CN116381677A

CN116381677A - Distance measurement scheduling method and system for realizing movable object detection

Info

Publication number: CN116381677A
Application number: CN202310445454.9A
Authority: CN
Inventors: 罗超; 陈春雪; 段淇艺
Original assignee: Hefei Sixianzhi New Technology Co ltd
Current assignee: Hefei Sixianzhi New Technology Co ltd
Priority date: 2023-04-21
Filing date: 2023-04-21
Publication date: 2023-07-04

Abstract

The invention discloses a ranging scheduling method and a ranging scheduling system for realizing movable object detection, wherein a UWB anchor node for supporting the movable object detection is set as a first detection UWB anchor node; exchanging and synchronizing ranging session parameters; transmitting the working parameters of the first detection UWB anchor node to a detection module; the detection module recognizes and receives a frame sent by a first detection UWB anchor node, acquires a CIR and extracts characteristic parameters from the CIR; then, performing activity object detection activity through the characteristic parameters; according to the scheme, on the basis of a traditional digital key ranging process, the system authorization detection module receives the data frame or the ranging frame sent by the first detection UWB anchor node, no additional transmitting signal is needed, and on the premise that channel occupation is not increased and the traditional ranging process is changed, the detection of the movable object in the vehicle is completed.

Description

Distance measurement scheduling method and system for realizing movable object detection

Technical Field

The invention relates to the technical field of intelligent automobiles, in particular to a ranging scheduling method and system for realizing movable object detection.

Background

Along with the increasing of the living standard of people, automobiles become a part of people's work and life, the convenience of people's life is promoted, in vehicles, whether a movable object exists on a seat (mainly a human body and a pet) is often required to be detected, so that people are reminded of wearing safety belts, children, pets and the like can be prevented from forgetting in the automobile, and children or pets are choked and killed in the automobile due to the reasons of closing of automobile door windows, overhigh air temperature in the automobile, rarefaction of oxygen and the like.

Existing wireless digital key systems or other smart mobile devices can acquire the distance between a digital key or other smart mobile device carried by a person and a vehicle so that the vehicle can be unlocked when in the vicinity of the vehicle.

The Ultra Wideband (UWB) technology can be used for high-precision distance measurement, UWB Anchor nodes (Anchor) are arranged on an automobile, and the digital key of the UWB technology can be used for realizing higher-precision position information, so that better use experience is provided for the automobile, such as supporting other expandable intelligent services such as automobile welcome experience and the like.

The UWB channel impulse response (Channel Impulse Response, CIR) may indicate the channel characteristics, in the application of automotive ranging, UWB anchor nodes are deployed in the car, and when living things exist in the car, vital signs such as micro-vibration of the body caused by respiratory frequency and heart rate may cause change of the UWB channel characteristics, so that detection of living things in the car can be performed by using UWB technology, part of the prior art attempts to detect and identify biological information such as respiration and heartbeat by millimeter wave radar or by sending UWB signals alone, or by receiving UWB signals by a receiver, or adding a camera to perform in-car detection, but this also means that new equipment needs to be added, that is, additional cost and additional channel occupation are required, and a series of problems related to personnel privacy and the like are involved.

Disclosure of Invention

The invention aims to provide a ranging scheduling method and a ranging scheduling system for realizing movable object detection, which can realize the function of movable object detection on the premise of not influencing the ranging flow, introducing less new equipment or additionally arranging no new equipment and needing no additional transmitting signals.

In order to achieve the above object, the present invention provides a ranging scheduling method for implementing moving object detection, including:

setting a UWB anchor node for supporting the detection of the movable object as a first detection UWB anchor node;

exchanging and synchronizing ranging session parameters;

the working parameters of the first detection UWB anchor node are sent to a detection module;

the detection module identifies and receives the frame sent by the first detection UWB anchor node, acquires a channel impulse response and extracts characteristic parameters from the channel impulse response;

and detecting the movable object through the characteristic parameters.

Optionally, the detection module includes a UWB radar receiver or a second detection UWB anchor node; the UWB radar receiver does not have a ranging function and is not added into a ranging network; the second detecting UWB anchor node is another UWB anchor node in the ranging network having a ranging function configured to support detection of moving objects.

