CN102602363A - Method and device for vehicle passive keyless entering, starting and locking based on ultra-wide band - Google Patents

Method and device for vehicle passive keyless entering, starting and locking based on ultra-wide band Download PDF

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Publication number
CN102602363A
CN102602363A CN2012100856605A CN201210085660A CN102602363A CN 102602363 A CN102602363 A CN 102602363A CN 2012100856605 A CN2012100856605 A CN 2012100856605A CN 201210085660 A CN201210085660 A CN 201210085660A CN 102602363 A CN102602363 A CN 102602363A
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key
car
signal
uwb
master controller
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韦岗
余业林
曹燕
钟劲杉
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a method and a device for vehicle passive keyless entering, starting and locking based on ultra-wide band. The device comprises a vehicular key, a master controller, a door lock sensor, a starting/stopping button, a seat sensor and a vehicular body antenna array, wherein the door lock sensor, the starting/stopping button, the seat sensor and the vehicular body antenna array are all connected with the master controller through a vehicular body circuit. The method includes: using UWB (ultra-wide band) signals to precisely position the vehicular key, detecting the position of the vehicular key and the position information of personnel in the vehicle according to each trigger action of a driver, and using a joint judgment method to control operation of a vehicular door lock, a starting system and an alarming system. In addition, the vehicular key is capable of recording and storing information interested by the driver and vehicular dynamic information. Using the method and the device can better avoid accidents caused by misjudgment of the master controller or misoperation of personnel.

Description

Vehicle based on ultra broadband does not have key entering, startup and blocking method and device
Technical field
The present invention relates to automotive safety and theft-proof electron technology and wireless communication technology, (Ultra Wide-Band, UWB) vehicle of location does not have key entering and startup method and device specifically to be based on ultra broadband.
Background technology
Along with popularizing of automobile, people have higher requirement to automotive safety and convenience.High-reliability antitheft, intelligence entering, no key startup, high integration, real-time Communication for Power etc. are vehicle intellectualized Development Trend.
Initial automobile burglar is just accomplished through simple mechanical lock, and this lock very easily is destroyed, and safety is low.1994 grace intelligence Pu quartz conductor (Philips Semiconductors at that time) first RF identification (Radio Frequency Identification; RFID) technological successful Application is locked at the vehicle electronics engine; This technology is the one-way radio realization key based identity identification through the 433MHz between vehicle remote control key and the vehicle body, judges whether Door Lock and electronic engine lock are carried out release.Even the robber connects start-up circuit after opening car door, also because of there not being authentication can't start engine.The method of this engine electronic anti-theft promotes the theftproof performance of automobile greatly, makes it to popularize in Europe and North America soon, and in short several years, greatly reduces the vehicle thefts rate in Europe, therefore becomes the standard configuration of European car very soon.
Though remote-control key has improved the theftproof performance of automobile, its confidentiality is relatively poor, easily by artificial interference, crack and duplicate, restricted its development.Subsequently, (Passive Keyless Enter, the shortcoming of remote-control key confidentiality difference has been repaired in appearance PKE) to keyless access system.Keyless access system has thoroughly changed the development prospect in automotive safety and theft-prevention applications field as the core technology of young mobile safety with antitheft smart electronics system, has brought brand new comfortable and convenient experience to the user.Chaufeur leaves the whole process of vehicle and all need not to use key from entering into, and only needs key carried to get final product.High-precision wireless location technology is the prerequisite that realizes that no key gets into, so accuracy of positioning also becomes the most important technical index of automobile keyless access system.
Present keyless access system can be accomplished key induction basically, and the key legitimacy detects, and need not to operate automatic unlocking car door under the situation of key.Current, be used to keyless access system and realize that the mainstream technology of car key location is based on reception low frequency (125KHz) signal strength detection and realizes the location.According to receiving signal strength indication (Received Signal Strength Indicator; RSSI); The relative distance of promptly coming low-frequency antenna in keys calculated and the car according to the degree of damping that receives low frequency signal; Through many low-frequency antennas intersection coverages, the locus of the relative vehicle body of normal key.But, find that there is following shortcoming in above-mentioned keyless access system based on RSSI through the market research analysis:
(1) accuracy of positioning is not high.This method relies on the path loss model that signal is propagated, and this model receives influence that communication environment changes greatly in practice.When running into two cars and be close to extraordinary circumstances such as car door at a distance of too near or car key, because automobile itself is electromagnetic strong scattering body, can cause the path loss model distortion, make keyless access system erroneous judgement occur.For example, the disabler of locking a door when excessive chaufeur leaves vehicle appears in benz E280 type car, and instrument shows the fault of " key is in car ".Chev CRUZE type car also exists when with other vehicle when too near, the phenomenon of the failure of the door of can't driving.The existing mainstream car design of analysis at 5-10cm, is the main cause that causes above-mentioned fault based on the keyless access system accuracy of positioning of RSSI range finding according to statistics.
(2) low frequency signal of extremely narrow frequency is subject to artificial interference and cracks, and makes the theftproof performance of keyless access system compare the lifting that does not have essence with remote-control key.Crime of illegal selling or presenting cultural relics of private collection on the net such as various " automobile interference units ", " signal intercept device " is arranged now, and the lawless person utilizes these equipment to disturb car door to lock, and steals important item in automobile or the car.In addition, disturbing also mutually between the same serial vehicle keyless access system happens occasionally.
(3) chaufeur need be carried car key separately, and convenience is still waiting further raising.
(4) based on single decision method, when running into, might cause accident such as extraordinary circumstances such as passenger's maloperations to key position.
(5) function singleness, car key do not have other any expanded function except that being used for the switch car door.
The UWB signal is a kind of carrier free base band impulse signal.At first, the impulse signal of this nanosecond has very high time resolution.Time length as when impulse signal is made as τ=0.5ns, then according to range resolution equation Δ r c=(c/2) τ is with c=3 * 10 8The m/s substitution then can obtain Δ r c=0.75cm.This shows that the UWB signal can be realized the location of Centimeter Level; Secondly; The UWB signal in extremely wide frequency band range, be equivalent to white noise for other communication system, and power spectrum density is lower than the nature electronic noise to limited signal energy disperse; Possibly be detected hardly, so it is very good to be used for Vehicular intelligent key confidentiality; Once more, the UWB signal adopts base band pulse intermittently, and very low dutycycle is arranged, and system's power consumption can be accomplished very low, if be used for the Vehicular intelligent key, can several years in addition the more than ten years need not change battery.
