CN114040331B - Remote control method and system for vehicle - Google Patents
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- CN114040331B CN114040331BCN202111308046.6ACN202111308046ACN114040331BCN 114040331 BCN114040331 BCN 114040331BCN 202111308046 ACN202111308046 ACN 202111308046ACN 114040331 BCN114040331 BCN 114040331B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/08—Access security
- H04W12/084—Access security using delegated authorisation, e.g. open authorisation [OAuth] protocol
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/08—Access security
- H04W12/086—Access security using security domains
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种车辆技术领域，特别是涉及一种车辆的远程操控方法及系统。The present invention relates to the technical field of vehicles, in particular to a remote control method and system for vehicles.
背景技术Background technique
车辆数字钥匙，以国际行业标准CCC3.0(Car Connectivity Consortium)的新一代车辆数字钥匙系统为代表，采用超宽带(UWB,Ultra-Wide Band)技术和低功耗蓝牙(BLE)技术，可以使用手机数字钥匙APP实现对车辆进行远程操控，包括PEPS(Passive EntryPassive Start)功能，例如无感解锁、启动、开启车灯或开后备箱等，以及可以方便地进行数字钥匙远程分享，与家人共享车辆，或短时授权朋友用车。Vehicle digital key, represented by the new-generation vehicle digital key system of the international industry standard CCC3.0 (Car Connectivity Consortium), adopts ultra-wideband (UWB, Ultra-Wide Band) technology and low-power Bluetooth (BLE) technology, and can be used The mobile phone digital key APP realizes remote control of the vehicle, including PEPS (Passive EntryPassive Start) functions, such as non-inductive unlocking, starting, turning on the lights or opening the trunk, etc., and can conveniently share the digital key remotely and share the vehicle with family members , or authorize a friend to use the car for a short time.
根据英国及欧洲保险业新车防盗保险评级的技术检测机构ThatCham近年发布的有关车辆钥匙车外定位与钥匙位置车内/车外识别要求，汽车钥匙与车辆之间的无线通信须具备防中继攻击能力，钥匙只有在车身轮廓线2米内才能无感解锁，目前只有UWB技术才能实现这些技术要求，过往的LF/UHF/BLE定位技术都难于胜任，因此UWB技术正成为新一代车辆数字钥匙系统的必选技术。According to the requirements issued by ThatCham, a technical testing agency for new car anti-theft insurance ratings in the UK and European insurance industry in recent years, on vehicle key positioning and key position identification requirements inside/outside the vehicle, the wireless communication between the car key and the vehicle must be capable of preventing relay attacks ability, the key can only be unlocked non-inductively within 2 meters of the body contour line. At present, only UWB technology can meet these technical requirements. The past LF/UHF/BLE positioning technology is difficult to do. Therefore, UWB technology is becoming the new generation of vehicle digital key system. Required technology.
而符合CCC3.0标准的手机数字钥匙APP，只能安装在带有UWB功能的手机上，比如一些新型号的iPhone和极少型号的安卓手机，大部分用户的手机并没有UWB功能，要使用UWB数字钥匙功能，需要购置一部带有UWB功能的新手机，这给用户增加了额外的负担，而且闲置的手机也造成了社会资源的浪费。The mobile phone digital key APP that conforms to the CCC3.0 standard can only be installed on mobile phones with UWB functions, such as some new models of iPhones and very few models of Android phones. Most users’ mobile phones do not have UWB functions. The UWB digital key function needs to purchase a new mobile phone with UWB function, which adds an extra burden to the user, and the idle mobile phone also causes a waste of social resources.
发明内容Contents of the invention
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种车辆的远程操控方法及系统，用于解决现有技术中必须配备具有UWB功能的手机，才能实现UWB数字钥匙应用功能的问题。In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a remote control method and system for vehicles, which is used to solve the problem in the prior art that a mobile phone with UWB function must be equipped to realize the application function of the UWB digital key .
本发明的第一方面提供一种车辆的远程操控方法，包括：A first aspect of the present invention provides a remote control method for a vehicle, including:
终端分别与实体钥匙和车辆建立蓝牙连接；The terminal establishes a Bluetooth connection with the physical key and the vehicle respectively;
若终端检测到与实体钥匙之间的距离小于等于预设距离，则通过实体钥匙与车辆进行测距和数据传输，对车辆进行操控；其中，实体钥匙与车辆之间的通信通过安全增强型超宽带UWB技术实现；If the terminal detects that the distance between the terminal and the physical key is less than or equal to the preset distance, it will perform distance measurement and data transmission with the vehicle through the physical key to control the vehicle; the communication between the physical key and the vehicle is through a security-enhanced super Realization of broadband UWB technology;
否则，终端解除与实体钥匙间的蓝牙连接。Otherwise, the terminal cancels the Bluetooth connection with the physical key.
于本发明的一实施例中，还包括：In an embodiment of the present invention, it also includes:
若所述距离小于等于预设距离，则根据蓝牙通道协议，调整终端与实体钥匙通信时的发射功率。If the distance is less than or equal to the preset distance, then according to the bluetooth channel protocol, adjust the transmit power when the terminal communicates with the physical key.
