的精確距離和各個從節點模組2所在的坐標位置計算得出車輛鑰匙的準確位置。由於超寬頻技術的定位精度較高，因此本實施例通過上述設置能夠大幅提高對車輛鑰匙定位的準確程度，從而提高了開鎖和關鎖的靈敏度和準確度，提升了用戶體驗。同時，本實施例中的主藍牙單元11和從藍牙單元21均為低功耗藍牙，並且在對車輛鑰匙進行測距時並未直接開啟所有第一超寬頻單元，而是只開啟信號強度最強的至少2個從藍牙單元21所在的從節點模組2上的超寬頻單元，從而實現了在保證定位精度的同時使系統本身的能耗處於較低的水平，解決了系統耗電量過大的問題。 In this embodiment of the present invention, the vehicle key is an electronic key, specifically any electronic product with a digital identity, such as a mobile phone, etc. The connection range of the main Bluetooth unit 11 and the predetermined value r1 of the distance depend on the specific situation. In this embodiment, the Bluetooth connection range is 50m and r1 is 10m. When the user moves around the vehicle with the vehicle key, the master Bluetooth unit 11 will send a Bluetooth connection signal to the vehicle key. If the distance between the vehicle key and the vehicle is within the Bluetooth connection range of 50m, the master node module 1 will read the digital identity information of the vehicle key through the master Bluetooth unit 11 to determine whether it matches the vehicle. If the match is successful, a Bluetooth connection will be established between the master Bluetooth unit 11 and the vehicle key. Afterwards, the master node module 1 will obtain the received signal strength of the master Bluetooth unit 11 through the RSSI (Received Signal Strength Indication) method to determine the distance between the vehicle key and the vehicle. When the distance is less than the preset value of 10m, a ranging control signal is sent to the slave node module 2. In another feasible solution, the master node module 1 can also determine the distance between the vehicle key and the vehicle by the preset user's walking speed. For example, the preset user walking speed is 1m/s, and the timing starts after the master Bluetooth unit 11 establishes a Bluetooth connection with the vehicle key. At this time, the distance is 50m, and the estimated time for the user to walk to the preset value 10 is (50-10)/1=40s. Then the master node module sends a ranging control signal to each slave node module 2 when the timing reaches 40s. After receiving the ranging control signal, each slave node module 2 will turn on the slave Bluetooth unit 21, and the slave Bluetooth unit 21 will establish a Bluetooth connection with the vehicle key, and then obtain the Bluetooth broadcast signal strength of the vehicle key through the RSSI method, and send the strength information of the Bluetooth broadcast signal to the master node module 1. Since each slave node module 2 is located at a different position and its distance from the vehicle key is also different, the strength of the Bluetooth broadcast signal received by it is also different. After receiving the strength information, the master node module 1 will send a second ranging control signal to the slave node modules 2 where at least two slave Bluetooth units 21 with the strongest signal strength are located. The slave node module 2 where at least two slave Bluetooth units 21 with the strongest signal strength are located will turn on the first ultra-wideband unit 22 after receiving the second ranging control signal. The first ultra-wideband unit 22 will send an electromagnetic wave signal to the vehicle key, and then calculate the precise distance between the vehicle key and the slave node module 2 by using the time of receiving the signal returned by the vehicle key and the time of flight (TOF) method, and send the precise distance information to the master node module 1. Since there are multiple slave node modules 2 located at different positions, and the master node module 1 has pre-stored the position coordinates of each slave node module 2, the master node module 1 can calculate the exact position of the vehicle key according to the precise distance between the vehicle key and each slave node module 2 and the coordinate position of each slave node module 2. Since the positioning accuracy of ultra-wideband technology is relatively high, this embodiment can greatly improve the accuracy of positioning the vehicle key through the above settings, thereby improving the sensitivity and accuracy of unlocking and locking, and improving the user experience. At the same time, the master Bluetooth unit 11 and the slave Bluetooth unit 21 in this embodiment are both low-power Bluetooth, and when measuring the distance of the vehicle key, not all first ultra-wideband units are directly turned on, but only the ultra-wideband units on the slave node module 2 where at least two slave Bluetooth units 21 with the strongest signal strength are located are turned on, thereby ensuring the positioning accuracy while keeping the energy consumption of the system itself at a relatively low level, solving the problem of excessive power consumption of the system.