Optionally, when the detection module is the UWB radar receiver, the process of identifying and receiving the frame sent by the first detection UWB anchor node by the UWB radar receiver includes two operation modes: in a first mode, the UWB radar receiver continuously monitors UWB signals in all ranging processes, screens out frames sent by the first detection UWB anchor node, acquires the channel impulse response and extracts the characteristic parameters; and secondly, according to the ranging session parameters, the UWB radar receiver and the ranging network complete synchronization, only when the first detection UWB anchor node works, the UWB radar receiver starts to receive, receives the frame sent by the first detection UWB anchor point, acquires the channel impulse response and extracts the characteristic parameters, and the UWB radar receiver is in a dormant state in a non-receiving time slot.

Optionally, when the detection module is the second detection UWB anchor node, the second detection UWB anchor node starts receiving when the first detection UWB anchor node works, and/or the first detection UWB anchor node starts receiving when the second detection UWB anchor node works.

Optionally, the working parameters of the first detected UWB anchor node include a unique identifier of the first detected UWB anchor node, working time and time synchronization information.

Optionally, when the detection module starts receiving when the first detection UWB anchor node works, the working parameters of the first detection UWB anchor node further include a time slot configuration parameter and a related parameter of a ranging network where the first detection UWB anchor node is located.

Optionally, the time slot configuration parameters include the number of anchor points, the time of the ranging time slots, the ranging interval, the number of ranging time slots per round, the response time slot index of the first detected UWB anchor node, the hopping pattern and the key.

Optionally, the time slots of the first and second detected UWB anchor nodes are configured as adjacent time slots.

Optionally, the first detecting UWB anchor node sends a data frame, and the process of obtaining the channel impulse response includes: the channel impulse response is obtained from the processing in the preamble receiving process.

Optionally, the first detecting UWB anchor node sends a ranging frame, and the process of obtaining the channel impulse response includes: the channel impulse response is processed from the preamble reception process or from the scrambling time sequence reception process.

Optionally, when the channel impulse response is obtained from processing in the preamble receiving process, the ranging session parameters include: data frame header, frame tail, version information, session ID, node ID, preamble parameters, channel, number of slots for ranging round, slot time, ranging interval, ranging round control, time synchronization, and slots for UWB nodes.

Optionally, when the channel impulse response is obtained from processing in the scrambling time sequence receiving process, the ranging session parameters further include: scrambling time series parameters.

Optionally, the process of performing active object detection includes: analyzing the characteristic parameters by using a machine learning algorithm to determine whether an active object exists; or using the characteristic parameters to align the first paths of multiple groups of channel impulse responses to form a channel impulse response two-dimensional matrix, using fast Fourier transform on a slow time dimension to find out whether targets exist or not, and finding out a specific distance dimension where the targets are located or multiple specific distance dimensions where the targets are located; and acquiring phase information of the slow time domain signal from a specific distance dimension, carrying out band-pass filtering by taking the breathing frequency as a target, judging whether a breathing signal exists in different distance dimensions, and judging that a movable object exists if the breathing signal exists.

The invention also provides a ranging scheduling system for realizing the detection of the movable object, which comprises the following steps: the device comprises a first UWB anchor detection node, a detection module, a main control module and a detection processing unit;

the first detection UWB anchor node is used for sending a data frame or a ranging frame; the detection module is used for identifying and receiving the frame sent by the first detection UWB anchor node, obtaining channel impulse response, extracting characteristic parameters from the channel impulse response and carrying out activity object detection activity; the main control module controls the first detection UWB anchor node to communicate with the detection module so as to support the detection activity of the movable object; the detection processing unit is used for analyzing and processing the characteristic parameters to obtain a detection result of the movable object.

Optionally, the detection module includes a UWB radar receiver or a second detection UWB anchor node; the UWB radar receiver does not have a ranging function and is not added into a ranging network; the second detection UWB anchor node is a ranging-enabled UWB anchor node in a ranging network configured to support detection of moving objects.

Compared with the prior art, the system authorization detection module receives the data frame or the ranging frame sent by the first detection UWB anchor node, and has the function of detecting the moving object on the premise of not influencing the ranging flow; on the basis of the traditional ranging process, no additional signal is required to be transmitted, so that the detection of the movable object in the vehicle is carried out on the premise of not increasing the occupation of a channel; new equipment is not required to be introduced or less new equipment is required to be introduced, so that the performance of the whole scheme is improved, and the cost of the whole scheme is reduced; in addition, the scheme can reduce interference and collision probability to other wireless systems and improve system capacity.