Summary of the invention
The object of the invention is to overcome the not high defective of keyless access system accuracy of positioning based on the RSSI technology; Proposition does not have key entering, startup and blocking method and device based on the vehicle of ultra broadband; Adopt the UWB signal that car key is accurately located: the UWB signal amplitude of promptly sending through the measuring vehicle key is mapped to the time of advent of a plurality of vehicle body antennas poor (Time Difference Of Arrival TDOA), comes the locus of the relative vehicle of keys calculated.Propose simultaneously based on UWB conformal antenna technology, car key is designed to the backboard shape of the mobile phone that chaufeur carries, replace the mobile phone backboard, realize the integrated of car key and mobile phone with car key.And each trigger action (open the door, close the door, start, open baggage container, close baggage container) that is directed against chaufeur detects vehicle key position and occupant's location information simultaneously; Adopt the method for cascading judgement, control Door Lock, start-up system and warning work.In addition the function of car key is expanded, made it write down chaufeur information of interest such as each engine start and standing time, cooresponding each travelled distance, each amount of fuel and average fuel consumption; Store information maintenance period of vehicle simultaneously, and according to total mileage and overall travel time prompting chaufeur vehicle is maintained etc.The present invention realizes through following technical scheme.
Vehicle based on ultra broadband does not have key entering, startup and closing appliance; Comprise car key, master controller, door lock sensor, startup/stop button, seat sensor and vehicle body aerial system, door lock sensor, startup/stop button, seat sensor and vehicle body aerial system all are connected with master controller through the vehicle body circuit; Said vehicle body aerial system is used for communicating with said car key; Antenna amount is greater than 3 in the said vehicle body aerial system; Wherein 1 is main antenna; Other is an auxiliary antenna, and main antenna is used for UWB crypto identity authentication signal and the vehicle dynamic information signal that the radiation master controller produces, and main antenna all receives the UWB positioning signal that car key is sent with all auxiliary antennas; Said car key is mainly used in the UWB crypto identity authentication signal that receives the primary controller generation and carries out authentication and send the UWB positioning signal; Said master controller is mainly used in and produces UWB crypto identity authentication signal and receive the UWB positioning signal that car key is sent, and car key is positioned, and also is used for the work of door lock for vehicle that control vehicle self has, engine electronic lock, annunciator; Said door lock sensor is mainly used in opening-closing door, the action of ON/OFF baggage container that the induction chaufeur triggers, and the generation energizing signal reaches master controller; Said startup/stop button is used to respond to the startup engine action of chaufeur and produces energizing signal and reaches master controller; Whether seat sensor is used to respond to this seat has the people.
There is not the technical scheme that key entering, startup and closing appliance are further optimized as above-mentioned vehicle based on ultra broadband; Said car key comprises minicell, active crystal oscillator, key end microprocessor, key end UWB signal transmitting and receiving unit and UWB conformal antenna; Wherein, minicell is connected with key end microprocessor, active crystal oscillator, key end UWB signal transmitting and receiving unit; Active crystal oscillator is connected with minicell, key end microprocessor, key end UWB signal transmitting and receiving unit respectively, is used to produce a clock pulse; The key end microprocessor also is connected with key end UWB signal transmitting and receiving unit; Be used for the digital encryption authentication signal that receives is decoded; And compare authentication with the identity information of having preserved; After authentication is passed through, send car key numeral positioning signal and drive key end UWB signal transmitting and receiving unit generation UWB positioning signal; Key end UWB signal transmitting and receiving unit is used for producing corresponding UWB positioning signal by the digital positioning signal that the key end microprocessor transmits; And obtain digital encryption authentication signal after the UWB crypto identity authentication signal that receives handled and pass to the key end microprocessor, also receive the vehicle dynamic information signal in addition and pass to the key end microprocessor; The UWB conformal antenna receives the UWB crypto identity authentication signal that the vehicle body antenna sends, and the UWB positioning signal that key end UWB signal transmitting and receiving unit is transmitted radiate.
Do not have the further technical scheme key of optimizing of key entering, startup and closing appliance as above-mentioned vehicle and also comprise the detouchable storage card based on ultra broadband; Storage card is connected with the key end microprocessor; Storage card is used for receiving and preserves vehicle dynamic information, and said vehicle dynamic information comprises each engine start and standing time, cooresponding each travelled distance, each amount of fuel and information maintenance period of average fuel consumption and vehicle.
Do not have the further technical scheme of optimizing of key entering, startup and closing appliance as above-mentioned vehicle and also comprise display interface device based on ultra broadband; Display interface device one end is connected with primary controller; The other end is connected with Vehicular display device, is used to export the mode of operation of seat sensor, door lock sensor, Door Lock, engine electronic lock, annunciator and master controller.
Do not have the further said main antenna of optimizing of technical scheme of key entering, startup and closing appliance as above-mentioned vehicle based on ultra broadband and be arranged in the inner console of car position, auxiliary antenna is arranged in car door and boot door place.
Do not have the backboard shape that the further said car key of optimizing of technical scheme of key entering, startup and closing appliance is shaped as mobile phone as above-mentioned vehicle based on ultra broadband, door lock sensor and Door Handle are integral structure.
Vehicle based on ultra broadband of the present invention does not have key entry method, comprises the steps:
(1) after door lock sensor is sensed the action of opening the door of chaufeur, produces a release energizing signal and deliver to master controller;
(2) master controller produces the digital identification authentication signal after receiving the release energizing signal; Control in-to-in UWB signal transmitting and receiving unit produces UWB crypto identity authentication signal and radiate through main antenna, controls seat sensor occupant location information simultaneously;
(3) in the time of in car key is in the setting communication range, receive UWB crypto identity authentication signal and decoding, with the identity information contrast of having preserved, carry out identification then;
(4) after identification was passed through, car key was sent the UWB positioning signal;
(5) main antenna of vehicle body receives the UWB positioning signal that car key is sent in the different moment respectively with auxiliary antenna, and the UWB positioning signal that difference receives is constantly passed to master controller;
(6) master controller adopts the spatial coordinates of calculating car key based on the method for signal arrival time difference according to the above-mentioned different UWB positioning signals that constantly receive;
(7) master controller judges according to the detection information of seat sensor whether the people is arranged in the car simultaneously, if there is the people need judge that also the occupant is positioned at operator seat or non-operator seat according to the locus of the relative vehicle body of above-mentioned coordinate judgement car key;
(8) when master controller judges that car key and personnel are in legal security situation and are abnormal condition, send the release of unlock command control Door Lock, chaufeur can be opened car door and get into.