在一種具體的實施方式中，主節點模組1還被配置為根據至少2個從藍牙單元21對應的從節點模組2發送的距離信息得到至多兩個定位點，並根據每個藍牙廣播信號的強度信息確定車輛鑰匙的方位，且根據方位確定至多兩個定位點的其中一個為車輛鑰匙的位置。當只有2個從節點模組2啟動第一超寬頻單元22進行測距時，主節點模組1根據2個從節點模組2發送的距離信息將會得到兩個定位點。而為了從這兩個定位點中選擇出車輛鑰匙的具體位置，主節點模組1還需要通過不同從藍牙模組21發來的不同信號強度信息，結合從節點模組的座標信息，判斷出車輛鑰匙所在的方位。具體的，例如圖2中，假設N1、N3所在位置為車輛左側，若N1、N3的信號強度大於N2、N4、N5，則主節點模組1根據強度信息選擇向信號強度最強的至少2個從藍牙單元21對應的從節點模組，例如N1、N3，發送第二測距控制信號，N1、N3接收到第二測距控制信號後將開啟第一超寬頻單元22對車輛鑰匙進行精確測距。而N2、N4、N5上的第一超寬頻單元22將不會啟動。同時由於N1、N3的信號強度大於N2、N4、N5，還可以判斷出車輛鑰匙位於車輛左側。如圖3所示，通過兩個從節點模組2的位置和它們與車輛鑰匙之間的距離將會得到M1和M2兩個定位點，但由於主節點模組1已經結合從藍牙單元21所收到的藍牙廣播信號強度信息確定了車輛鑰匙的方位位於車輛左側，因此M2點將被忽略，以此得到車輛鑰匙的準確位置M1，不會產生誤判，還能加速定位程序。本實施例通過這樣設置，能夠在保證對車輛鑰匙進行精確定位的同時，減少了第一超寬頻單元22的啟用數量，從而進一步降低了能耗、加快了運作速度。 In a specific implementation, the master node module 1 is further configured to obtain at most two positioning points according to the distance information sent by the slave node modules 2 corresponding to at least two slave Bluetooth units 21, and determine the orientation of the vehicle key according to the strength information of each Bluetooth broadcast signal, and determine that one of the at most two positioning points is the position of the vehicle key according to the orientation. When only two slave node modules 2 activate the first ultra-wideband unit 22 for ranging, the master node module 1 will obtain two positioning points according to the distance information sent by the two slave node modules 2. In order to select the specific location of the vehicle key from these two positioning points, the master node module 1 also needs to determine the location of the vehicle key by combining the different signal strength information sent by different slave Bluetooth modules 21 with the coordinate information of the slave node module. Specifically, for example, in FIG2, assuming that N1 and N3 are located on the left side of the vehicle, if the signal strength of N1 and N3 is greater than that of N2, N4, and N5, the master node module 1 selects to send a second ranging control signal to at least two slave node modules corresponding to the slave Bluetooth units 21 with the strongest signal strength, such as N1 and N3, according to the strength information. After receiving the second ranging control signal, N1 and N3 will turn on the first ultra-wideband unit 22 to accurately measure the distance of the vehicle key. The first ultra-wideband unit 22 on N2, N4, and N5 will not be activated. At the same time, since the signal strength of N1 and N3 is greater than that of N2, N4, and N5, it can also be determined that the vehicle key is located on the left side of the vehicle. As shown in Figure 3, two positioning points M1 and M2 will be obtained through the positions of the two slave node modules 2 and the distances between them and the vehicle key. However, since the master node module 1 has determined that the vehicle key is located on the left side of the vehicle in combination with the Bluetooth broadcast signal strength information received from the Bluetooth unit 21, the M2 point will be ignored. In this way, the accurate position M1 of the vehicle key is obtained, which will not cause misjudgment and can also speed up the positioning process. By setting it in this way, this embodiment can reduce the number of activations of the first ultra-wideband unit 22 while ensuring accurate positioning of the vehicle key, thereby further reducing energy consumption and speeding up operation.

如圖2所示，在一種具體的實施方式中，主節點模組1被配置為根據開啟的至少2個第一超寬頻單元22獲取車輛鑰匙的位置信息，當車輛鑰匙進入第一預定位置區域a1時向車鎖發送開鎖信號。具體的，第一預定位置區域a1中距離車輛最遠位置不得大於預定值r1的值，這樣才能夠保證對車鎖控制的準確度，在本實施例中，第一預定位置區域a1的範圍舉例為以車輛中心為圓心，半徑2m的範圍內。攜帶車輛鑰匙的用戶在距離車輛10m時，至少2個第一超寬頻單元22開始對車輛鑰匙進行精準定位，當用戶進入距車輛2m範圍內的第一預定位置區域a1後，自動控制車輛開鎖，方便用戶進入車輛。本實施例通過上述設置可以使攜帶車輛鑰匙的用戶在靠近車輛時車輛自動開鎖，無需用戶手動操作，為用戶提供方便。 As shown in FIG2 , in a specific implementation, the master node module 1 is configured to obtain the position information of the vehicle key according to at least two first ultra-wideband units 22 that are turned on, and send an unlock signal to the vehicle lock when the vehicle key enters the first predetermined position area a1. Specifically, the farthest position from the vehicle in the first predetermined position area a1 shall not be greater than the value of the predetermined value r1, so as to ensure the accuracy of the control of the vehicle lock. In this embodiment, the range of the first predetermined position area a1 is, for example, within a range of a radius of 2m with the center of the vehicle as the center. When the user carrying the vehicle key is 10m away from the vehicle, at least two first ultra-wideband units 22 begin to accurately locate the vehicle key. When the user enters the first predetermined position area a1 within 2m of the vehicle, the vehicle is automatically unlocked to facilitate the user to enter the vehicle. This embodiment can enable the vehicle to automatically unlock when the user carrying the vehicle key approaches the vehicle through the above settings, without the need for manual operation by the user, providing convenience for the user.

在一些實施例中，主節點模組1還被配置為當車輛鑰匙離開第二預定位置區域a2時向車鎖發送關鎖信號，第二預定位置區域a2大於第一預定位置區域a1，且第二預定位置區域a2不大於預定值r1的值，舉例來說，第一預定位置區域a1的半徑範圍為0至2m，是第二預定位置區域a2的半徑範圍為為2至6m。在用戶下車離開車輛時，只要用戶走出第二預定位置區域a2，車輛會自動上鎖。該實施例通過上述設置能夠避免用戶忘記關鎖導致車輛未上鎖情況的發生，提高了安全性，且無需手動關鎖，進一步為用戶提供了方便。 In some embodiments, the master node module 1 is further configured to send a lock signal to the vehicle lock when the vehicle key leaves the second predetermined position area a2, the second predetermined position area a2 is larger than the first predetermined position area a1, and the second predetermined position area a2 is not greater than the value of the predetermined value r1. For example, the radius of the first predetermined position area a1 is 0 to 2m, and the radius of the second predetermined position area a2 is 2 to 6m. When the user gets off the vehicle, as long as the user walks out of the second predetermined position area a2, the vehicle will automatically lock. This embodiment can avoid the situation where the user forgets to lock the vehicle through the above setting, thereby improving safety, and there is no need to manually lock the vehicle, which further provides convenience for the user.