于本发明的一实施例中，所述距离是根据终端与实体钥匙蓝牙通信时的链路射频信号强度衰减量获取的。In an embodiment of the present invention, the distance is obtained according to the attenuation of the radio frequency signal strength of the link when the terminal communicates with the physical key via Bluetooth.
于本发明的一实施例中，所述终端通过实体钥匙与车辆进行测距和数据传输的步骤包括：In an embodiment of the present invention, the step of performing distance measurement and data transmission between the terminal and the vehicle through the physical key includes:
所述终端将操控指令发送至所述实体钥匙；所述实体钥匙将所述操控指令发送至所述车辆；其中，所述操控指令携带有相应的参数；The terminal sends a manipulation command to the physical key; the physical key sends the manipulation command to the vehicle; wherein, the manipulation command carries corresponding parameters;
所述车辆获取的将执行结果通过蓝牙反馈至所述终端。。The execution results acquired by the vehicle are fed back to the terminal via Bluetooth. .
于本发明的一实施例中，所述终端通过实体钥匙与车辆进行测距和数据传输之前的步骤还包括：In an embodiment of the present invention, the steps before the distance measurement and data transmission between the terminal and the vehicle through the physical key further include:
所述实体钥匙与所述车辆经由所述终端约定初始信息，根据约定的所述初始信息，实现所述实体钥匙与所述车辆之间的测距和数据传输。The physical key and the vehicle agree on initial information via the terminal, and according to the agreed initial information, distance measurement and data transmission between the physical key and the vehicle are realized.
于本发明的一实施例中，所述终端通过实体钥匙与车辆进行测距和数据传输之前的步骤还包括：In an embodiment of the present invention, the steps before the distance measurement and data transmission between the terminal and the vehicle through the physical key further include:
所述终端与所述实体钥匙之间通过配对密钥进行匹配，所述终端与所述车辆之间通过蓝牙通信密钥进行匹配，若上述匹配均成功，则所述终端通过实体钥匙与车辆进行测距和数据传输。The terminal is matched with the physical key through a pairing key, and the terminal is matched with the vehicle through a Bluetooth communication key. If the above matching is successful, the terminal is matched with the vehicle through the physical key. Ranging and data transmission.
于本发明的一实施例中，还包括：In an embodiment of the present invention, it also includes:
所述车辆通过UWB定位算法计算得到所述实体钥匙的位置信息，并通过蓝牙传输至所述终端。The vehicle calculates the location information of the physical key through the UWB positioning algorithm, and transmits it to the terminal through Bluetooth.
本发明的第二方面还提供一种车辆的远程操控系统，包括：The second aspect of the present invention also provides a remote control system for a vehicle, including:
终端和实体钥匙，其中，所述终端分别与所述实体钥匙和所述车辆蓝牙连接，所述实体钥匙与所述车辆之间的通信通过UWB技术实现；A terminal and a physical key, wherein the terminal is respectively connected to the physical key and the vehicle via Bluetooth, and the communication between the physical key and the vehicle is realized through UWB technology;
所述终端，用于检测到与实体钥匙之间的距离小于等于预设距离时，通过实体钥匙与车辆进行测距和数据传输，对车辆进行操控；The terminal is used to control the vehicle through distance measurement and data transmission between the physical key and the vehicle when detecting that the distance to the physical key is less than or equal to the preset distance;
否则，终端断开解除与实体钥匙间的蓝牙连接。Otherwise, the terminal disconnects and releases the Bluetooth connection with the physical key.
于本发明的一实施例中，所述终端，还用于检测到与实体钥匙之间的距离小于等于预设距离时，根据蓝牙通道协议，调整与实体钥匙通信时的发射功率，以使通信覆盖范围小于预设范围。In an embodiment of the present invention, the terminal is also used to adjust the transmission power when communicating with the physical key according to the Bluetooth channel protocol when detecting that the distance to the physical key is less than or equal to the preset distance, so that the communication The coverage area is smaller than the preset range.
于本发明的一实施例中，所述实体钥匙与所述车辆经由所述终端约定初始信息，根据约定的所述初始信息，实现所述实体钥匙与所述车辆之间的测距和数据传输。In an embodiment of the present invention, the physical key and the vehicle agree on initial information via the terminal, and according to the agreed initial information, distance measurement and data transmission between the physical key and the vehicle are realized .
如上所述，本发明的一种车辆的远程操控方法及系统，具有以下有益效果：As mentioned above, a remote control method and system for a vehicle of the present invention has the following beneficial effects:
本发明采用不具备UWB功能的终端，判断终端与实体钥匙的距离，若距离小于等于预设值，则将终端与实体钥匙进行高安全性的绑定，允许终端通过实体钥匙与车辆间进行测距和数据传输，进而对车辆进行PEPS动作及数字钥匙的远程授权等远程操控，实现了通过普通终端实现完全UWB车辆数字钥匙的功能，享有免遭中继攻击与高精度定位良好用户体验的同时，也消除了用户须添购UWB终端的经济负担。The present invention uses a terminal without UWB function to judge the distance between the terminal and the physical key. If the distance is less than or equal to the preset value, the terminal and the physical key are bound with high security, allowing the terminal to measure the distance between the physical key and the vehicle. Remote control such as PEPS action and remote authorization of the digital key to the vehicle, realizes the function of a complete UWB vehicle digital key through an ordinary terminal, and enjoys a good user experience of avoiding relay attacks and high-precision positioning. , It also eliminates the economic burden that users have to purchase UWB terminals.