Drawings

FIG. 1 is a diagram of a conventional digital key ranging slot according to a first embodiment of the present invention;

fig. 2 is a flowchart of a ranging scheduling method for implementing active object detection in the first embodiment of the present invention;

fig. 3 is a schematic diagram of a time slot of a ranging scheduling method for implementing active object detection in the first embodiment of the present invention;

fig. 4 is a schematic diagram of a time slot of a ranging scheduling method for implementing active object detection in the first embodiment of the present invention;

fig. 5 is a schematic diagram of a time slot three of a ranging scheduling method for implementing active object detection in the first embodiment of the present invention;

fig. 6 is a schematic diagram of a ranging and scheduling system for implementing active object detection in a second embodiment of the present invention;

fig. 7 is a schematic diagram of a ranging and scheduling system for implementing active object detection in a second embodiment of the present invention;

fig. 8 is a system diagram of a ranging scheduling method for implementing active object detection in the second embodiment of the present invention.

Detailed Description

The present invention will be described in more detail below with reference to the drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art can modify the invention described herein while still achieving the advantageous effects of the invention. Accordingly, the following description is to be construed as broadly known to those skilled in the art and not as limiting the invention.

The invention is more particularly described by way of example in the following paragraphs with reference to the drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.

In a traditional digital key ranging scenario, a plurality of UWB Anchor nodes (Anchor) are arranged on a vehicle; and the UWB Anchor nodes communicate with the digital keys, exchange UWB ranging session parameters, establish and start UWB ranging session, and realize ranging activity, wherein the anchors do not communicate with each other.

Referring to fig. 1, the conventional digital key ranging steps are as follows:

s101, the digital key/intelligent device sends a Pre Poll data frame (taking SP0 as an example), and all UWB Anchor nodes (Anchor) receive the data frame for data transmission and information synchronization.

S201, the digital key/intelligent device sends a Poll ranging frame (taking SP3 as an example), and all Anchor receives the ranging frame to start ranging activity.

S301, each Anchor sequentially transmits a Resp ranging frame, and the digital key/intelligent device receives the Resp ranging frame.

S401, the digital key/intelligent device sends a Final ranging frame, and all Anchor receives the Final ranging frame.

S501, the digital key/intelligent device sends a Final Data frame, and all Anchor receives the Final Data frame.

S601, each Anchor sequentially transmits a Result msg data frame, and the digital key/intelligent equipment receives the Result msg frame to determine a final ranging Result.

According to the scheme, on the basis of a traditional digital key ranging process, a data frame or a ranging frame is received through a system authorization detection module, when UWB ranging is positioned, CIR is acquired to detect a movable object through adjusting process control of related communication, no additional transmitting signals are needed, and on the premise that channel occupation is not increased, the function of detecting the movable object in the vehicle is completed.

Example 1

The invention provides a ranging scheduling method for realizing movable object detection, please refer to fig. 2, which comprises the following steps:

s1, setting a UWB anchor node used for supporting detection of an active object as a first detection UWB anchor node.

S2, exchanging and synchronizing the ranging session parameters.

S3, the working parameters of the first detection UWB anchor node are sent to a detection module.

S4, the detection module identifies and receives the frame sent by the first detection UWB anchor node, acquires the CIR and extracts the characteristic parameters from the CIR.

S5, detecting the movable object through the characteristic parameters.

Specifically, in step S1, the first detection UWB Anchor node (Anchor a) is a UWB Anchor node (Anchor) configured to support detection of a moving object during system initialization, where Anchor a is any Anchor node in a vehicle, and the identification is implemented through configuration of the system.

In step S2, each Anchor exchanges ranging session parameters with a digital key or other smart device, establishes and starts a UWB ranging session, and the ranging session parameters may be transmitted using a wired or wireless manner, for example, using out-of-band (OOB) data such as bluetooth, BLE, etc.

The process of synchronizing the ranging session parameters includes: and the main control module on the vehicle communicates with all the Anchor and the detection module and synchronizes the session parameters of the ranging.

In addition, in step S2, the method of acquiring the CIR needs to be confirmed in advance, and the exchanged and synchronized ranging session parameters are different according to different methods of acquiring the CIR.

In step S3, the working parameters of the first detected UWB anchor node are sent to the detection module, that is, the authorization detection module receives the frame sent by the first detected UWB anchor node.

The detection module comprises a UWB radar receiver or a second detection UWB Anchor node (Anchor B).