Vehicle based on ultra broadband of the present invention does not have key startup method, it is characterized in that comprising the steps:
A. engine is in closed condition; Chaufeur is pressed startup/stop button; Startup/stop button is sensed the startup trigger action of chaufeur, and produce to start energizing signal and reach master controller, and master controller sends the digital identification authentication signal after receiving and starting energizing signal; Control in-to-in UWB signal transmitting and receiving unit produces UWB crypto identity authentication signal, and radiate through the main antenna of console position; Master controller sends seat and detects instruction simultaneously, and whether people and people's position is arranged in the control seat sensor car;
B. car key is decoded the UWB crypto identity authentication signal that receives, and contrasts with the identity information of preserving, and carries out identification; If car key is legal key, then discern through and send the UWB positioning signal; If car key is illegal key, then can't decodes and discern the crypto identity authentication signal;
C. master controller is according to the UWB positioning signal judgement key of vehicle body antenna reception and the relative tertiary location of vehicle body, and master controller judges according to the signal that seat sensor detects whether main steering position has the people simultaneously; Judging key when master controller does not have key at Che Nei outside the car, and detects main operator seat simultaneously the people is arranged, then send enabled instruction and drive the release of electronic engine lock, energized and car; Simultaneously master controller is noted and is converted into the main antenna of corresponding UWB signal through the console position with the moment of this engine start and radiate, and is stored into the storage card in the car key after car key receives.
Vehicle based on ultra broadband of the present invention does not have the key blocking method, it is characterized in that comprising the steps:
1) chaufeur is closed the closed door of getting off behind the engine, and the blocking wedge prompting car door that touches on the grip handle is locked; The action that door lock sensor in the grip handle is sensed chaufeur; Produce the locking energizing signal and pass to master controller; Master controller sends the digital identification authentication signal after receiving the locking energizing signal; Control in-to-in UWB signal transmitting and receiving unit produces UWB crypto identity authentication signal, and radiate through the main antenna of console position; Master controller sends seat and detects instruction simultaneously, and whether people and people's position is arranged in the control seat sensor car;
2) car key is decoded the UWB crypto identity authentication signal that receives, and contrasts with the identity information of preserving, and carries out identification; If car key is legal key, then discern through and send the UWB positioning signal; If car key is illegal key, then can't decodes and discern the crypto identity authentication signal;
3) master controller is according to the UWB positioning signal judgement key of vehicle body antenna reception and the relative tertiary location of vehicle body, and master controller received block level sensor signal judges whether any position has the people in the car simultaneously; When master controller is judged key car outside and do not have key in the car, and it is unmanned to detect in the car any seat simultaneously, sends blocking order then and drives that electronic engine is locked and Door Lock is locked; Simultaneously master controller vehicle dynamic information translation that this engine is stopped moment, this travelled distance, this amount of fuel and average fuel consumption is corresponding UWB signal through the console position main antenna radiate, and is stored into the interior storage card of car key after car key receives.
The above-mentioned vehicle based on ultra broadband does not have in key entering, startup and the blocking method; Also comprise alarm procedure: when abnormal condition appear in any one among both of member or key in master controller detects car, judge that corresponding trigger action is invalid and send alarm command immediately to start and report to the police; The corresponding trigger action with it of said abnormal condition comprises: unmanned but key is arranged in the car in the car, the outer personnel of car do the trigger action of the door of driving; Main operator seat is unmanned but there is the people other position in the car, does not all have key inside and outside the car, and Che Neifei master's operator's saddle personnel do the trigger action of pressing start button; Main operator seat is unmanned but there is the people other position in the car, and car does not have key outward but key is arranged in the car, and Che Neifei master's operator's saddle personnel do the trigger action of pressing start button; Main operator seat has the people, but does not all have key inside and outside the car, and main operator's saddle personnel do the trigger action of pressing start button in the car; Main operator seat has the people, no key in the car and car has key outward, and main operator's saddle personnel do the trigger action of pressing start button in the car; Main operator seat has the people, and also there is the people other position, but does not all have key inside and outside the car, and the occupant does the trigger action of pressing start button; Main operator seat has the people, and also there is the people other position, and car has key outward and the interior no key of car, and the occupant does the trigger action of pressing start button.
Equipment such as the existing annunciator of vehicle, door-lock motor, engine electronic lock are connected with master controller through the vehicle body circuit among the present invention, and through receiving the driving command participation work of master controller.
The function of car key can be expanded among the present invention; Except that receiving UWB crypto identity authentication signal and carrying out authentication and send the UWB positioning signal; Also can receive and preserve information maintenance period of chaufeur information of interest such as each engine start and standing time, cooresponding each travelled distance, each amount of fuel and average fuel consumption and vehicle, these information are referred to as vehicle dynamic information.
Compared with prior art, the present invention has the following advantages:
(1) the UWB impulse signal of the nanosecond that adopts of the present invention has very high range resolution, can reach 2cm based on the method for inspection precision of signal arrival time difference (TDOA), though two cars near or key be close to car door, also be not easy to occur erroneous judgement.
(2) the non-constant width of UWB impulse signal bandwidth, the frequency spectrum of inactivity peak value makes its statistical property near Gaussian white noise, based on the artificial interference of frequency domain, crack or duplicate hardly and possibly realize good confidentiality.
(3) employing is integrated into key on the mobile phone of chaufeur based on the method for UWB conformal antenna, and chaufeur need not to carry in addition key, and convenience is greatly improved.
(4) employing is avoided the generation such as unforeseen circumstancess such as occupant's maloperations better based on the cascading judgement method of car key position and occupant's location information.