附图说明Description of drawings
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application , for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor.
图1显示为本发明实施例中公开的远程操控系统的结构框图。Fig. 1 is a structural block diagram of a remote control system disclosed in an embodiment of the present invention.
图2显示为本发明实施例中公开的远程操控方法的工作流程图。FIG. 2 is a workflow diagram of the remote control method disclosed in the embodiment of the present invention.
图3显示为本发明实施例中公开的信号强度与距离对应关系的测量图。Fig. 3 is a measurement diagram of the corresponding relationship between signal strength and distance disclosed in the embodiment of the present invention.
图4显示为图3中距离为0-5米的局部放大图。Figure 4 shows a partial enlarged view of Figure 3 at a distance of 0-5 meters.
具体实施方式Detailed ways
以下由特定的具体实施例说明本发明的实施方式，熟悉此技术的人士可由本说明书所揭露的内容轻易地了解本发明的其他优点及功效。The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.
请参阅图1至图4。须知，本说明书所附图中所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定本发明可实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容得能涵盖的范围内。同时，本说明书中所引用的如“上”、“下”、“左”、“右”、“中间”及“一”等的用语，亦仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。See Figures 1 through 4. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit this specification. The practicable scope of the invention and the change or adjustment of its relative relationship shall also be regarded as the practicable scope of the present invention without any substantial change in the technical content.
请参阅图1，本发明的第一实施方式公开了一种车辆的远程操控系统，包括：终端和实体钥匙，终端和实体钥匙均具有低功耗蓝牙BLE通信功能，可以分别与车辆进行通信连接，也可以在终端与实体钥匙间建立连接；实体钥匙具有UWB芯片/模组，可以与车辆上的UWB锚点进行ToF测距和高安全性数据传输；通常BLE与车辆间的最远通信距离(例如30～50m)要大于UWB与车辆间的测距/通信距离(例如15m)。其中，终端可以是智能手机、平板电脑、掌上电脑、笔记本电脑或台式电脑等设备，本实施例中，以终端为手机为例来进行说明，且该手机上安装有数字钥匙APP，用户可通过数字钥匙APP对终端进行操作。Please refer to Figure 1, the first embodiment of the present invention discloses a remote control system for vehicles, including: a terminal and a physical key, both of which have low-power Bluetooth BLE communication functions, and can communicate with the vehicle respectively , can also establish a connection between the terminal and the physical key; the physical key has a UWB chip/module, which can perform ToF ranging and high-security data transmission with the UWB anchor point on the vehicle; usually the longest communication distance between BLE and the vehicle (eg 30-50m) is greater than the ranging/communication distance between UWB and the vehicle (eg 15m). Wherein, the terminal can be a device such as a smart phone, a tablet computer, a handheld computer, a notebook computer, or a desktop computer. The digital key APP operates the terminal.
具体的说，本实施例的普通手机包括BLE模块和eSE模块；实体钥匙包括BLE模块和UWB模块；车辆包括车身控制器以及分布于车身外部和座舱内的若干UWB锚点，其中，车身控制器包括BLE模块、eSE模块、UWB模块和NFC模块。Specifically, the ordinary mobile phone of this embodiment includes a BLE module and an eSE module; the physical key includes a BLE module and a UWB module; the vehicle includes a body controller and several UWB anchor points distributed outside the body and in the cockpit, wherein Including BLE module, eSE module, UWB module and NFC module.
本实施例的手机与实体钥匙的BLE模块的版本应满足BLE SC(secureconnections)安全连接能力，在经过广播或扫描初步建立连接后，再经过高安全等级的BLE配对与绑定过程，从而具备MITM(man in the middle)保护能力。手机与实体钥匙在建立BLE SC连接后，可实现安全的指令或数据传输。The version of the BLE module of the mobile phone and the physical key in this embodiment should meet the BLE SC (secureconnections) security connection capability. After the connection is initially established through broadcasting or scanning, it will go through the high-security BLE pairing and binding process, so as to have MITM (man in the middle) protection ability. After establishing a BLE SC connection between the mobile phone and the physical key, secure command or data transmission can be realized.
此外，在进行数据传输前，实体钥匙与车辆经由终端约定初始信息，根据约定的初始信息，实现实体钥匙与车辆之间的测距和数据传输；其中，初始信息包括实体钥匙与车辆的各UWB锚点之间的中心频率、测距时序参数、密钥配对状态及加密算法起始索引。In addition, before data transmission, the physical key and the vehicle agree on initial information via the terminal, and according to the agreed initial information, the distance measurement and data transmission between the physical key and the vehicle are realized; the initial information includes the UWB data of the physical key and the vehicle. Center frequency between anchor points, ranging timing parameters, key pairing status and encryption algorithm start index.