主節點模組1還包括第二超寬頻單元12，第二超寬頻單元12用於與第一超寬頻單元22共同對車輛鑰匙進行定位。主節點模組1被配置為當車輛鑰匙進入第二預定位置區域a2時向從節點模組2發送第三測距控制信號以控制全部從節點模組2啟動測距，並啟動第二超寬頻單元12進行測距。具體的，第二預定位置區域a2大於第一預定位置區域a1，且第一預定位置區域a1位於第二預定位置區域a2範圍內，第二預定位置區域a2中距離車輛最遠位置不得大於預定值r1的值。在本實施例中，第二預定位置區域a2舉例為以車輛中心為圓心，半徑6m的範圍內。當攜帶車輛鑰匙的用戶在距離車輛10m時，收到的藍牙廣播信號強度最強的至少兩個第一超寬頻單元22，以N1、N3為例，開始對車輛鑰匙進行精準定位，當用戶進入據車輛6m的第二預定位置區域a2後，主節點模組1向全部從節點模組2發出第三測距控制信號，全部從節點模組2在接收到第三測距控制信號後，均會打開第一超寬頻單元22，此時所有的第一超寬頻單元22同時對車輛鑰匙進行測距，進一步提高了對車輛鑰匙定位的準確度。同時，主節點模組1還會開啟第二超寬頻單元12，第二超寬頻單元12與第一超寬頻單元22同時對車輛鑰匙進行測距，最終通過主節點模組1綜合第二超寬頻單元12和所有第一超寬頻單元22的測距結果，得出車輛鑰匙的精確位置信息。通過該精確位置信息來判斷車輛鑰匙的精確位置，當該精確位置進入距車輛2m範圍內的第一預定位置區域a1後，自動控制車輛開鎖，由此進一步提高了車鎖控制的精確度和靈敏度。 The master node module 1 further includes a second ultra-wideband unit 12, which is used to locate the vehicle key together with the first ultra-wideband unit 22. The master node module 1 is configured to send a third ranging control signal to the slave node module 2 when the vehicle key enters the second predetermined location area a2 to control all slave node modules 2 to start ranging, and start the second ultra-wideband unit 12 to perform ranging. Specifically, the second predetermined location area a2 is larger than the first predetermined location area a1, and the first predetermined location area a1 is within the range of the second predetermined location area a2, and the farthest position from the vehicle in the second predetermined location area a2 shall not be greater than the value of the predetermined value r1. In this embodiment, the second predetermined position area a2 is, for example, within a range of a radius of 6 m with the center of the vehicle as the center. When the user carrying the vehicle key is 10m away from the vehicle, at least two first ultra-wideband units 22, N1 and N3 for example, which receive the strongest Bluetooth broadcast signal strength, start to accurately locate the vehicle key. When the user enters the second predetermined location area a2 6m away from the vehicle, the master node module 1 sends a third ranging control signal to all slave node modules 2. After receiving the third ranging control signal, all slave node modules 2 will turn on the first ultra-wideband unit 22. At this time, all the first ultra-wideband units 22 simultaneously measure the distance of the vehicle key, further improving the accuracy of positioning the vehicle key. At the same time, the master node module 1 will also turn on the second ultra-wideband unit 12, and the second ultra-wideband unit 12 and the first ultra-wideband unit 22 will simultaneously measure the distance of the vehicle key. Finally, the master node module 1 combines the distance measurement results of the second ultra-wideband unit 12 and all the first ultra-wideband units 22 to obtain the precise location information of the vehicle key. The precise location information is used to determine the precise location of the vehicle key. When the precise location enters the first predetermined location area a1 within 2m of the vehicle, the vehicle is automatically controlled to unlock, thereby further improving the accuracy and sensitivity of the vehicle lock control.

如圖1所示，在一種具體的實施方式中，主節點模組1還包括總線控制單元13和介面單元14。其中，總線控制單元13用於根據車輛鑰匙所在位置向從節點模組和車鎖發送控制信號，總線控制單元13中包含能夠對數據進行計算等處理的計算機控制系統，例如單片機或可編程控制器等。介面單元14具有多個介面，多個從節點模組2均通過介面單元14與主節點模組1連接。總線控制單元13發出的控制信號通過介面單元14傳遞至從節點模組2或車鎖，以完成車輛進入系統的上述工作。從節點模組2上也包括對應於總線控制單元13和介面單元14的相關單元，與主節點模組1配合完成上述工作。 As shown in FIG1 , in a specific implementation, the master node module 1 further includes a bus control unit 13 and an interface unit 14. The bus control unit 13 is used to send control signals to the slave node modules and the vehicle locks according to the location of the vehicle key, and the bus control unit 13 includes a computer control system capable of performing calculations and other processing on data, such as a single-chip microcomputer or a programmable controller. The interface unit 14 has multiple interfaces, and multiple slave node modules 2 are connected to the master node module 1 through the interface unit 14. The control signal sent by the bus control unit 13 is transmitted to the slave node module 2 or the vehicle lock through the interface unit 14 to complete the above-mentioned work of the vehicle entry system. The slave node module 2 also includes related units corresponding to the bus control unit 13 and the interface unit 14, and cooperates with the master node module 1 to complete the above work.

如圖2所示，在一種具體的實施方式中，車輛進入系統包括5個從節點模組2，分別設置在車輛四周和頂部位置。具體的，在本實施例中，其中4個從節點模組N1、N2、N3、N4分別設置在車輛前後保險桿的左右兩端，還有1個從節點模組N5設置在汽車內後座椅上方頂部。將從節點模組2分散設置在車輛的不同位置，能夠使其在測距時得到的與車輛鑰匙之間的距離差別，以及收到的車輛鑰匙的藍牙信號強度差別更大，從而使主節點模組1對車輛鑰匙的位置計算更加容易且準確。 As shown in FIG2 , in a specific implementation, the vehicle entry system includes five slave node modules 2, which are respectively arranged around and on the top of the vehicle. Specifically, in this embodiment, four slave node modules N1, N2, N3, and N4 are respectively arranged on the left and right ends of the front and rear bumpers of the vehicle, and one slave node module N5 is arranged on the top above the rear seat in the car. Distributing the slave node modules 2 at different positions of the vehicle can make the distance difference between the vehicle key and the received Bluetooth signal strength difference of the vehicle key greater during distance measurement, so that the master node module 1 can calculate the position of the vehicle key more easily and accurately.