(5) expand the function of car key, but the vehicle dynamic information that chaufeur existing vehicular meters interested such as each VMT Vehicle-Miles of Travel, amount of fuel, average fuel consumption can't show is again preserved, supplied the chaufeur reference.
Description of drawings
Fig. 1 realizes that vehicle does not have the structured flowchart of the body portion of key entering, startup and locking
Fig. 2 realizes that vehicle does not have the car key inner structure block diagram of key entering, startup and locking
Fig. 3 is car key and the inner UWB signal transmitting and receiving of master controller unit inner structure block diagram
Fig. 4 is car key and the conformal instance of mobile phone backboard
Fig. 5 realizes that vehicle does not have each arrangements of cells scheme drawing of key entering, startup and locking
Fig. 6 realizes that vehicle does not have the overall work diagram of circuit of key entering, startup and locking
The specific embodiment
Be described further below in conjunction with the accompanying drawing specific embodiments of the invention.
As shown in Figure 1, be the overall structure block diagram that the present invention realizes not having the body portion of key entering, startup and locking.Form by four parts: the one, master controller comprises main control MCU, clock and main control end UWB signal transmitting and receiving unit.Wherein, The energizing signal of the main door lock sensor of main control MCU, startup/stop button, seat sensor input and the digital positioning signal of main control end UWB signal transmitting and receiving unit input are handled; And send each external device work such as driving command control door-lock motor, electronic engine lock, annunciator, also produce or write down engine start/stop constantly, vehicle multidate informations such as travelled distance, oil consumption at every turn in addition; Clock mainly is responsible for producing the reference square wave signal of nanosecond; Main control end UWB signal transmitting and receiving unit mainly be responsible for to produce UWB crypto identity authentication signal and the UWB positioning signal that the vehicle body antenna transmits is handled and obtains digital positioning signal and reach main control MCU.The 2nd, each sensor comprises seat sensor, door lock sensor, startup/stop button, has or not personnel and position thereof in the main inspection vehicle of seat sensor; Door lock sensor and startup/stop button mainly are responsible for induction chaufeur trigger action and are produced corresponding energizing signal input master controller.The 3rd, each actuating unit comprises annunciator, door-lock motor and electronic engine lock, mainly carries out the output command of master controller.The 4th, other external device comprises vehicle body antenna, power supply, display interface device etc.Power supply only is responsible for the master controller power supply, and all the other equipment are by vehicle-mounted 12v storage battery power supply.Display interface device is connected with Vehicular display device, shows that whole no key gets into and the state of starter gear.
Said master controller, door lock sensor, startup/stop button, seat sensor, display interface device and vehicle body aerial system etc. are arranged in vehicle body.Door lock sensor (with the Door Handle one), startup/stop button, seat sensor, display interface device all are connected with master controller through the vehicle body circuit with the vehicle body aerial system.Wherein the composition of master controller comprises microprocessor (main control MCU), clock and UWB signal transmitting and receiving unit (main control end UWB signal transmitting and receiving unit), and this three connects mutually in twos.The function of master controller comprises and produces UWB crypto identity authentication signal and receive the UWB positioning signal, and external device work such as powered vehicle door lock, engine electronic lock, warning.Wherein, The energizing signal of the main door lock sensor of main control MCU, startup/stop button, seat sensor input and the digital positioning signal of main control end UWB signal transmitting and receiving unit input are handled; Calculate the locus of car key, and send each external device work such as driving command control door-lock motor, electronic engine lock, annunciator; Clock is responsible for producing the pulse repetition frequency (reference square wave signal) of nanosecond; Main control end UWB signal transmitting and receiving unit mainly be responsible for to produce UWB crypto identity authentication signal and the UWB positioning signal that the vehicle body antenna transmits is handled and obtains digital positioning signal; And pass to main control MCU car key is accurately located: establish n altogether on vehicle body antenna; Because the space length of n vehicle body antenna and car key does not wait; So send the UWB positioning signal for car key, n vehicle body antenna write down n specific due in.And per two due ins can be confirmed a time of advent poor (TDOA), and like this, n due in can be confirmed n (n-1)/2 TDOA altogether.Again because each TDOA confirms a Space Double curved surface; 3 Space Double curved surfaces cross each other and just can confirm a spatial coordinates point (car key position) in theory; So, as long as, just can very accurately find the solution to the car key position according to this n (n-1)/2 TDOA when n＞3.Door lock sensor mainly is to respond to the action (opening-closing door, ON/OFF baggage container) of chaufeur triggering and produce energizing signal to reach master controller.Startup/stop button mainly is that the action of startup engine and the generation energizing signal of induction chaufeur reaches master controller (in fact, close the trigger action that engine also is a chaufeur, but locate because of need not to relate to car key, so do not do consideration at this).Seat sensor is arranged in the below of each seat in the car, and whether be used to respond to this seat has the people.Display interface device is connected through data line with Vehicular display device, the state of equipment such as output transducer, Door Lock, engine electronic lock, annunciator and master controller.Vehicle body antenna total quantity is greater than 3; Wherein 1 is main antenna; Be arranged in inner console position, other is an auxiliary antenna, is arranged near car door and the boot door; UWB crypto identity authentication signal that master controller produces and engine start constantly, stop vehicle multidate information signal such as moment and radiate through main antenna, and all main antennas and auxiliary antenna all receive car key and send the UWB positioning signal.
As shown in Figure 2, be the inner structure block diagram of car key, comprise minicell, key end microprocessor, active crystal oscillator, key end UWB signal transmitting and receiving unit, conformal antenna and microSD card.Minicell is mainly accomplished power supply; The key end microprocessor is mainly decoded to digital crypto identity authentication signal and is sent digital positioning signal with authentication and to key end UWB signal transmitting and receiving unit; The digital positioning signal that key end UWB signal transmitting and receiving unit mainly transmits according to the key end microprocessor produces corresponding UWB positioning signal, and the UWB crypto identity authentication signal that vehicle body transmits handled obtains digital encryption authentication signal; The UWB conformal antenna mainly receives UWB crypto identity authentication signal and the UWB positioning signal is radiate, and also receives other vehicle dynamic information signal in addition and reaches the key end microprocessor; The microSD card is preserved information maintenance period of interested vehicle dynamic information of chaufeur such as each engine start and standing time, cooresponding each travelled distance, each amount of fuel and average fuel consumption and vehicle.Reached the regulation numerical value of maintenance period when the total mileage of vehicle or the time of driving always, the key end microprocessor sends information and passes to the vehicle body telltale, so that chaufeur in time maintains vehicle.