实体钥匙与车辆之间通过配对密钥进行匹配，匹配成功，终端与实体钥匙间才进行测距和数据传输，其中，该配对密钥可以是预设的，也可以是来自于云端数字钥匙系统动态生成的配对密钥。同时，终端还与车辆之间通过蓝牙通信密钥进行匹配，匹配成功，才允许终端与车辆间进行数据传输。The physical key and the vehicle are matched through a pairing key. If the matching is successful, distance measurement and data transmission are performed between the terminal and the physical key. The pairing key can be preset or come from the cloud digital key system A dynamically generated pairing key. At the same time, the terminal is also matched with the vehicle through the Bluetooth communication key, and the data transmission between the terminal and the vehicle is allowed only if the matching is successful.
正常情况下，手机可通过BLE模块与实体钥匙中的BLE模块或车辆车身控制器(BCM)中的蓝牙模块建立蓝牙连接；实体钥匙可通过UWB模块与车辆上的若干UWB锚点进行高精度的测距及高安全性数据传输。由于UWB测距或通信时的功耗较大，并且工作时的距离较近，为节省能源，本实施例中的实体钥匙仅在与车辆的距离较近时，才启用UWB的测距或通信功能。Under normal circumstances, the mobile phone can establish a Bluetooth connection with the BLE module in the physical key or the Bluetooth module in the vehicle body controller (BCM) through the BLE module; the physical key can perform high-precision communication with several UWB anchor points on the vehicle through the UWB module. Distance measurement and high security data transmission. Since the power consumption of UWB distance measurement or communication is large, and the working distance is relatively short, in order to save energy, the physical key in this embodiment only enables UWB distance measurement or communication when the distance to the vehicle is relatively short Function.
应理解，考虑到实体钥匙的电池的耗能，本实施例中的实体钥匙仅用于测距和少量的有高安全性要求的数据传输，定位解算或逻辑判断主要在车辆BCM或手机来完成。实际应用中，也可根据实际需要将上述部分功能转移至实体钥匙来完成。It should be understood that considering the energy consumption of the battery of the physical key, the physical key in this embodiment is only used for distance measurement and a small amount of data transmission with high security requirements, and the location calculation or logical judgment is mainly performed by the vehicle BCM or mobile phone. Finish. In practical applications, some of the above functions can also be transferred to physical keys according to actual needs.
进一步说明，为了提供钥匙相对车身的二维甚至三维坐标以支持更多的功能，通常在车辆的车身周围(如车头车尾的4个角点)及座舱内的不同位置配置多个UWB锚点模块，每个UWB锚点模块分别与实体钥匙中的UWB模组进行测距，再将测距结果通过车端的CAN总线传递至车身控制器(BCM)，车身BCM通过解算各UWB锚点与实体钥匙间的多个测距结果，即可获取实体钥匙的位置坐标。To further explain, in order to provide two-dimensional or even three-dimensional coordinates of the key relative to the car body to support more functions, multiple UWB anchor points are usually arranged around the body of the vehicle (such as the four corners of the front and rear of the car) and at different positions in the cockpit Module, each UWB anchor point module performs distance measurement with the UWB module in the physical key, and then transmits the distance measurement result to the body controller (BCM) through the CAN bus at the vehicle end. Multiple distance measurement results between physical keys can obtain the position coordinates of the physical key.
当普通手机与实体钥匙距离较远时，由于普通手机不具备UWB功能，容易受到中继攻击的威胁，通常情况下，手机可通过蓝牙与实体钥匙或车辆建立通信连接，此时，用户可通过手机数字钥匙APP对车辆进行简单手动遥控操作，例如开启或关闭车门，但为了安全起见并不具备PEPS功能。实体钥匙由于具备UWB功能，具有防中继攻击能力，可以安全地对车辆执行PEPS功能的各种操作，但其受软硬件资源及电池能量所限，并不具备数字钥匙的功能，即不能远程授权或分享车辆的使用权。When the ordinary mobile phone is far away from the physical key, since the ordinary mobile phone does not have UWB function, it is vulnerable to the threat of relay attack. Usually, the mobile phone can establish a communication connection with the physical key or vehicle through Bluetooth. At this time, the user can pass The mobile phone digital key APP performs simple manual remote control operations on the vehicle, such as opening or closing the door, but it does not have the PEPS function for safety reasons. Due to its UWB function, the physical key has the ability to prevent relay attacks, and can safely perform various operations of the PEPS function on the vehicle. However, it is limited by hardware and software resources and battery energy, and does not have the function of a digital key, that is, it cannot remotely Authorize or share access to vehicles.