本發明實施例還提供了一種車輛進入方法，如圖4所示，該方法基於上述車輛進入系統實施，包括以下步驟：S1：主節點模組1上的主藍牙單元11向車輛鑰匙發送藍牙連接請求；S2：主藍牙單元11與車輛鑰匙藍牙連接成功後，檢測車輛與車輛鑰匙之間的距離；S3：響應於距離小於預定值r1，向每個從節點模組2發送測距控制信號以控制每個從節點模組2啟動測距；S4：每個從節點模組2響應於接收到測距控制信號，通過從藍牙單元21檢測車輛鑰匙的藍牙廣播信號，並將藍牙廣播信號的強度信息發送至主節點模組1；S5：主節點模組1根據強度信息選擇向信號強度較強的至少2個從藍牙單元21對應的從節點模組2發送第二測距控制信號；S6：至少2個從藍牙單元21對應的從節點模組2響應於接收到第二測距控制信號，通過第一超寬頻單元22測量車輛鑰匙與從節點模組2的距離信息，並將距離信息發送至主節點模組1；S7：主節點模組1根據距離信息確定車輛鑰匙的位置信息； S8：根據位置信息控制車輛車鎖。 The embodiment of the present invention also provides a vehicle entry method, as shown in FIG4 , which is implemented based on the above-mentioned vehicle entry system and includes the following steps: S1: the master Bluetooth unit 11 on the master node module 1 sends a Bluetooth connection request to the vehicle key; S2: after the master Bluetooth unit 11 successfully connects to the vehicle key via Bluetooth, the distance between the vehicle and the vehicle key is detected; S3: in response to the distance being less than a predetermined value r1, a ranging control signal is sent to each slave node module 2 to control each slave node module 2 to start ranging; S4: each slave node module 2 responds to receiving the ranging control signal by detecting the Bluetooth broadcast of the vehicle key through the slave Bluetooth unit 21; signal, and sends the strength information of the Bluetooth broadcast signal to the master node module 1; S5: the master node module 1 selects to send a second ranging control signal to at least two slave node modules 2 corresponding to the slave Bluetooth unit 21 with stronger signal strength according to the strength information; S6: at least two slave node modules 2 corresponding to the slave Bluetooth unit 21 respond to receiving the second ranging control signal, measure the distance information between the vehicle key and the slave node module 2 through the first ultra-wideband unit 22, and send the distance information to the master node module 1; S7: the master node module 1 determines the location information of the vehicle key according to the distance information; S8: control the vehicle lock according to the location information.

本實施例通過上述步驟能夠實現對車輛鑰匙的準確定位，提高車輛車鎖控制的運作速度、準確度和靈敏度，同時將功耗控制在了較低水平。 This embodiment can achieve accurate positioning of the vehicle key through the above steps, improve the operating speed, accuracy and sensitivity of the vehicle lock control, and at the same time control the power consumption at a relatively low level.

如圖5所示，在一些可選的實施方式中，上述步驟S6中的通過第一超寬頻單元22測量車輛鑰匙與從節點模組2的距離信息包括如下步驟：S61：第一超寬頻單元向車輛鑰匙發出電磁波信號；S62：通過接收車輛鑰匙返回的信號的時間，以飛行時間的方法計算出車輛鑰匙與對應的從節點模組之間的距離。 As shown in FIG. 5 , in some optional implementations, the distance information between the vehicle key and the slave node module 2 is measured by the first ultra-wideband unit 22 in the above step S6, including the following steps: S61: the first ultra-wideband unit sends an electromagnetic wave signal to the vehicle key; S62: by receiving the time of the signal returned by the vehicle key, the distance between the vehicle key and the corresponding slave node module is calculated by the flight time method.

本實施例通過將上述步驟S61和S62，能夠實現使用第一超寬頻單元22對車輛鑰匙進行精確測距，從而實現了對車輛鑰匙進行精確度較高的定位。 This embodiment can use the first ultra-wideband unit 22 to accurately measure the distance of the vehicle key by combining the above steps S61 and S62, thereby achieving high-precision positioning of the vehicle key.

如圖6所示，在一些可選的實施方式中，上述步驟S7包括如下步驟：S71：主節點模組1根據至少2個從藍牙單元21對應的從節點模組2發送的距離信息得到至多兩個定位點；S72：根據每個藍牙廣播信號的強度信息確定車輛鑰匙的方位；S73：根據方位確定至多兩個定位點的其中一個為車輛鑰匙的位置。 As shown in FIG. 6 , in some optional implementations, the above step S7 includes the following steps: S71: the master node module 1 obtains at most two positioning points according to the distance information sent by the slave node module 2 corresponding to at least two slave Bluetooth units 21; S72: the orientation of the vehicle key is determined according to the strength information of each Bluetooth broadcast signal; S73: one of the at most two positioning points is determined to be the position of the vehicle key according to the orientation.

本實施例通過上述方式，能夠實現在只開啟兩個第一超寬頻單元22時，同樣能夠對車輛鑰匙進行準確的定位，在保證定位準確度的同時，最大限度的減少了能耗並加快了運作速度。 This embodiment can accurately locate the vehicle key by using the above method when only two first ultra-wideband units 22 are turned on, while ensuring the positioning accuracy, minimizing energy consumption and speeding up the operation speed.