As shown in Figure 3, be the inner structure block diagram of the embodiment in UWB signal transmitting and receiving unit.The composition of UWB signal transmitting and receiving unit comprises impulse deviser, pulse positon modulator, power amplifier, low noise amplifier, radio frequency filter, multiplier, low-pass filter, sampling/detector.The production process of UWB signal is: impulse deviser receives the outside reference square-wave signal and produces basic UWB signal; Basic UWB signal is transfused to pulse positon modulator, and pulse positon modulator carries out producing the modulating uwb signal after the pulse position modulation to basic UWB signal according to the supplied with digital signal of MCU simultaneously; The modulating uwb signal is transfused to power amplifier and amplifies after the UWB aerial radiation is gone out.The receiving course of UWB signal is: signal is received by the UWB antenna, is transfused to low noise amplifier, radio frequency filter and multiplier then successively.The basic UWB signal of simultaneous processing received pulse producer input, with importing low-pass filter behind two signal multiplications, filtered signal is transfused to that sampling/detector is sampled and detection, obtains accessible digital signal and inputs to MCU.
Shown in Fig. 4 a-Fig. 4 c, be a conformal embodiment of car key according to the invention and mobile phone backboard.Fig. 4 a is the planar view in the car key outside, 402 forms a complete UWB antenna jointly by radiation patch 401 accordingly with one.Its concrete shape is: radiation patch 401 leaves a rectangle at interval by the semicircle centre that symmetrical two quadrntnt shapes are formed.Ground 402 shape is and radiation patch 401 laterally zygomorphic semicircles add and extend between the radiation patch 401 rectangle at interval.Form the groove of a gradual change between the semicircle radiation patch 401 of ground 402 and its symmetry, the minimum width gap of gradual change groove realizes the impedance of UWB antenna and the conversion of air characteristics impedance greater than 0.1mm, guarantees that the UWB antenna satisfies the masking spectrum standard of FCC.Add one section rectangle between two quadrntnts to increase current path, expand the low frequency bandwidth of UWB antenna.Fig. 4 b is the inboard planar view of car key, and minicell 403, active crystal oscillator 404, key end microprocessor 405, key end UWB signal transmitting and receiving unit 406 and microSD card 407 embed substrate 408 inside.Fig. 4 c is the elevation drawing of car key, and substrate 408 adopts thickness to be no more than the common FR4 substrate of 1mm.Like this, the car key length L is 20mm, and width W is 20mm, and thickness T is 1mm, can realize conformal with most mobile phone backboards.
As shown in Figure 5, be that the present invention realizes that vehicle does not have an embodiment scheme drawing of each arrangements of cells of vehicle body of key entering, startup and locking.Door lock sensor 501 (with the Door Handle one), startup/stop button 502, seat sensor 503, display interface device all are connected with master controller 505 through the vehicle body circuit with vehicle body aerial system 504.Wherein master controller is arranged in the bonnet below, and main antenna is arranged in the console position, and all the other 5 antennas are arranged in the position near car door.Totally 5 of door lock sensor are arranged in each Door Handle and the boot door handle.Totally 5 of seat sensors are arranged in the below of five seats in the car, and whether be used to respond to this seat has the people.
The present invention adopts the multiple point distance measurement difference space positioning principle based on signal arrival time difference (Time Difference Of Arrival TDOA).Set to the equal point of 2 range differences constitutes a double curved surface; So can demarcate 4 above antennas (in fact for accurate location at vehicle body; At body layout is 6 antennas), through the method that many curved surfaces cross target (car key) is accurately located.Fundamental equation is following: (z), n aerial position is (x for x, y to establish target (car key) position i, y i, z i) (i=0,1,2,3 ..., n-1), establish one of them and be main antenna, i.e. elements of a fix initial point.By n antenna can write down n signal due in ti (i=0,1,2,3 ..., n-1).Per two due ins are confirmed a time difference, have so just confirmed n (n-1)/2 a time difference τ Jk(j=0,1,2,3 ..., n-1; K=1,2,3 ..., n-1; J＜k).Each time difference can be confirmed a ternary nonlinear equation:
( x j - x ) 2 + ( y j - y ) 2 + ( z j - z ) 2 - ( x k - x ) 2 + ( y k - y ) 2 + ( z k - z ) 2 = cτ jk (formula 1)
(j=0,1,2,3 ..., n-1; K=1,2,3 ..., n-1; J＜k, c are that electromagnetic wave gets propagation speed in air).So in theory three above-mentioned equation set of equations can solve target (car key) position (x, y, z).In the reality, the analytic solution of Nonlinear System of Equations are difficult to obtain.So the present invention adopts two-step method that above-mentioned set of equations is simplified to system of linear equations and finds the solution with the method for iteration, satisfying the situation of precision, improve the speed of finding the solution, reduce hardware cost.Specific as follows:
Step 1: the antenna (x that supposes to receive at first signal 0, y 0, z 0) be known quantity and be made as r that equation is become x, and y, z are about the linear function of r to the distance of target (car key):
( x k - x 0 ) x + ( y k - y 0 ) y + ( z k - z 0 ) z = - cτ 0 k r + 1 2 [ ( x k 2 + y k 2 + z k 2 ) - ( x k 2 + y k 2 + z k 2 ) - c 2 τ 0 k 2 ] (formula 2)
(k=1,2,3 ..., n-1) select 3 antenna coordinate (x in addition arbitrarily 1, y 1, z 1), (x 2, y 2, z 2), (x 3, y 3, z 3) and obtain three target difference time of advent τ 01, τ 02, τ 03, 3 The Representation Equation that obtain are become the form of matrix:
x 1 - x 0 y 1 - y 0 z 1 - z 0 x 2 - x 0 y 2 - y 0 z 2 - z 0 x 3 - x 0 y 3 - y 0 z 3 - z 0 x y z = - cτ 01 r + 1 2 [ ( x 1 2 + y 1 2 + z 1 2 ) - ( x 0 2 + y 0 2 + z 0 2 ) - c 2 τ 01 2 ] - cτ 02 r + 1 2 [ ( x 2 2 + y 2 2 + z 2 2 ) - ( x 0 2 + y 0 2 + z 0 2 ) - c 2 τ 02 2 ] - cτ 03 r + 1 2 [ ( x 3 2 + y 3 2 + z 3 2 ) - ( x 0 2 + y 0 2 + z 0 2 ) - c 2 τ 03 2 ] (formula 3)
Above-mentioned equation is write a Chinese character in simplified form into Ax=B, and the least square solution that can obtain x is: x=(A TA) -1A TB.With the separating of x (be x, y, z separates) substitution at first about the equation (formula 2) of r; Obtain the quadratic equation with one unknown of r, can solve two values of r, according to the time difference; Remove a false value,, can obtain the estimated valve (x of target (car key) coordinate again with the value substitution system of linear equations (formula 3) of r v, y v, z v).