Referring to fig. 3 to fig. 4, specifically, the detection module may be a UWB radar receiver that is added to the system and does not have a ranging function, and the UWB radar receiver is configured to monitor the signal of the Anchor a, and obtain the CIR of the corresponding received signal.

When the detection module is a UWB radar receiver without a ranging function, in step S4, the process of identifying and receiving the frame transmitted by the Anchor a by the UWB radar receiver includes two operation modes:

s401, the UWB radar receiver continuously monitors UWB signals in all ranging processes, and screens out frames sent by the Anchor A.

S402, according to the ranging session parameters, the UWB radar receiver and a ranging network (Ranging Area Network, RAN) complete synchronization, only when the Anchor A works, the reception is started, a frame sent by a first detection UWB Anchor point is received, the UWB radar receiver in a dormant state in the non-reception state, and the UWB radar receiver adjusts a clock after each reception to realize clock synchronization.

With continued reference to fig. 3, based on the conventional digital key ranging steps S101 to S601, the UWB radar receiver receives UWB signals of all the anchors in the ranging procedure, and obtains resp_a or Result msg_a sent by the Anchor a according to the unique identifier of the Anchor a, thereby extracting the CIR, and further extracting the characteristic parameters to implement respiration detection of the movable object in the vehicle.

Wherein the characteristic parameter at least comprises one of amplitude, phase and frequency information.

Therefore, in S401, when the detection module is a UWB radar receiver without a ranging function, in order to enable the UWB radar receiver to screen frames sent by the Anchor a from UWB signals in all ranging processes, the working parameters of the Anchor a received by the detection module include the unique identifier of the Anchor a, the working time and time synchronization information.

Further, as shown in fig. 4, in S402, that is, when the UWB radar receiver is only turned on to receive when the Anchor a is operating, the UWB radar receiver needs to synchronize the response time information of the Anchor a, so that the operating parameters of the Anchor a received by the detection module also need to include the relevant time slot configuration parameters and the relevant parameters of the ranging network where the Anchor a is located; the related time slot configuration parameters comprise the number of Anchor points, the time of the ranging time slots, the ranging interval, the number of the ranging time slots of each round, the response time slot index of Anchor A, a hopping pattern and a key.

In addition, in S402, through the ranging process, the detection module needs to perform periodic time synchronization through receiving information, so as to be able to synchronize with the sending time slot of the Anchor a, ensure that the data corresponding to the first detection UWB Anchor node and the CIR information can be accurately received, and further extract the characteristic parameters to implement respiration detection of the mobile object in the vehicle; accordingly, since the reception time is greatly reduced, the power consumption of the device can be reduced.

Further, in step S3, the detection module may further set an Anchor with a ranging function in the ranging system as Anchor B during system initialization, and is configured to monitor and receive the Anchor a signal, and obtain the CIR of the corresponding received signal.

In the conventional ranging process, the Anchor A and the Anchor B only need to perform ranging activity and communication with the ranging activity initiating module in respective working time slots, but in reality, when the two are in fixed positions and the time slots between the two are determined, the frame sent between the Anchor A and the Anchor B can be used to obtain CIR of the corresponding received signal, and in this case, the Anchor A and the Anchor B also need to wake up in advance to receive the corresponding signal when the ranging time slots are intermittent.

Specifically, referring to fig. 5, when the detection module is an Anchor B with a ranging function, in step S4, the Anchor B starts receiving when the Anchor a sends a resp_a frame, and the Anchor a starts receiving when the Anchor B sends a resp_b frame, extracts the CIR, further extracts the feature parameters, and further realizes in-vehicle moving object detection through data processing.

When the detection module is an Anchor B with a ranging function, the working parameters of the Anchor A received by the detection module comprise a unique identifier of the Anchor A, working time and time synchronization information, related time slot configuration parameters and related parameters of a ranging network where the Anchor A is located.

The related time slot configuration parameters comprise the number of Anchor points, the time of the ranging time slots, the ranging interval, the number of the ranging time slots of each round, the response time slot index of Anchor A, a hopping pattern and a key.

Correspondingly, the Anchor A can also start receiving when the Anchor B sends a Resp_B frame, so that the detection of the movable object in the vehicle is realized, the process of receiving and finishing the detection of the movable object by the Anchor A is the same as that of the Anchor B, namely, the working parameters of the Anchor B are sent to the Anchor A, and the Anchor A is authorized to receive the frame sent by the Anchor B.