如圖7所示，在一種具體的實施方式中，上述步驟S8的具體步驟如下：S81：判斷車輛鑰匙是否進入第一預定位置區域a1； S82：響應於車輛鑰匙進入第一預定位置區域a1，向車鎖發送開鎖信號；或S83：判斷車輛鑰匙是否離開第二預定位置區域a2；S84：響應於車輛鑰匙離開第二預定位置區域a2，向車鎖發送關鎖信號。 As shown in FIG. 7 , in a specific implementation, the specific steps of the above step S8 are as follows: S81: Determine whether the vehicle key enters the first predetermined position area a1; S82: In response to the vehicle key entering the first predetermined position area a1, send an unlock signal to the vehicle lock; or S83: Determine whether the vehicle key leaves the second predetermined position area a2; S84: In response to the vehicle key leaving the second predetermined position area a2, send a lock signal to the vehicle lock.

本實施例通過上述方式給出了根據位置信息控制車輛車鎖的具體控制方式，通過這種方式能夠實現根據用戶靠近或遠離車輛，對車鎖進行自動開關，無需用戶手動操作，提升了用戶體驗，並且避免了用戶忘記關鎖情況的發生，提高了安全性。 This embodiment provides a specific control method for controlling the vehicle lock according to the location information through the above method. This method can realize the automatic opening and closing of the vehicle lock according to the user approaching or leaving the vehicle, without the need for manual operation by the user, thus improving the user experience and avoiding the occurrence of the user forgetting to lock the vehicle, thereby improving safety.

如圖8所示，在一些可選的實施方式中，上述步驟S8還可以包括如下步驟：S801：響應於車輛鑰匙進入第二預定位置區域a2，向從節點模組2發送第三測距控制信號以控制全部從節點模組2啟動測距，並啟動第二超寬頻單元12進行測距；S802：從節點模組2響應於接收到第三測距控制信號，通過第一超寬頻單元22測量得到距離信息，並將距離信息發送至主節點模組1，第二超寬頻單元12測量得到第二距離信息；S803：主節點模組1根據距離信息和第二距離信息共同確定車輛鑰匙的精確位置信息；S804：根據精確位置信息控制車輛車鎖。 As shown in FIG8 , in some optional implementations, the above step S8 may also include the following steps: S801: in response to the vehicle key entering the second predetermined location area a2, sending a third ranging control signal to the slave node module 2 to control all slave node modules 2 to start ranging, and start the second ultra-wideband unit 12 to perform ranging; S802: in response to receiving the vehicle key, the slave node module 2 sends a third ranging control signal to the slave node module 2 to control all slave node modules 2 to start ranging, and starts the second ultra-wideband unit 12 to perform ranging; The third ranging control signal is measured by the first ultra-wideband unit 22 to obtain distance information, and the distance information is sent to the master node module 1, and the second ultra-wideband unit 12 measures the second distance information; S803: the master node module 1 determines the precise location information of the vehicle key according to the distance information and the second distance information; S804: the vehicle lock is controlled according to the precise location information.

本實施例通過將上述步驟S8具體分為S801-S804四個步驟，能夠在執行上述實施例中的步驟S801-S804以降低能耗的同時，使車輛鑰匙在距離車輛足夠近的情況下開啟全部第一超寬頻單元22和第二超寬頻單元12，進一步提高對車輛鑰匙定位的準確度，以進一步提高對車輛車鎖開關控制的精準度和靈敏度。 This embodiment divides the above step S8 into four steps S801-S804, so that while executing the steps S801-S804 in the above embodiment to reduce energy consumption, the vehicle key can turn on all the first ultra-wideband units 22 and the second ultra-wideband units 12 when the vehicle key is close enough to the vehicle, thereby further improving the accuracy of positioning the vehicle key and further improving the accuracy and sensitivity of controlling the vehicle lock switch.

根據上述車輛進入方法，結合圖2和圖3具體舉例如下：當用戶戴著車輛鑰匙走進車輛時，在大約50m範圍時(假設主藍牙單元11的連接範圍為50m)，主節點模組1通過主藍牙單元11檢測到車輛鑰匙並與之建立藍牙連接，若預設定用戶的行進速度1m/s，計算用戶繼續走到距車輛10m(假設距離預定值r1為10m)位置時間，大約為40s，因此在40s後，主節點模組1啟動從節點模組2的從藍牙單元21，採用RSSI的方法獲取車輛鑰匙廣播的信號強度信息，通過比較分析信號強度信息獲得車輛鑰匙的坐標方位，例如N1、N3信號強度較高，獲得車輛鑰匙坐標方位為車輛左側，從節點N1,N3上的第一超寬頻單元22開始測距，其他從節點模組2上的第一超寬頻單元22不參與定位，通過N1,N3模組的計算會獲得兩個定位位置M1、M2，由於之前已經確定了有效的坐標方位為車輛左側區域，從而淘汰無效點M2，可以快速的計算出車輛鑰匙的準確坐標信息為M1，採用該方法實現定位的快速識別。當用戶走進a2區域範圍(例如距車輛6m範圍)內時，啟動所有從節點模組2上的第一超寬頻單元22，輔助計算車輛鑰匙的坐標位置，以此使車輛鑰匙的定位更加精準。當用戶走進車輛a1區域範圍(例如距車輛2m範圍)以內，車輛車鎖自動打開。當用戶離開車輛a2區域範圍(例如距車輛6m範圍)時，車輛車鎖自動關閉。 According to the above vehicle entry method, a specific example is given in conjunction with FIG. 2 and FIG. 3 as follows: when a user walks into a vehicle wearing a vehicle key, when the user is within a range of about 50m (assuming that the connection range of the master Bluetooth unit 11 is 50m), the master node module 1 detects the vehicle key through the master Bluetooth unit 11 and establishes a Bluetooth connection with it. If the user's moving speed is preset to 1m/s, the time it takes for the user to continue walking to a position 10m away from the vehicle (assuming that the preset distance r1 is 10m) is about 40s. Therefore, after 40s, the master node module 1 activates the slave Bluetooth unit 21 of the slave node module 2 and uses the RSSI method to obtain the vehicle key broadcast. Signal strength information is obtained by comparing and analyzing the signal strength information to obtain the coordinate position of the vehicle key. For example, the signal strength of N1 and N3 is higher, and the coordinate position of the vehicle key is obtained as the left side of the vehicle. The ranging starts from the first ultra-wideband unit 22 on the nodes N1 and N3. The first ultra-wideband unit 22 on the other slave node module 2 does not participate in the positioning. Through the calculation of the N1 and N3 modules, two positioning positions M1 and M2 are obtained. Since the valid coordinate position has been determined to be the left side area of the vehicle, the invalid point M2 is eliminated, and the accurate coordinate information of the vehicle key can be quickly calculated as M1. This method is used to achieve rapid identification of positioning. When the user walks into the a2 area (e.g., 6m from the vehicle), the first ultra-wideband unit 22 on all slave node modules 2 is activated to assist in calculating the coordinate position of the vehicle key, thereby making the positioning of the vehicle key more accurate. When the user walks into the a1 area of the vehicle (e.g., 2m from the vehicle), the vehicle locks are automatically opened. When the user leaves the a2 area of the vehicle (e.g., 6m from the vehicle), the vehicle locks are automatically closed.

