Vehicle key position determination method, electronic equipment and vehicle

Abstract

The invention provides a vehicle key position determination method, an electronic device and a vehicle, in the process of determining the vehicle key position, a barrier-free area of the vehicle is determined based on image information around the vehicle, a low-frequency antenna corresponding to the barrier-free area is determined as a target low-frequency antenna, only the target low-frequency antenna is controlled to send first authentication information, and the vehicle key position is determined according to the first authentication information. Meanwhile, other low-frequency antennas are controlled not to send the first authentication information, so that the success rate of key searching can be greatly improved by controlling the target low-frequency antenna to send the first authentication information, the normal operation of the key searching function is ensured, and the accuracy of the determined vehicle key position is improved; meanwhile, other low-frequency antennas are controlled not to send the first authentication information, useless key searching operation of other low-frequency antennas can be avoided, the number of the low-frequency antennas sending the first authentication information can be reduced, then the dormant current of the vehicle is reduced, and then the energy consumption of the vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method for determining a vehicle key position, an electronic device, and a vehicle. Background Art

[0002] A keyless entry and start system (PEPS) includes an antenna system, which includes multiple low-frequency antennas. In the process of determining the position of a vehicle key, the existing method of simultaneously controlling multiple low-frequency antennas to continuously send low-frequency antennas and field strength carriers will cause a large dormant current of the vehicle, resulting in a large energy consumption of the vehicle. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a method for determining the position of a vehicle key, an electronic device and a vehicle.

[0004] Based on the above purpose, the first aspect of the present application provides a method for determining the position of a vehicle key, the method being performed based on a keyless entry and start system, the keyless entry and start system comprising a plurality of low-frequency antennas, the method comprising:

[0005] In response to the key finding function being awakened, acquiring image information around the vehicle;

[0006] Determine an obstacle-free area of ​​the vehicle based on the image information, and determine a low-frequency antenna corresponding to the obstacle-free area as a target low-frequency antenna;

[0007] Controlling the target low-frequency antenna to send first authentication information;

[0008] In response to receiving the first feedback information, a vehicle key location is determined based on the first feedback information.

[0009] Optionally, the plurality of low-frequency antennas include four low-frequency antennas respectively arranged inside the vehicle, on the main driver's side of the vehicle body, on the co-driver's side of the vehicle body and at the rear of the vehicle;

[0010] The image information includes four image areas, which are an image area corresponding to the front of the vehicle, an image area corresponding to the main driver's side of the vehicle, an image area corresponding to the co-driver's side of the vehicle, and an image area corresponding to the rear of the vehicle;

[0011] The barrier-free area is a completely barrier-free area or a partially barrier-free area;

[0012] The determining of the barrier-free area of ​​the vehicle based on the image information includes:

[0013] In response to at least one of the image areas in the image information not including a preset obstacle, determining the at least one image area as a completely obstacle-free area;

[0014] In response to the fact that each of the image areas in the image information includes a preset obstacle, the size of the preset obstacle in each image area is obtained, and a partial obstacle-free area is determined based on the size of the preset obstacle.

[0015] Optionally, the image information includes a first image area corresponding to the front of the vehicle, a second image area corresponding to the main driver's side of the vehicle, a third image area corresponding to the co-driver's side of the vehicle, and a fourth image area corresponding to the rear of the vehicle;

[0016] The determining of a partial obstacle-free area based on the size of the preset obstacle includes:

[0017] Determine a first ratio between the size of the preset obstacle in the first image area and the size of the front of the vehicle, a second ratio between the size of the preset obstacle in the second image area and the size of the main driver's side of the vehicle, a third ratio between the size of the preset obstacle in the third image area and the size of the co-driver's side of the vehicle, and a fourth ratio between the size of the preset obstacle in the fourth image area and the size of the rear of the vehicle;

[0018] comparing the first ratio, the second ratio, the third ratio and the fourth ratio,

[0019] In response to determining that there is a minimum ratio among the first ratio, the second ratio, the third ratio and the fourth ratio, determining the image area corresponding to the minimum ratio as the partial obstacle-free area;

[0020] In response to determining that there are at least two smallest ratios among the first ratio, the second ratio, the third ratio and the fourth ratio, the partial obstacle-free area is determined based on the at least two smallest ratios.