Alternatively, only the CIR of the Anchor a or Anchor B may be extracted, and then the detection of the moving object may be completed, for example, only the CIR of the resp_A ranging frame sent by the Anchor a and received by the Anchor B may be extracted for detection, where the Anchor a does not need to receive the resp_B ranging frame of the Anchor B, and the system does not need to synchronize the unique identifier of the Anchor B to the Anchor a, and may also satisfy the condition of the detection of the moving object.

Further, for low power consumption, for the working time slots of Anchor A and Anchor B, package allocation may be performed, that is, the time slots of Anchor A and Anchor B are configured as adjacent time slots.

In one example, according to the conventional workflow, if the working time slots are arranged according to the order of network access if 6 Anchor related network access information is received, the working time slots of Anchor A and Anchor B are unordered, such as: anchor A schedules time slot 1, anchor B schedules time slot 5; then Anchor A sends in time slot 1, anchor A also needs to keep the open state in time slot 2-4, until Anchor B receives and finishes closing Anchor A in time slot 5, the whole process will increase Anchor's power consumption; or Anchor A sends in time slot 1, close in time slot 2-4, open in time slot 5 in order to guarantee Anchor B finishes receiving, cause the system to switch frequently, increase the power consumption; in order to reduce unnecessary power consumption in the whole ranging and respiration detection process and shorten detection time, time slots of Anchor A and Anchor B may be bundled and packed, that is, time slots of Anchor A and Anchor B are uniformly allocated in a similar time, in an embodiment, anchor A may be allocated in time slot N, and Anchor B may be arranged in time slot n+1, for example: anchor A is distributed in time slot 1, anchor B is arranged in time slot 2, anchor A transmits in time slot 1, anchor A can be closed to enter dormancy when Anchor B completes receiving in time slot 2, unnecessary operation is reduced, power consumption can be effectively reduced, and time for waiting for receiving and transmitting is shortened.

In other embodiments, for some practical applications, if multiple nodes are needed, more nodes can be bundled and arranged into close time slots, so that the efficiency is further improved.

In step S4, the detection module recognizes that the frame transmitted by the Anchor a is received and includes a data frame or a ranging frame.

When the detection module is a UWB radar receiver without a ranging function, the UWB radar receiver receives a ranging frame or a data frame sent by the anchor; when the detection module is Anchor B with a ranging function, anchor B receives a ranging frame sent by Anchor A and/or Anchor A receives a ranging frame sent by Anchor B.

Specifically, when receiving a data frame, the process of acquiring the CIR includes: processing the preamble to obtain CIR; when receiving the ranging frame, the process of acquiring the CIR includes: the CIR is obtained from processing during preamble reception or from processing during Scrambling Time Sequence (STS) reception.

Further, in step S2, the ranging session parameters exchanged and synchronized are different according to the procedure of acquiring the CIR, and when the CIR is obtained from the processing in the preamble receiving procedure, the ranging session parameters include: data frame header, frame tail, version information, session ID, node ID, preamble parameters, channel, number of slots for ranging round, slot time, ranging interval, ranging round control, time synchronization, and slots for UWB nodes.

When the CIR is obtained from the processing in the STS receiving process, in step S2, the ranging session parameters exchanged and synchronized further include: STS-related parameters including parameters such as STS mode and key information.

Further, in step S4, in the process of acquiring the CIR and extracting the characteristic parameters from the CIR, the characteristic parameters include: at least one of power level, strongest path index, peak path index, strongest path amplitude ratio, peak path amplitude ratio, strongest path time difference, spectral power, and phase information.

In step S5, the process of performing active object detection may be:

s501, analyzing the characteristic parameters by using a machine learning algorithm to determine whether an active object exists.

The machine learning algorithm mainly comprises the following steps: decision tree algorithms, neural networks, nearest neighbor algorithms, or support vector machines.

Further, the performing activity object detection may further be:

s502, aligning a plurality of groups of CIR first diameters to form a CIR two-dimensional matrix by using CIRs, searching whether targets exist or not by using Fast Fourier Transform (FFT) on a slow time dimension, and if the targets exist, finding a specific distance dimension where the targets exist or a plurality of specific distance dimensions where a plurality of targets exist; and acquiring phase information of the slow time domain signal from the specific distance dimension, performing related signal processing operations such as band-pass filtering and the like by taking the respiratory frequency as a target, extracting a respiratory signal in the specific distance dimension, and judging that a movable object exists if the respiratory signal exceeds a judgment threshold of the respiratory signal.