在一些可選的實施方式中，第一預定位置區域a1包括多個子區域。如圖9所示，在本實施例中，上述步驟S81和S82還可以包括如下步驟：S811：判斷車輛鑰匙是否進入子區域；S821：響應於車輛鑰匙進入子區域，向子區域對應位置的車鎖發送開鎖信號。 In some optional implementations, the first predetermined position area a1 includes multiple sub-areas. As shown in FIG9 , in this embodiment, the above steps S81 and S82 may also include the following steps: S811: Determine whether the vehicle key enters the sub-area; S821: In response to the vehicle key entering the sub-area, send an unlock signal to the vehicle lock at the corresponding position of the sub-area.

例如圖2中所示，將第一預定位置區域a1分為z1、z1、z2、z3四個子區域，分別對應s1、s2、s3、s4四個車門，當攜帶車輛鑰匙的用戶走入子區域z1時，則車門s1自動打開，其餘車門不打開。本實施例通過這樣設置，能夠提高車輛開鎖時的安全性。 For example, as shown in FIG2 , the first predetermined position area a1 is divided into four sub-areas z1, z2, z3, corresponding to the four doors s1, s2, s3, and s4 respectively. When the user carrying the vehicle key walks into the sub-area z1, the door s1 is automatically opened, and the other doors are not opened. This embodiment can improve the safety of unlocking the vehicle by setting it in this way.

綜上所述，本發明實施例的車輛進入系統和車輛進入方法在車輛上安裝具有主藍牙單元的主節點模組，並在車輛四周設置至少3個具有從藍牙單元和第一超寬頻單元的從節點模組，使用主藍牙單元檢測車輛與車輛鑰匙之間的距離，並在距離小於預定值時發送測距控制信號，控制從藍牙單元檢測車輛鑰匙的廣播信號強度，再由信號強度較強的至少2個從節點模組上的第一超寬頻單元對車輛鑰匙進行測距，最後根據距離信息得到車輛鑰匙的精確位置信息以控制車鎖。通過上述系統設置及方法，本發明在保證能耗較低的同時大大提高了車輛進入系統對車輛鑰匙的定位精確程度，從而提高了開鎖和關鎖的靈敏度和準確度，提高了用戶體驗。 In summary, the vehicle entry system and vehicle entry method of the embodiment of the present invention installs a master node module with a master Bluetooth unit on the vehicle, and sets at least 3 slave node modules with slave Bluetooth units and first ultra-wideband units around the vehicle, uses the master Bluetooth unit to detect the distance between the vehicle and the vehicle key, and sends a ranging control signal when the distance is less than a predetermined value, controls the slave Bluetooth unit to detect the broadcast signal strength of the vehicle key, and then uses the first ultra-wideband units on at least 2 slave node modules with stronger signal strength to measure the distance of the vehicle key, and finally obtains the precise position information of the vehicle key according to the distance information to control the vehicle lock. Through the above system settings and methods, the present invention greatly improves the positioning accuracy of the vehicle key by the vehicle entry system while ensuring low energy consumption, thereby improving the sensitivity and accuracy of unlocking and locking, and improving the user experience.

以上所述僅為本發明的優選實施例，並不用於限制本發明，對於本領域具有通常知識者而言，本發明可以有各種改動和變化。凡在本發明的精神和原理之內所作的任何修改、等同替換、改進等，均應包含在本發明的保護範圍之內。 The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those with ordinary knowledge in this field, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