Step 2: adopt the Taylor series method to carry out iterative, improve precision.The actual position of still establishing target (car key) for (x, y, z) k antenna detection to the time difference of relative main antenna (origin of coordinates) be τ k, the true value of time difference is μ k, measured error is e kSuppose that it is 0 that measured error is obeyed expectation, covariance matrix is the Gaussian distribution of R.Then the coordinates of targets equation can be expressed as:
( x k - x ) 2 + ( y k - y ) 2 + ( z k - z ) 2 - ( x 0 - x ) 2 + ( y 0 - y ) 2 + ( z 0 - z ) 2 = cμ k = c ( τ k - e k ) (formula 4)
Above-mentioned The Representation Equation is become (x, y, functional expression f z) k(x, y, z, x k, y k, z k):
f k ( x , y , z , x k , y k , z k ) = ( x k - x ) 2 + ( y k - y ) 2 + ( z k - z ) 2 - ( x 0 - x ) 2 + ( y 0 - y ) 2 + ( z 0 - z ) 2 c = τ k - e k (formula 5)
The concrete steps of Taylor series localization method are following:
A. estimated valve (the x that draws according to the first step v, y v, z v), the expression formula that then can obtain error is: δ x=x-x v, δ y=y-y v, δ z=z-z v
B. with f k(x, y, z, x k, y k, z k) at initial estimated location (x v, y v, z v) use Taylor series expansion, and ignore secondary and high-order term:
f kv ( x v . y v , z v , x k , y k , z k ) + ∂ f k ∂ x | x v , y v , z v δ x + ∂ f k ∂ y | x v , y v , z v δ y + ∂ f k ∂ z | x v , y v , z v δ z ≈ τ k - e k (formula 6)
Wherein (k=1,2...n), and f Kv(x v, y v, z v, x k, y k, z k) be constant term, can move on to the right of equal sign, above-mentioned equation is represented with the form of matrix:
∂ f 1 ∂ x ∂ f 2 ∂ y ∂ f 1 ∂ z ∂ f 2 ∂ x ∂ f 2 ∂ y ∂ f 2 ∂ z M M M ∂ f n ∂ x ∂ f n ∂ y ∂ f n ∂ z δ x δ y δ z ≈ τ 1 - e 1 - f 1 v ( x v , y v , z v , x 1 , y 1 , z 1 ) τ 2 - e 2 - f 2 v ( x v , y v , z v , x 2 , y 2 , z 2 ) M τ n - e n - f nv ( x v , y v , z v , x n , y n , z n ) (formula 7)
Can be abbreviated as: A δ ≈ B.In the present invention, number of antenna n=6＞3, thus above-mentioned matrix equation row full rank, so the least-squares estimation value of δ is: δ=(A TR -1A) -1A TR -1B.
C. select criterion
Figure BDA0000147542730000113
N to represent iterations.Begin to carry out interative computation: x v← x v+ δ xy v-y v+ δ yz v-z v-δ z
D. with criterion ε and given threshold value ε 0Relatively, as ε＞ε 0The time, repeating step b, c are up to ε＜ε 0, then stopping iteration, final objective (car key) position is: x ^ = x v + δ x ; y ^ = y v + δ y ; z ^ = z v + δ z .
As shown in Figure 6, be that the present invention realizes that vehicle does not have the overall work diagram of circuit of key entering, startup and locking; Its groundwork program is: for each trigger action of chaufeur, master controller all will be sent out and go out two instructions earlier, and accepts two signals, then according to logical table shown in the table 1, then three actuating units is controlled.The trigger action of chaufeur can be divided three classes: open the door (comprising each car door or boot door), close the door and start.Two instructions that master controller sends are respectively that control main control end UWB signal transmitting and receiving unit sends in UWB crypto identity authentication signal and the control seat sensor car and has or not personnel and position thereof, and two signals that master controller is accepted are respectively car key location information and occupant's location information.Last primary controller sends corresponding driving instruction control door-lock motor, engine electronic lock and warning work according to these two information according to logical table.Below we just explain to 16 kinds of situation in the diagram of circuit associative list 1 one by one.
Situation 1: unmanned in the car, all there is not key inside and outside the car.This is a kind of common situation, and promptly chaufeur leaves vehicle after locking car, and the output of system is exactly that car door is locked, electronic engine is locked, vehicle is not reported to the police.
Situation 2: unmanned in the car, but key is arranged in the car.This is a kind of illegal situation, and promptly chaufeur or other occupant are retained in key in the car, and the output of keyless systems is that car door can't be locked, electronic engine is locked, car alarming.But chaufeur can artificially be removed warning, deliberately a key is stayed in the car.
Situation 3: unmanned in the car, car has key outward.This is a kind of normal circumstances, i.e. a chaufeur action of normally driving, and the output car door release of keyless systems, electronic engine are locked, vehicle is not reported to the police.
Situation 4: unmanned in the car, key is all arranged inside and outside the car.This is a kind of more rare legal situation, promptly leaves a key in the car originally, and chaufeur is with the other key door of normally driving, and the output car door release of keyless systems, electronic engine are locked, vehicle is not reported to the police.