In a specific example of the present invention, a ranging scheduling method for implementing active object detection according to the present invention includes:

s11, setting a UWB Anchor node for supporting the detection of the movable object as Anchor A.

S21, exchanging and synchronizing the ranging session parameters.

S31, setting a UWB radar receiver as a detection module, and sending the working parameters of the Anchor A to the UWB radar receiver.

S41, the UWB radar receiver continuously monitors UWB signals in all ranging processes, or monitors only when an Anchor A works, and the UWB radar receiver recognizes and receives a data frame or a ranging frame sent by the Anchor A;

when the UWB radar receiver receives the data frame, the CIR is obtained through processing in the preamble receiving process, and the characteristic parameters are extracted from the CIR;

when the UWB radar receiver receives the ranging frame, the CIR can be obtained from the processing in the preamble receiving process or the CIR can be obtained from the processing in the STS receiving process, and the characteristic parameters can be extracted from the CIR.

S51, analyzing the characteristic parameters or forming a CIR two-dimensional matrix by using a machine learning algorithm so as to detect the moving object.

In another specific example of the present invention, a ranging scheduling method for implementing active object detection according to the present invention includes the steps of:

S21, exchanging and synchronizing the ranging session parameters.

S31, setting another UWB Anchor node Anchor B as a detection module, and sending the working parameters of Anchor A to Anchor B.

S41, anchor B starts receiving when Anchor A sends Resp_A frame, anchor A starts receiving when Anchor B sends Resp_B frame, or Anchor B starts receiving only when Anchor A sends Resp_A frame, and obtains CIR from processing in the course of receiving preamble or CIR from processing in the course of receiving STS, extract the characteristic parameter from CIR.

Example two

Referring to fig. 6, in an embodiment of the present invention, a ranging scheduling system for implementing active object detection is provided, including: the device comprises a first detection UWB Anchor node (Anchor A), a detection module, a main control module and a detection processing unit.

The Anchor A is used for sending a data frame or a ranging frame; the detection module is used for identifying and receiving the frames sent by the Anchor A, acquiring CIR, extracting characteristic parameters from the CIR and carrying out activity object detection activity; the main control module controls the Anchor A to communicate with the detection module so as to support the detection activity of the movable object; the detection processing unit is used for analyzing and processing the characteristic parameters to obtain a detection result of the movable object.

Further, the ranging scheduling system for implementing the detection of the active object further includes: and the ranging processing unit is used for outputting a ranging result.

The ranging scheduling system for realizing the detection of the movable object in the embodiment of the invention is based on an in-vehicle ranging system and has the function of detecting the movable object on the premise of not influencing the ranging flow.

Referring to fig. 7-8, the detection module includes a UWB radar receiver or a second detection UWB Anchor node (Anchor B); the UWB radar receiver does not have a ranging function and is not added into a ranging network; anchor B is a UWB Anchor node with ranging functionality that is configured to support active object detection in a ranging network.

When the detection module is Anchor B with a ranging function, anchor A can also recognize and receive a ranging frame sent by Anchor B through system authorization, and acquire channel impulse response to complete the detection activity of the moving object.

In summary, the present invention provides a ranging scheduling method and system for implementing mobile object detection, and in the scheme of the present invention, when implementing UWB ranging positioning, the mobile object detection is implemented by adjusting the flow control of the related communication between UWB ranging positioning and acquiring the CIR; the method does not need to additionally transmit signals on the basis of the traditional ranging process, so that the function of detecting the movable object in the vehicle is supported on the premise of not increasing the occupation of channels; by optimizing the flow, unnecessary channel occupation is reduced, and the performance of the whole scheme is improved and the cost of the whole scheme is reduced under the condition that new equipment is not required to be introduced or less new equipment is introduced; in addition, the whole ranging process is unchanged, and the compatibility of the existing equipment can be maintained; in addition, the scheme not only can reduce the interference and collision probability to other wireless systems and improve the system capacity, but also reduces the signal transmission times and the starting time by bundling and arranging the time slots of the specific anchor nodes, thereby reducing the system power consumption.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A ranging scheduling method for implementing active object detection, comprising:

exchanging and synchronizing ranging session parameters;

and detecting the movable object through the characteristic parameters.