N0:主節點模組 N0: Master node module

N1、N2、N3、N4、N5:從節點模組 N1, N2, N3, N4, N5: From the node module

s1、s2、s3、s4:車門 s1, s2, s3, s4: car doors

z1、z2、z3、z4:子區域 z1, z2, z3, z4: sub-areas

a1:第一預定位置區域 a1: The first predetermined location area

a2:第二預定位置區域 a2: Second predetermined location area

r1:預定值 r1: preset value

Claims

一種車輛進入系統，包括：主節點模組，安裝在車輛上，與該車輛的車鎖通信連接，該主節點模組包括主藍牙單元，用於無線連接車輛鑰匙並根據該車輛鑰匙的位置控制該車鎖的開關；和至少3個從節點模組，分別安裝在該車輛四周，且分別與該主節點模組通信連接，每個該從節點模組包括從藍牙單元和第一超寬頻單元，該從節點模組用於無線連接該車輛鑰匙並確定該車輛鑰匙的位置；其中，該主節點模組被配置為通過該主藍牙單元檢測該車輛與該車輛鑰匙之間的距離，當該距離小於預定值時向每個該從節點模組發送測距控制信號以控制每個該從節點模組啟動測距，每個該從藍牙單元啟動測距後將藍牙廣播信號的強度信息發送至該主節點模組，該主節點模組根據該強度信息選擇向信號強度較強的至少2個該從藍牙單元對應的該從節點模組發送第二測距控制信號；每個該從節點模組被配置為響應於接收到該測距控制信號開啟從藍牙單元，用於檢測該車輛鑰匙的該藍牙廣播信號，並將該藍牙廣播信號的強度信息發送至該主節點模組；該至少2個該從藍牙單元對應的該從節點模組被配置為響應於接收到該第二測距控制信號開啟該第一超寬頻單元，用於測量該車輛鑰匙與該從節點模組的距離信息，並將該距離信息發送至該主節點模組；該主節點模組還被配置為根據該距離信息，確定該車輛鑰匙的位置信息，根據該位置信息控制該車鎖。 A vehicle entry system includes: A master node module, installed on the vehicle, and connected to the vehicle lock of the vehicle. The master node module includes a master Bluetooth unit, which is used to wirelessly connect to the vehicle key and control the switch of the vehicle lock according to the position of the vehicle key; and At least three slave node modules, which are installed around the vehicle and connected to the master node module, respectively, and each of the slave node modules includes a slave Bluetooth unit and a first ultra-wideband unit. The slave node module is used to wirelessly connect to the vehicle key and determine the position of the vehicle key; wherein, The master node module is configured to detect the distance between the vehicle and the vehicle key through the master Bluetooth unit, and when the distance is less than a predetermined value, send a ranging control signal to each slave node module to control each slave node module to start ranging. After each slave Bluetooth unit starts ranging, it sends the strength information of the Bluetooth broadcast signal to the master node module. The master node module selects to send a second ranging control signal to the slave node module corresponding to at least two slave Bluetooth units with stronger signal strength according to the strength information; Each slave node module is configured to turn on the slave Bluetooth unit in response to receiving the ranging control signal, for detecting the Bluetooth broadcast signal of the vehicle key, and sending the strength information of the Bluetooth broadcast signal to the master node module; The slave node modules corresponding to the at least two slave Bluetooth units are configured to turn on the first ultra-wideband unit in response to receiving the second ranging control signal, for measuring the distance information between the vehicle key and the slave node module, and sending the distance information to the master node module; The master node module is also configured to determine the location information of the vehicle key according to the distance information, and control the vehicle lock according to the location information.

如請求項1所述之車輛進入系統，其中該第一超寬頻單元被配置為向該車輛鑰匙發出電磁波信號，並通過接收該車輛鑰匙返回的信號的時間，以飛行時間的方法計算出該車輛鑰匙與對應的該從節點模組之間的距離。A vehicle entry system as described in claim 1, wherein the first ultra-wideband unit is configured to send an electromagnetic wave signal to the vehicle key, and calculate the distance between the vehicle key and the corresponding slave node module by the flight time method through the time of receiving the signal returned by the vehicle key.

如請求項1或2所述之車輛進入系統，其中該主節點模組被配置為根據開啟的至少2個該第一超寬頻單元獲取該車輛鑰匙的位置信息，當該車輛鑰匙進入第一預定位置區域時向該車鎖發送開鎖信號，當該車輛鑰匙離開第二預定位置區域時向該車鎖發送關鎖信號，該第二預定位置區域距離該車輛的半徑大於該第一預定位置區域距離該車輛的半徑。A vehicle entry system as described in claim 1 or 2, wherein the master node module is configured to obtain the location information of the vehicle key based on at least two of the first ultra-wideband units that are turned on, send an unlock signal to the vehicle lock when the vehicle key enters a first predetermined location area, and send a lock signal to the vehicle lock when the vehicle key leaves a second predetermined location area, and the radius of the second predetermined location area from the vehicle is greater than the radius of the first predetermined location area from the vehicle.

如請求項1所述之車輛進入系統，其中該主節點模組還被配置為根據該至少2個該從藍牙單元對應的該從節點模組發送的該距離信息得到至多兩個定位點，並根據每個該藍牙廣播信號的該強度信息確定該車輛鑰匙的方位，且根據該方位確定該至多兩個定位點的其中一個為該車輛鑰匙的位置。A vehicle entry system as described in claim 1, wherein the master node module is further configured to obtain at most two positioning points based on the distance information sent by the slave node modules corresponding to the at least two slave Bluetooth units, and to determine the position of the vehicle key based on the strength information of each of the Bluetooth broadcast signals, and to determine one of the at most two positioning points as the position of the vehicle key based on the position.

如請求項1所述之車輛進入系統，其中該主節點模組還包括：第二超寬頻單元，用於與該第一超寬頻單元共同對該車輛鑰匙進行定位；該主節點模組被配置為當該車輛鑰匙進入第二預定位置區域時向該從節點模組發送第三測距控制信號以控制全部該從節點模組啟動測距，並啟動該第二超寬頻單元進行測距。 The vehicle entry system as described in claim 1, wherein the master node module further comprises: A second ultra-wideband unit, used to locate the vehicle key together with the first ultra-wideband unit; The master node module is configured to send a third ranging control signal to the slave node module to control all the slave node modules to start ranging when the vehicle key enters the second predetermined location area, and start the second ultra-wideband unit to perform ranging.

如請求項5所述之車輛進入系統，其中該主節點模組還包括：總線控制單元，用於根據該車輛鑰匙所在位置向該從節點模組和該車鎖發送控制信號；和介面單元，該從節點模組通過該介面單元與該主節點模組連接。 The vehicle entry system as described in claim 5, wherein the master node module further comprises: a bus control unit for sending a control signal to the slave node module and the vehicle lock according to the location of the vehicle key; and an interface unit, through which the slave node module is connected to the master node module.

如請求項1所述之車輛進入系統，其中該車輛進入系統包括5個從節點模組，分別設置在該車輛四周和頂部位置。A vehicle entry system as described in claim 1, wherein the vehicle entry system includes 5 slave node modules, which are respectively arranged around and on the top of the vehicle.