当普通手机与实体钥匙距离小于等于预设值时，此时手机与实体钥匙形成组合体，即手机与实体钥匙与车辆建立专用BLE通信通道，实体钥匙的UWB与车辆上分布的UWB锚点进行测距与安全数据传输，车身各UWB锚点将与实体钥匙的测距数据汇总至BCM进行实体钥匙位置解算，解算输出的实体钥匙的坐标，一方面用于车辆门控/灯控等功能实现，另一方面通过终端与车辆间的BLE通信通道传到终端上供在界面上UI呈现。此时的终端与实体钥匙组合体具备‘UWB终端’的所有安全能力，可行使‘UWB终端’的所有功能，用户可通过手机数字钥匙APP实现对车辆的安全UWB PEPS无感操控，同时还可以方便地进行数字钥匙远程分享，与家人共享车辆，或短时授权朋友用车。When the distance between the ordinary mobile phone and the physical key is less than or equal to the preset value, the mobile phone and the physical key form a combination at this time, that is, the mobile phone and the physical key establish a dedicated BLE communication channel with the vehicle, and the UWB of the physical key communicates with the UWB anchor points distributed on the vehicle. Ranging and safe data transmission, each UWB anchor point of the vehicle body will aggregate the ranging data with the physical key to the BCM to calculate the position of the physical key, and calculate the coordinates of the output physical key. On the one hand, it is used for vehicle door control/light control, etc. The function is realized, and on the other hand, it is transmitted to the terminal through the BLE communication channel between the terminal and the vehicle for presentation on the UI on the interface. At this time, the combination of the terminal and the physical key has all the security capabilities of the 'UWB terminal' and can perform all the functions of the 'UWB terminal'. The user can realize the safe UWB PEPS control of the vehicle through the mobile phone digital key APP, and at the same time It is convenient to remotely share the digital key, share the car with family members, or authorize friends to use the car for a short time.
需要说明的是，UWB定位算法包括多种算法，例如：AOA定位算法、TOF定位算法、TOA定位算法或TDOA定位算法等。使用时可根据需要选择合适的算法，本实施例中选用TOF定位算法，该算法通过无线信号的传播时间来测量节点间的距离，其是以多径中的首径到达时延估计理论为基础的，车辆发送UWB信号，当实体钥匙接收到该信号后，将包含收到该UWB脉冲信号时刻和再发出UWB脉冲信号的时刻的时间戳信息，以及相关数据信息回发给车辆，车辆再结合发出UWB脉冲的时间戳及收到返回的UWB脉冲的时间戳信息，便可计算出UWB ToF对应的距离。It should be noted that the UWB positioning algorithm includes multiple algorithms, for example: AOA positioning algorithm, TOF positioning algorithm, TOA positioning algorithm, or TDOA positioning algorithm. When in use, an appropriate algorithm can be selected according to the needs. In this embodiment, the TOF positioning algorithm is selected. This algorithm measures the distance between nodes through the propagation time of the wireless signal, which is based on the first path arrival delay estimation theory in multipath Yes, the vehicle sends a UWB signal. When the physical key receives the signal, it will contain the time stamp information of the time when the UWB pulse signal is received and the time when the UWB pulse signal is sent again, as well as relevant data information will be sent back to the vehicle, and the vehicle will be combined again. The distance corresponding to UWB ToF can be calculated by the time stamp information of sending out UWB pulse and receiving the time stamp information of returned UWB pulse.
本实施例的车辆和实体钥匙中嵌入有UWB模块，UWB模块主要包括：天线、UWB收发开关、UWB射频前端、信号处理单元、配置控制单元、微控制器及外接口。其中，UWB信号处理单元主要是处理发送信号和接收信号的，将需要发出的信息通过编码、调制等操作通过射频前端与天线发送出去，并将天线射频前端与接收的信号通过信号解调、解码等操作恢复出信号携带的信息；UWB射频前端是对射频信号进行处理的模块，如：带外干扰滤波、信号功率放大等。配置控制单元主要提供UWB射频前端、信号处理单元中的控制寄存器及读写控制逻辑，微控制器及接口函数(库)提供ToF测距/通信的时序等参数设置与状态输出。天线是把传输线上传播的导行波，变换成在无界媒介(通常是自由空间)中传播的电磁波，或者进行相反的变换的器件。The UWB module is embedded in the vehicle and the physical key of this embodiment, and the UWB module mainly includes: an antenna, a UWB transceiver switch, a UWB radio frequency front end, a signal processing unit, a configuration control unit, a microcontroller and an external interface. Among them, the UWB signal processing unit mainly processes the sending and receiving signals, sends the information to be sent through the RF front-end and antenna through encoding, modulation and other operations, and demodulates and decodes the antenna RF front-end and received signals through signal Waiting for operations to restore the information carried by the signal; UWB RF front-end is a module for processing RF signals, such as: out-of-band interference filtering, signal power amplification, etc. The configuration control unit mainly provides UWB RF front-end, control registers and read-write control logic in the signal processing unit, and the microcontroller and interface function (library) provide ToF ranging/communication timing and other parameter settings and status output. The antenna is a device that transforms the guided wave propagating on the transmission line into an electromagnetic wave propagating in an unbounded medium (usually free space), or vice versa.