[0021] Optionally, determining the partial barrier-free area based on the at least two smallest ratios includes:

[0022] Based on a preset priority rule, determining the priority of the image area corresponding to the at least two smallest ratios;

[0023] The two priorities are compared, and the image area with the best priority is determined as the partial obstacle-free area.

[0024] Optionally, determining the vehicle key position based on the first feedback information includes:

[0025] Control all low-frequency antennas to cyclically send the first field strength carrier;

[0026] In response to receiving the second feedback information and the second feedback information being valid, determining the vehicle key location based on the second feedback information.

[0027] Optionally, after determining the position of the vehicle key, the method further includes:

[0028] In response to the vehicle key being located within the preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carrier waves, receive second feedback information, and determine the vehicle key position based on the second feedback information, until the determined vehicle key position is outside the preset area, and the vehicle is controlled to be automatically locked;

[0029] Or in response to the vehicle key being located within a preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carriers until the number of cycles reaches a preset number and no second feedback information is received or the received second feedback information is invalid, the vehicle is controlled to automatically lock.

[0030] Optionally, after controlling the vehicle to automatically lock, the method further includes:

[0031] Controlling the target low-frequency antenna to send second authentication information;

[0032] In response to receiving the third feedback information, the vehicle is controlled to be automatically unlocked based on the third feedback information.

[0033] Optionally, controlling the vehicle to automatically unlock based on the third feedback information includes:

[0034] Control all low-frequency antennas to cyclically transmit the second field strength carrier;

[0035] In response to receiving fourth feedback information and the fourth feedback information being valid, determining a vehicle key position based on the fourth feedback information;

[0036] In response to the vehicle key being located within a preset area, the vehicle is controlled to be automatically unlocked.

[0037] A second aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the program, the method described in any one of the first aspects above is implemented.

[0038] A third aspect of the present application provides a vehicle, comprising the electronic device described in the second aspect.

[0039] From the above, it can be seen that the method for determining the position of the car key, the electronic device and the vehicle provided by the present application, in the process of determining the position of the car key, determine the barrier-free area of ​​the vehicle based on the image information around the vehicle, determine the low-frequency antenna corresponding to the barrier-free area as the target low-frequency antenna, and only control the target low-frequency antenna to send the first authentication information, while controlling other low-frequency antennas not to send the first authentication information. In this way, controlling the target low-frequency antenna to send the first authentication information can greatly improve the success rate of key search, ensure the normal operation of the key search function, and improve the accuracy of the determined car key position. At the same time, controlling other low-frequency antennas not to send the first authentication information can avoid other low-frequency antennas from performing useless key search operations, and can also reduce the number of low-frequency antennas that send the first authentication information, thereby reducing the sleep current of the vehicle, and thereby reducing the energy consumption of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 It is a schematic diagram of the arrangement of a low-frequency antenna on a vehicle in the related art;

[0042] Figure 2 A schematic diagram of driving each antenna when executing a key search strategy in the related art;

[0043] Figure 3 A schematic diagram of a flow chart of a method for determining a vehicle key position according to an embodiment of the present application;

[0044] Figure 4 A schematic diagram of a device for determining a position of a car key according to an embodiment of the present application;

[0045] Figure 5 A schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0048] Passive Entry and Start System (PEPS) includes antenna system, Figure 1 Figure 1 is a schematic diagram of an exemplary structure of the antenna system of the PEPS system. Figure 1 As shown, the antenna system includes: a first low-frequency antenna 110 arranged at a middle position inside the vehicle; a second low-frequency antenna 120 and a third low-frequency antenna 130 respectively arranged on the driver's side and the co-driver's side outside the vehicle; and a fourth low-frequency antenna 140 arranged at the trunk position inside the vehicle.