一種車輛進入方法，包括：主節點模組上的主藍牙單元向車輛鑰匙發送藍牙連接請求；該主藍牙單元與該車輛鑰匙藍牙連接成功後，檢測車輛與車輛鑰匙之間的距離；響應於該距離小於預定值，向每個從節點模組發送測距控制信號以控制每個該從節點模組啟動測距；每個該從節點模組響應於接收到該測距控制信號，通過從藍牙單元檢測該車輛鑰匙的藍牙廣播信號，並將該藍牙廣播信號的強度信息發送至該主節點模組；該主節點模組根據該強度信息選擇向信號強度較強的至少2個該從藍牙單元對應的該從節點模組發送第二測距控制信號；該至少2個該從藍牙單元對應的該從節點模組響應於接收到該第二測距控制信號，通過第一超寬頻單元測量該車輛鑰匙與該從節點模組的距離信息，並將該距離信息發送至該主節點模組；該主節點模組根據該距離信息確定該車輛鑰匙的位置信息；以及根據該位置信息控制車輛車鎖。 A vehicle entry method, comprising: A master Bluetooth unit on a master node module sends a Bluetooth connection request to a vehicle key; After the master Bluetooth unit successfully connects to the vehicle key via Bluetooth, the distance between the vehicle and the vehicle key is detected; In response to the distance being less than a predetermined value, a ranging control signal is sent to each slave node module to control each slave node module to start ranging; In response to receiving the ranging control signal, each slave node module detects the Bluetooth broadcast signal of the vehicle key through the slave Bluetooth unit, and sends the strength information of the Bluetooth broadcast signal to the master node module; The master node module selects to send a second ranging control signal to the slave node modules corresponding to at least two slave Bluetooth units with stronger signal strength according to the strength information; The slave node modules corresponding to the at least two slave Bluetooth units respond to receiving the second ranging control signal, measure the distance information between the vehicle key and the slave node module through the first ultra-wideband unit, and send the distance information to the master node module; The master node module determines the location information of the vehicle key according to the distance information; and Control the vehicle lock according to the location information.

如請求項8所述之車輛進入方法，其中該通過第一超寬頻單元測量該車輛鑰匙與該從節點模組的距離信息包括：該第一超寬頻單元向該車輛鑰匙發出電磁波信號；以及通過接收該車輛鑰匙返回的信號的時間，以飛行時間的方法計算出該車輛鑰匙與對應的該從節點模組之間的距離。 The vehicle entry method as described in claim 8, wherein the distance information between the vehicle key and the slave node module is measured by the first ultra-wideband unit, including: The first ultra-wideband unit sends an electromagnetic wave signal to the vehicle key; and By receiving the time of the signal returned by the vehicle key, the distance between the vehicle key and the corresponding slave node module is calculated by the flight time method.

如請求項8或9所述之車輛進入方法，其中該根據該位置信息控制車輛車鎖包括：響應於該車輛鑰匙進入第一預定位置區域，向該車鎖發送開鎖信號；以及響應於該車輛鑰匙離開第二預定位置區域，向該車鎖發送關鎖信號。 A vehicle entry method as described in claim 8 or 9, wherein the controlling of the vehicle lock according to the position information comprises: In response to the vehicle key entering a first predetermined position area, sending an unlock signal to the vehicle lock; and In response to the vehicle key leaving a second predetermined position area, sending a lock signal to the vehicle lock.

如請求項8所述之車輛進入方法，其中，該主節點模組根據該距離信息確定該車輛鑰匙的位置信息包括：該主節點模組根據該至少2個該從藍牙單元對應的該從節點模組發送的該距離信息得到至多兩個定位點；根據每個該藍牙廣播信號的該強度信息確定該車輛鑰匙的方位；以及根據該方位確定該至多兩個定位點的其中一個為該車輛鑰匙的位置。 The vehicle entry method as described in claim 8, wherein the master node module determines the location information of the vehicle key according to the distance information, including: The master node module obtains at most two positioning points according to the distance information sent by the slave node modules corresponding to the at least two slave Bluetooth units; Determine the orientation of the vehicle key according to the strength information of each Bluetooth broadcast signal; and Determine one of the at most two positioning points as the location of the vehicle key according to the orientation.

如請求項8所述之車輛進入方法，其中，該根據該位置信息控制車輛車鎖包括：響應於該車輛鑰匙進入第二預定位置區域，向該從節點模組發送第三測距控制信號以控制全部該從節點模組啟動測距，並啟動第二超寬頻單元進行測距；該從節點模組響應於接收到該第三測距控制信號，通過第一超寬頻單元測量得到距離信息，並將該距離信息發送至該主節點模組，該第二超寬頻單元測量得到第二距離信息；該主節點模組根據該距離信息和該第二距離信息共同確定該車輛鑰匙的精確位置信息；以及根據該精確位置信息控制車輛車鎖。 The vehicle entry method as described in claim 8, wherein the control of the vehicle lock according to the position information includes: In response to the vehicle key entering the second predetermined position area, a third ranging control signal is sent to the slave node module to control all the slave node modules to start ranging, and the second ultra-wideband unit is started to perform ranging; In response to receiving the third ranging control signal, the slave node module measures the distance information through the first ultra-wideband unit, and sends the distance information to the master node module, and the second ultra-wideband unit measures the second distance information; The master node module jointly determines the precise position information of the vehicle key according to the distance information and the second distance information; and The vehicle locks are controlled based on the precise position information.

如請求項10所述之車輛進入方法，其中，該第一預定位置區域包括多個子區域；該響應於該車輛鑰匙進入第一預定位置區域，向該車鎖發送開鎖信號包括：響應於該車輛鑰匙進入該子區域，向該子區域對應位置的該車鎖發送開鎖信號。 The vehicle entry method as described in claim 10, wherein the first predetermined position area includes a plurality of sub-areas; In response to the vehicle key entering the first predetermined position area, sending an unlock signal to the vehicle lock includes: In response to the vehicle key entering the sub-area, sending an unlock signal to the vehicle lock at a position corresponding to the sub-area.