2. The ranging scheduling method for implementing active object detection of claim 1, wherein the detection module comprises a UWB radar receiver or a second detection UWB anchor node; the UWB radar receiver does not have a ranging function and is not added into a ranging network; the second detecting UWB anchor node is another UWB anchor node in the ranging network having a ranging function configured to support detection of moving objects.

3. The ranging scheduling method for implementing active object detection according to claim 2, wherein when the detection module is the UWB radar receiver, the process of identifying and receiving the frame transmitted by the first detected UWB anchor node by the UWB radar receiver includes two operation modes: in a first mode, the UWB radar receiver continuously monitors UWB signals in all ranging processes, screens out frames sent by the first detection UWB anchor node, acquires the channel impulse response and extracts the characteristic parameters; and secondly, according to the ranging session parameters, the UWB radar receiver and the ranging network complete synchronization, only when the first detection UWB anchor node works, the UWB radar receiver starts to receive, receives the frame sent by the first detection UWB anchor point, acquires the channel impulse response and extracts the characteristic parameters, and the UWB radar receiver is in a dormant state in a non-receiving time slot.

4. The ranging scheduling method for implementing active object detection according to claim 2, wherein when the detection module is the second detection UWB anchor node, the second detection UWB anchor node starts reception when the first detection UWB anchor node is operated, and/or the first detection UWB anchor node starts reception when the second detection UWB anchor node is operated.

5. The ranging scheduling method for implementing active object detection according to claim 3 or 4, wherein the operating parameters of the first detected UWB anchor node include a unique identification of the first detected UWB anchor node, an operating time and time synchronization information.

6. The ranging scheduling method for implementing active object detection according to claim 5, wherein when the detection module starts receiving when the first detection UWB anchor node is operating, the operating parameters of the first detection UWB anchor node further include a time slot configuration parameter and a related parameter of a ranging network where the first detection UWB anchor node is located.

7. The ranging scheduling method for implementing active object detection according to claim 6, wherein the slot configuration parameters include anchor point number, ranging slot time, ranging interval, number of ranging slots per round, response slot index of the first detected UWB anchor node, hopping pattern and key.

8. The ranging scheduling method for implementing active object detection according to claim 2, wherein the time slots of the first detection UWB anchor node and the second detection UWB anchor node are configured as adjacent time slots.

9. The ranging scheduling method for implementing active object detection according to claim 1, wherein the first detection UWB anchor node transmits a data frame, and the process of acquiring a channel impulse response comprises: the channel impulse response is obtained from the processing in the preamble receiving process.

10. The ranging scheduling method for implementing active object detection according to claim 1, wherein the first detection UWB anchor node transmits a ranging frame, and the process of acquiring a channel impulse response comprises: the channel impulse response is processed from the preamble reception process or from the scrambling time sequence reception process.

11. The ranging scheduling method for implementing active object detection according to claim 9 or 10, wherein when the channel impulse response is processed from the preamble reception process, the ranging session parameters include: data frame header, frame tail, version information, session ID, node ID, preamble parameters, channel, number of slots for ranging round, slot time, ranging interval, ranging round control, time synchronization, and slots for UWB nodes.

12. The ranging scheduling method for implementing active object detection of claim 11, wherein when the channel impulse response is processed from the scrambling time sequence reception process, the ranging session parameters further comprise: scrambling time series parameters.

13. The ranging scheduling method for implementing active object detection of claim 1, wherein the process of performing active object detection comprises: analyzing the characteristic parameters by using a machine learning algorithm to determine whether an active object exists; or using the characteristic parameters to align the first paths of multiple groups of channel impulse responses to form a channel impulse response two-dimensional matrix, using fast Fourier transform on a slow time dimension to find out whether targets exist or not, and finding out a specific distance dimension where the targets are located or multiple specific distance dimensions where the targets are located; and acquiring phase information of the slow time domain signal from a specific distance dimension, carrying out band-pass filtering by taking the breathing frequency as a target, judging whether a breathing signal exists in different distance dimensions, and judging that a movable object exists if the breathing signal exists.

14. A ranging scheduling system for implementing active object detection, comprising: the device comprises a first UWB anchor detection node, a detection module, a main control module and a detection processing unit;

15. The ranging dispatch system implementing active object detection of claim 14, wherein the detection module comprises a UWB radar receiver or a second detection UWB anchor node; the UWB radar receiver does not have a ranging function and is not added into a ranging network; the second detection UWB anchor node is a ranging-enabled UWB anchor node in a ranging network configured to support detection of moving objects.