请参阅图2，本发明的第二实施方式公开了一种车辆的远程操控方法，包括：Please refer to FIG. 2 , the second embodiment of the present invention discloses a remote control method for a vehicle, including:
终端与实体钥匙间实时扫描蓝牙广播信号，并监测对方发射功率与己方接收信号强度RSSI并推算出二者之间的距离，适时建立蓝牙连接，若终端检测到与实体钥匙之间的距离小于等于预设距离，则终端与实体钥匙建立专用蓝牙连接通道，绑定形成一个组合体，行使通常由“带UWB终端”承担的完整UWB数字钥匙应用功能，包括数字钥匙的远程授权/分享，以及实体钥匙UWB与终端BLE在车辆附近区域与车辆之间的PEPS过程操控；The terminal and the physical key scan the Bluetooth broadcast signal in real time, and monitor the transmission power of the other party and the received signal strength RSSI of the own side to calculate the distance between the two, and establish a Bluetooth connection in time. If the terminal detects that the distance between the terminal and the physical key is less than or equal to If the distance is preset, the terminal and the physical key will establish a dedicated Bluetooth connection channel, bind to form a combination, and exercise the complete UWB digital key application functions usually undertaken by the "terminal with UWB", including remote authorization/sharing of digital keys, and physical keys. The PEPS process control between the key UWB and the terminal BLE between the vehicle's vicinity and the vehicle;
若终端检测到与实体钥匙之间的距离大于预设距离，则解除与实体钥匙的绑定关系，各自恢复行使其既有功能，并适时断开蓝牙连接。If the terminal detects that the distance between the terminal and the physical key is greater than the preset distance, it will release the binding relationship with the physical key, resume its existing functions, and disconnect the Bluetooth connection in due course.
具体的说，终端和实体钥匙均具有低功耗蓝牙BLE通信功能，可以分别与车辆进行通信连接。其中，终端可以是智能手机、平板电脑、掌上电脑、笔记本电脑或台式电脑等设备，本实施例中，以终端为手机为例来进行说明，且该手机上安装有数字钥匙APP，用户可通过数字钥匙APP对终端进行操作。Specifically, both the terminal and the physical key have low-power Bluetooth BLE communication functions, and can communicate with the vehicle respectively. Wherein, the terminal can be a device such as a smart phone, a tablet computer, a handheld computer, a notebook computer, or a desktop computer. The digital key APP operates the terminal.
实体钥匙或手机间隔预设时间进行对对方的蓝牙广播信号循环检测，判断是否能建立相互之间的蓝牙(BLE)连接，若连接成功，则根据BLE通信时的发方发射功率与收方接收信号强度计算实体钥匙与手机的距离，其中，BLE收发之间的射频信号衰减符合无线通信射频传输模型，有如下方程关系：The physical key or the mobile phone performs cyclic detection of the Bluetooth broadcast signal of the other party at preset intervals to determine whether a Bluetooth (BLE) connection can be established between them. The signal strength calculates the distance between the physical key and the mobile phone. Among them, the RF signal attenuation between BLE transceivers conforms to the wireless communication RF transmission model, and has the following equation:
其中，d表示BLE发射器与接收器之间的距离，d0表示参考距离；Among them, d represents the distance between the BLE transmitter and receiver, and d0 represents the reference distance;
Pr(d)表示BLE发射器与接收器之间距离为d时的接收信号强度RSSI(dBm)；Pr (d) represents the received signal strength RSSI (dBm) when the distance between the BLE transmitter and receiver is d;
Pr(d0)表示BLE发射器与接收器之间距离为参考距离d0时的接收信号强度RSSI(dBm)；Pr (d0 ) represents the received signal strength RSSI (dBm) when the distance between the BLE transmitter and receiver is the reference distance d0 ;
n为链路插损指数，通常是一个常数，由测试环境决定；n is the link insertion loss index, usually a constant, determined by the test environment;
ασ为随机噪声。ασ is random noise.
在工程上通常将参考距离d0设为1m，1米距离时的接收信号强度RSSI记为A，距离为d时的RSSI可表示为：In engineering, the reference distance d0 is usually set to 1m, and the received signal strength RSSI at a distance of 1 meter is recorded as A, and the RSSI at a distance of d can be expressed as:
RSSI＝A-10nlog(d)RSSI=A-10nlog(d)
请参阅图3，图3是根据上述公式，对BLE收/发距离在25米以内时接收信号强度随距离增加而下降的测量结果，每条曲线表示一次测量的数据由图3可知，每次测量结果虽然有一定的随机性，但总体趋势是一致的，即在发射功率不变及收发天线的增益不变时，接收信号强度随距离增加而减小。Please refer to Figure 3. Figure 3 is the measurement result of the decrease in received signal strength as the distance increases when the BLE receiving/transmitting distance is within 25 meters according to the above formula. Each curve represents the data of one measurement. It can be seen from Figure 3 that each time Although the measurement results have certain randomness, the overall trend is consistent, that is, when the transmit power and the gain of the transceiver antenna are constant, the received signal strength decreases with the increase of distance.