Situation 5: main operator seat is unmanned in the car, but there is the people other position, does not all have key inside and outside the car.Usually, this is a kind of legal situation, and promptly chaufeur leaves the vehicle working, and the occupant is stayed in the car.But when not having the adult to have only children among the occupant, this is again a kind of situation extremely jeopardously, if vehicle automatically locks, and chaufeur is not returned for a long time, can cause lacking in the car dangerous situation generations such as oxygen, and such example just has discovery in reality.If vehicle does not automatically lock, children might oneself leave vehicle and cause other danger.So do not have in key entering and the starter gear in the present invention, think that this is a kind of illegal situation, the release of output car door, electronic engine are locked, car alarming, and chaufeur is through judging that the descendant is that releasing is reported to the police, and disposes flexibly certainly.
Situation 6: this moment is similar with situation 5, so output comes to the same thing.
Situation 7: main operator seat is unmanned and there is the people its position, and car has key outward.This situation shows chaufeur near vehicle, so output is that car door release, electronic engine are locked, vehicle is not reported to the police.
Situation 8: this moment is similar with situation 7, so output comes to the same thing.
Situation 9: main operator seat has the people, but does not all have key inside and outside the car.At this moment a kind of illegal situation, show have the people under the situation of no authentication into the car, so output be that car door is locked, electronic engine is locked, car alarming.
Situation 10: main operator seat has the people, and key is arranged in the car.This is the situation before normal chaufeur starts, and output is that car door release, electronic engine are locked release, vehicle is not reported to the police.
Situation 11: main operator seat has the people, no key in the car and car has key outward.This is a kind of more rare illegal situation, generally is that chaufeur drops car key outside car.So output is that car door release, electronic engine are locked, car alarming.Certainly, also might be that chaufeur uses to the outer personnel of car the mobile phone of oneself, at this moment chaufeur can manually be removed warning.
Situation 12: main operator seat has the people, and other position is unmanned, and key is all arranged inside and outside the car.Showing the personnel that carry an other key near vehicle, is a kind of legal situation, and output is that car door release, electronic engine are locked release, vehicle is not reported to the police.
Situation 13: main operator seat has the people, and also there is the people other position, but does not all have key inside and outside the car.This is a kind of illegal situation, show have the people under the situation of no authentication into the car, output is that car door is locked, electronic engine is locked, car alarming.
Situation 14: main operator seat has the people, and also there is the people other position, and key is arranged in the car.This is modal a kind of legal situation, and output is that car door release, electronic engine are locked release, vehicle is not reported to the police.
Situation 15: main operator seat has the people, and also there is the people other position, and car has key outward and the interior no key of car.Be a kind of at this moment and situation 11 similarly illegal situation, so the output result is identical with situation 11.
Situation 16: main operator seat has the people, and also there is the people other position, and key is all arranged inside and outside the car.Be a kind of at this moment and situation 12 similar legal situation, so the output result is identical with situation 12.
Table 1: gate inhibition, startup and warning work-based logic relation table

Claims (10)

1. the vehicle based on ultra broadband does not have key entering, startup and closing appliance; It is characterized in that comprising car key, master controller, door lock sensor, startup/stop button, seat sensor and vehicle body aerial system, door lock sensor, startup/stop button, seat sensor and vehicle body aerial system all are connected with master controller through the vehicle body circuit; Said vehicle body aerial system is used for communicating with said car key; Antenna amount is greater than 3 in the said vehicle body aerial system; Wherein 1 is main antenna; Other is an auxiliary antenna, and main antenna is used for UWB crypto identity authentication signal and the vehicle dynamic information signal that the radiation master controller produces, and main antenna all receives the UWB positioning signal that car key is sent with all auxiliary antennas; Said car key is mainly used in the UWB crypto identity authentication signal that receives the primary controller generation and carries out authentication and send the UWB positioning signal; Said master controller is mainly used in and produces UWB crypto identity authentication signal and receive the UWB positioning signal that car key is sent, and car key is positioned, and also is used for the work of door lock for vehicle that control vehicle self has, engine electronic lock, annunciator; Said door lock sensor is mainly used in opening-closing door, the action of ON/OFF baggage container that the induction chaufeur triggers, and the generation energizing signal reaches master controller; Said startup/stop button is used to respond to the startup engine action of chaufeur and produces energizing signal and reaches master controller; Whether seat sensor is used to respond to this seat has the people.
2. there are not key entering, startup and closing appliance according to the said vehicle of claim 1 based on ultra broadband; It is characterized in that said car key comprises minicell, active crystal oscillator, key end microprocessor, key end UWB signal transmitting and receiving unit and UWB conformal antenna; Wherein, minicell is connected with key end microprocessor, active crystal oscillator, key end UWB signal transmitting and receiving unit; Active crystal oscillator is connected with minicell, key end microprocessor, key end UWB signal transmitting and receiving unit respectively, is used to produce a clock pulse; The key end microprocessor also is connected with key end UWB signal transmitting and receiving unit; Be used for the digital encryption authentication signal that receives is decoded; And compare authentication with the identity information of having preserved; After authentication is passed through, send car key numeral positioning signal and drive key end UWB signal transmitting and receiving unit generation UWB positioning signal; Key end UWB signal transmitting and receiving unit is used for producing corresponding UWB positioning signal by the digital positioning signal that the key end microprocessor transmits; And obtain digital encryption authentication signal after the UWB crypto identity authentication signal that receives handled and pass to the key end microprocessor, also receive the vehicle dynamic information signal in addition and pass to the key end microprocessor; The UWB conformal antenna receives the UWB crypto identity authentication signal that the vehicle body antenna sends, and the UWB positioning signal that key end UWB signal transmitting and receiving unit is transmitted radiate.
3. there are not key entering, startup and closing appliance according to the said vehicle of claim 2 based on ultra broadband; It is characterized in that a key also comprises the detouchable storage card; Storage card is connected with the key end microprocessor; Storage card is used for receiving and preserves vehicle dynamic information, and said vehicle dynamic information comprises each engine start and standing time, cooresponding each travelled distance, each amount of fuel and information maintenance period of average fuel consumption and vehicle.
4. there are not key entering, startup and closing appliance according to the said vehicle of claim 1 based on ultra broadband; It is characterized in that also comprising display interface device; Display interface device one end is connected with primary controller; The other end is connected with Vehicular display device, is used to export the mode of operation of seat sensor, door lock sensor, Door Lock, engine electronic lock, annunciator and master controller.