请参阅图4，图4是图3中距离为0-5米的局部放大图，由图4可知，BLE收/发在5米以内时接收信号强度随距离增加快速下降，特别是在0～50cm区间时曲线下降的非常陡峭，且一致性很高，RSSI下降的幅度也很大(近30dB)，根据这种特性，在50cm范围内根据RSSI可以比较准确地推算出手机与实体钥匙之间的距离，因此，本实施例中预设距离设定为50cm。Please refer to Figure 4. Figure 4 is a partial enlarged view of the distance of 0-5 meters in Figure 3. It can be seen from Figure 4 that when the BLE receiving/transmitting is within 5 meters, the received signal strength decreases rapidly with the increase of distance, especially at 0-5 meters. In the 50cm interval, the curve drops very steeply, and the consistency is very high, and the RSSI drops greatly (nearly 30dB). According to this characteristic, the distance between the mobile phone and the physical key can be calculated more accurately based on the RSSI within the 50cm range. Therefore, the preset distance in this embodiment is set to 50cm.
若普通手机与实体钥匙之间的距离小于50cm，则手机和实体钥匙通过二者之间的专用BLE通信通道实现绑定，形成普通手机与UWB实体钥匙组合体，通过该组合体中的实体钥匙与车辆进行UWB ToF测距与安全数据传输，通过该组合体中的终端与车辆间的BLE连接进行组合体相对车身在UWB测距范围以外距离段上进行寻车，以及进行BLE_RSSI粗测距使得在组合体靠近车身至预设距离时及时触发UWB精测距/定位，组合体与车身间的BLE连接还用于UWB测距/通信过程的时序参数协商、实体钥匙UWB与车身UWB锚点间的测距同步等功能。If the distance between the ordinary mobile phone and the physical key is less than 50cm, the mobile phone and the physical key are bound through the dedicated BLE communication channel between the two to form an ordinary mobile phone and UWB physical key combination. Carry out UWB ToF distance measurement and secure data transmission with the vehicle, through the BLE connection between the terminal in the combination and the vehicle, the combination performs vehicle search relative to the body at a distance beyond the UWB range, and performs BLE_RSSI rough distance measurement so that When the combination is close to the vehicle body to the preset distance, the UWB precise ranging/positioning is triggered in time. The BLE connection between the combination and the vehicle body is also used for timing parameter negotiation of the UWB distance measurement/communication process, and between the physical key UWB and the vehicle body UWB anchor point. distance synchronization and other functions.
进一步说明，实体钥匙和手机绑定后，车辆在对实体钥匙进行UWB定位时，分布于车身不同位置的UWB锚点模块通过与实体钥匙的UWB模组进行ToF测距，再将测距结果通过车端的CAN总线传递至车身控制器(BCM)，车身BCM通过解算，即可获取实体钥匙的位置坐标，该坐标信息通过车辆与手机间的BLE通信通道传输至手机，供用户查看，通过保证实体钥匙与手机的位置一致性，使用户获得与具备UWB功能手机相同的使用体验。Further explanation, after the physical key is bound to the mobile phone, when the vehicle performs UWB positioning on the physical key, the UWB anchor modules distributed in different positions of the vehicle body will perform ToF distance measurement with the UWB module of the physical key, and then pass the distance measurement result through The CAN bus at the car end is transmitted to the body controller (BCM), and the BCM of the body can obtain the position coordinates of the physical key through the calculation. The coordinate information is transmitted to the mobile phone through the BLE communication channel between the vehicle and the mobile phone for users to view. The location of the physical key is consistent with that of the mobile phone, enabling users to obtain the same experience as that of a mobile phone with UWB function.
需要说明的是，考虑到终端的电池容量大且充电方便，对能耗不敏感，本实施例中，终端与实体钥匙组合体与车辆的BLE通信，由终端的BLE模块与车辆BCM中的BLE进行连接，但也可以使用实体钥匙中的BLE模块与车辆BCM中的BLE进行连接，只是此时车辆与终端之间的信息通信要经由组合体中的实体钥匙BLE进行中转，但不影响组合体对车辆进行PEPS无感操控等功能。It should be noted that, considering that the battery capacity of the terminal is large and easy to charge, it is not sensitive to energy consumption. In this embodiment, the combination of the terminal and the physical key communicates with the BLE of the vehicle. However, it is also possible to use the BLE module in the physical key to connect with the BLE in the vehicle BCM, but at this time the information communication between the vehicle and the terminal must be transferred through the physical key BLE in the combination, but it does not affect the combination Perform functions such as PEPS non-sensing control on the vehicle.
继续说明，为了降低受中继攻击的可能性，提高安全性，在终端与实体钥匙专用蓝牙连接前的广播包或连接后的数据包中，包含有发送方的发射功率。在将实体钥匙和手机绑定后，若接收方根据RSSI信息测距所得距离小于等于预设距离，则通过实体钥匙和手机之间的蓝牙通信通道，在BLE连接建立过程中及连接建立后控制自身发射功率，调整实体钥匙与手机蓝牙通信时的发射功率，在保证二者间能够可靠通信前提下，使终端与实体钥匙间BLE专用连接的通信覆盖范围最小化，从而减小在实体钥匙与手机之间的BLE专用通道通信时被第三方截获的概率。To continue explaining, in order to reduce the possibility of being attacked by relays and improve security, the broadcast packet before the terminal is connected to the physical key dedicated Bluetooth or the data packet after the connection includes the transmit power of the sender. After the physical key is bound to the mobile phone, if the distance obtained by the receiver according to the RSSI information distance measurement is less than or equal to the preset distance, through the Bluetooth communication channel between the physical key and the mobile phone, the BLE connection is established during and after the connection is established. Self-transmission power, adjust the transmission power when the physical key communicates with the mobile phone Bluetooth, and minimize the communication coverage of the BLE dedicated connection between the terminal and the physical key under the premise of ensuring reliable communication between the two, thereby reducing the communication between the physical key and the mobile phone. The probability of being intercepted by a third party during the BLE dedicated channel communication between mobile phones.
若手机与实体钥匙之间的距离大于50cm，则解除实体钥匙和手机的绑定关系，关闭手机上数字钥匙APP中与UWB联控相关的功能，以保证实体钥匙与手机的位置一致性，使用户获得与具备UWB功能手机相同的使用体验。在终端与实体钥匙解除绑定关系后，实体钥匙和手机相互独立，手机和实体钥匙恢复作为独立体的既定功能。实体钥匙拥有BLE模块与UWB模块，通常按照各车厂的私有协议对车辆进行相应PEPS动作，在距车辆较远距离时，由BLE模块尝试与车辆间建立BLE通信连接并进行RSSI粗测距，在距车辆的距离近到一个预设距离时，开启UWB模块与车辆上的UWB锚点进行ToF测距(探测)，再近到一个更近的预设距离时，启动实体钥匙中的UWB模块与与车辆上的多个UWB锚点同时进行ToF测距并进行二维或三维坐标解算得到实体钥匙相对车辆的平面位置或立体坐标，不同位置伴随有相应的门控/灯控/座椅调节/空调启动等服务功能。普通手机在解除与UWB实体钥匙的绑定关系后，因为不再具有防中继攻击能力，为安全起见通常关闭PEPS功能，但数字钥匙的大部分功能(如远程分享)和手工遥控车辆(远程时使用4G/5G等移动通信网连接，近程时使用BLE连接)的功能仍可使用。If the distance between the mobile phone and the physical key is greater than 50cm, the binding relationship between the physical key and the mobile phone will be released, and the functions related to UWB joint control in the digital key APP on the mobile phone will be turned off to ensure the consistency of the physical key and the mobile phone. Users get the same experience as that of mobile phones with UWB function. After the terminal and the physical key are unbound, the physical key and the mobile phone are independent of each other, and the mobile phone and the physical key resume their established functions as independent bodies. The physical key has a BLE module and a UWB module, and usually performs corresponding PEPS actions on the vehicle according to the private agreement of each car manufacturer. When the distance from the vehicle is close to a preset distance, the UWB module is turned on to perform ToF ranging (detection) with the UWB anchor point on the vehicle, and when it is closer to a preset distance, the UWB module in the physical key is started and Simultaneously perform ToF distance measurement with multiple UWB anchor points on the vehicle and perform two-dimensional or three-dimensional coordinate calculations to obtain the plane position or three-dimensional coordinates of the physical key relative to the vehicle. Different positions are accompanied by corresponding door control/light control/seat adjustment / Air conditioner start and other service functions. After the ordinary mobile phone is released from the binding relationship with the UWB physical key, because it no longer has the ability to prevent relay attacks, the PEPS function is usually turned off for safety reasons, but most of the functions of the digital key (such as remote sharing) and manual remote control of the vehicle (remote The function of using 4G/5G and other mobile communication networks to connect at short range, and using BLE connection at short range) can still be used.
综上所述，本发明的一种车辆的远程操控方法及系统，采用不具备UWB功能的终端与UWB实体钥匙，若终端与实体钥匙的距离小于等于预设值，则将实体钥匙与终端进行高安全性的绑定形成可行使‘UWB终端’功能的组合体，进而对车辆进行高安全性高定位精度的UWB无感门控与点火使能智能化操控，实现了通过普通终端实现车辆完整UWB数字钥匙的功能，在降低受中继攻击风险且享有高精度定位带来的良好用户体验的同时，也消除了用户添购UWB终端的经济负担。所以，本发明有效克服了现有技术中的种种缺点而具高度产业利用价值。To sum up, the remote control method and system of a vehicle of the present invention adopts a terminal without UWB function and a UWB physical key, and if the distance between the terminal and the physical key is less than or equal to the preset value, the physical key and the terminal are High-security binding forms a combination that can use the function of "UWB terminal", and then performs high-security and high-positioning precision UWB non-inductive door control and ignition-enabled intelligent control of the vehicle, realizing vehicle integrity through ordinary terminals The function of the UWB digital key, while reducing the risk of relay attacks and enjoying a good user experience brought by high-precision positioning, also eliminates the economic burden for users to purchase UWB terminals. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial application value.
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention should still be covered by the claims of the present invention.
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