5. do not have key according to each said vehicle based on the ultra broadband location of claim 1 ~ 4 and get into and starter gear, it is characterized in that said main antenna is arranged in the inner console of car position, auxiliary antenna is arranged in car door and boot door place.
6. do not have key entering, startup and closing appliance according to the said vehicle based on ultra broadband of claim 5, it is characterized in that said car key is shaped as the backboard shape of mobile phone, door lock sensor and Door Handle are integral structure.
7. the vehicle based on ultra broadband does not have key entry method, it is characterized in that comprising the steps:
(1) after door lock sensor is sensed the action of opening the door of chaufeur, produces a release energizing signal and deliver to master controller;
(2) master controller produces the digital identification authentication signal after receiving the release energizing signal; Control in-to-in UWB signal transmitting and receiving unit produces UWB crypto identity authentication signal and radiate through main antenna, controls seat sensor occupant location information simultaneously;
(3) in the time of in car key is in the setting communication range, receive UWB crypto identity authentication signal and decoding, with the identity information contrast of having preserved, carry out identification then;
(4) after identification was passed through, car key was sent the UWB positioning signal;
(5) main antenna of vehicle body receives the UWB positioning signal that car key is sent in the different moment respectively with auxiliary antenna, and the UWB positioning signal that difference receives is constantly passed to master controller;
(6) master controller adopts the spatial coordinates of calculating car key based on the method for signal arrival time difference according to the above-mentioned different UWB positioning signals that constantly receive;
(7) master controller is according to the locus of the relative vehicle body of above-mentioned coordinate judgement car key, simultaneously according to seat sensor
Detection information judge whether the people is arranged in the car, if there is the people need judge that also the occupant is positioned at operator seat or non-operator seat;
(8) when master controller judges that car key and personnel are in legal security situation and are abnormal condition, send the release of unlock command control Door Lock, chaufeur can be opened car door and get into.
8. the vehicle based on ultra broadband does not have key startup method, it is characterized in that comprising the steps:
engine is in closed condition; Chaufeur is pressed startup/stop button; Startup/stop button is sensed the startup trigger action of chaufeur; And generation startup energizing signal reaches master controller; Master controller sends the digital identification authentication signal after receiving and starting energizing signal; Control in-to-in UWB signal transmitting and receiving unit produces UWB crypto identity authentication signal, and radiate through the main antenna of console position; Master controller sends seat and detects instruction simultaneously, and whether people and people's position is arranged in the control seat sensor car;
Figure 2012100856605100001DEST_PATH_IMAGE004
car key is decoded the UWB crypto identity authentication signal that receives; And with the identity information contrast of preserving, carry out identification; If car key is legal key, then discern through and send the UWB positioning signal; If car key is illegal key, then can't decodes and discern the crypto identity authentication signal;
The UWB positioning signal that
Figure 2012100856605100001DEST_PATH_IMAGE006
master controller receives according to the vehicle body antenna is judged the relative tertiary location of key and vehicle body; Master controller judges according to the signal that seat sensor detects whether main steering position has the people simultaneously; Judging key when master controller does not have key at Che Nei outside the car, and detects main operator seat simultaneously the people is arranged, then send enabled instruction and drive the release of electronic engine lock, energized and car; Simultaneously master controller is noted and is converted into the main antenna of corresponding UWB signal through the console position with the moment of this engine start and radiate, and is stored into the storage card in the car key after car key receives.
9. the vehicle based on ultra broadband does not have the key blocking method, it is characterized in that comprising the steps:
1) chaufeur is closed the closed door of getting off behind the engine, and the blocking wedge prompting car door that touches on the grip handle is locked; The action that door lock sensor in the grip handle is sensed chaufeur; Produce the locking energizing signal and pass to master controller; Master controller sends the digital identification authentication signal after receiving the locking energizing signal; Control in-to-in UWB signal transmitting and receiving unit produces UWB crypto identity authentication signal, and radiate through the main antenna of console position; Master controller sends seat and detects instruction simultaneously, and whether people and people's position is arranged in the control seat sensor car;
2) car key is decoded the UWB crypto identity authentication signal that receives, and contrasts with the identity information of preserving, and carries out identification; If car key is legal key, then discern through and send the UWB positioning signal; If car key is illegal key, then can't decodes and discern the crypto identity authentication signal;
3) master controller is according to the UWB positioning signal judgement key of vehicle body antenna reception and the relative tertiary location of vehicle body, and master controller received block level sensor signal judges whether any position has the people in the car simultaneously; When master controller is judged key car outside and do not have key in the car, and it is unmanned to detect in the car any seat simultaneously, sends blocking order then and drives that electronic engine is locked and Door Lock is locked; Simultaneously master controller vehicle dynamic information translation that this engine is stopped moment, this travelled distance, this amount of fuel and average fuel consumption is corresponding UWB signal through the console position main antenna radiate, and is stored into the interior storage card of car key after car key receives.
10. the described method of claim 7～9 is characterized in that also comprising alarm procedure: when abnormal condition appear in any one among both of member or key in master controller detects car, judge that corresponding trigger action is invalid and send alarm command immediately to start and report to the police; The corresponding trigger action with it of said abnormal condition comprises: unmanned but key is arranged in the car in the car, the outer personnel of car do the trigger action of the door of driving; Main operator seat is unmanned but there is the people other position in the car, does not all have key inside and outside the car, and Che Neifei master's operator's saddle personnel do the trigger action of pressing start button; Main operator seat is unmanned but there is the people other position in the car, and car does not have key outward but key is arranged in the car, and Che Neifei master's operator's saddle personnel do the trigger action of pressing start button; Main operator seat has the people, but does not all have key inside and outside the car, and main operator's saddle personnel do the trigger action of pressing start button in the car; Main operator seat has the people, no key in the car and car has key outward, and main operator's saddle personnel do the trigger action of pressing start button in the car; Main operator seat has the people, and also there is the people other position, but does not all have key inside and outside the car, and the occupant does the trigger action of pressing start button; Main operator seat has the people, and also there is the people other position, and car has key outward and the interior no key of car, and the occupant does the trigger action of pressing start button.
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