[0049] Among them, the first low frequency antenna 110, the second low frequency antenna 120, the third low frequency antenna 130 and the fourth low frequency antenna 140 are configured to generate a field strength carrier for searching for keys; the relative positions of the first low frequency antenna 110, the second low frequency antenna 120, the third low frequency antenna 130 and the fourth low frequency antenna 140 are configured to enable the antenna system to generate a field strength carrier that can cover the entire interior of the vehicle; the fourth low frequency antenna 140 is configured to generate a field strength carrier that covers the external area of ​​the trunk of the vehicle.

[0050] In the related art, when the vehicle is dormant, the body controller controls the four low-frequency antennas to continuously send signals to detect the position of the vehicle key, thereby realizing the keyless start and vehicle lock functions. Figure 2As shown, after the key search function is awakened, the body controller controls the second low-frequency antenna 120, the third low-frequency antenna 130, the first low-frequency antenna 110 and the fourth low-frequency antenna 140 to execute the key search strategy in sequence. The key search strategy is: one of the low-frequency antennas sends low-frequency data, and then controls all low-frequency antennas to send field strength carriers in sequence. After the key controller receives the low-frequency data sent by the second low-frequency antenna 12 and the field strength carriers sent by the four low-frequency antennas, it will return high-frequency data based on the low-frequency data and the field strength carrier. After the body controller receives the high-frequency data, it will decrypt the high-frequency data and then calculate the key position based on the high-frequency data. If the key position is calculated to be in the unlocking area, it means that the key search strategy is correct at this time, and the key position is marked as the starting position, and then the third low-frequency antenna 130, the first low-frequency antenna 110 and the fourth low-frequency antenna 140 are controlled to execute the key search strategy in sequence, and the above steps are repeated until the key position finally determined is in the locking area, then the vehicle can be locked.

[0051] In actual application, the inventors found that in the process of determining the position of the car key, controlling four low-frequency antennas to continuously send low-frequency antennas and field strength carriers at the same time will cause the vehicle's sleep current to be large, resulting in a large energy consumption of the vehicle.

[0052] Therefore, how to reduce the vehicle's dormant current while ensuring that the key search function is effective, thereby reducing the vehicle's energy consumption, is an issue that needs to be addressed urgently.

[0053] Based on this, the inventor thought that in actual application, due to the limitation of the parking position of the vehicle, for example, one side of the vehicle is parked against the wall, the user cannot leave the vehicle or approach the vehicle from the side where the vehicle is parked close to the wall, resulting in the key not being able to appear on the side where the vehicle is parked close to the wall. Therefore, even if the low-frequency antenna on the side where the vehicle is parked close to the wall continues to send low-frequency data, the body controller cannot receive the high-frequency data corresponding to the low-frequency data, and the operation of the low-frequency antenna on this side is meaningless.

[0054] However, since the vehicle is in a dormant state after the key search function is awakened, the continuous and meaningless operation of the low-frequency antenna on this side will cause a large dormant current of the vehicle, resulting in a large energy consumption of the vehicle.

[0055] Based on this, see Figure 3 The present application provides a method for determining the position of a vehicle key, the method being executed based on a keyless entry and start system, the keyless entry and start system comprising a plurality of low-frequency antennas, the method being executed by a vehicle body controller.

[0056] The method specifically comprises the following steps:

[0057] Step S100, in response to the key search function being awakened, acquiring image information around the vehicle;

[0058] Step S200: determining an obstacle-free area of ​​the vehicle based on the image information, and determining a low-frequency antenna corresponding to the obstacle-free area as a target low-frequency antenna;

[0059] Step S300, controlling the target low-frequency antenna to send first authentication information;

[0060] Step S400: In response to receiving first feedback information, determine the location of the vehicle key based on the first feedback information.

[0061] Specifically, the low-frequency antenna is an antenna with a specific function on the vehicle. The antenna of the vehicle includes a low-frequency antenna and a high-frequency antenna, and the low-frequency antenna and the high-frequency antenna each play a different function. Among them, the low-frequency antenna receives and sends signals by inducing voltage through changes in the receiving electromagnetic field, and generates an electromagnetic field by transmitting current. The signals received and sent by the low-frequency antenna are mainly amplitude modulation signals (Amplitude Modulation signals, AM signals). The high-frequency antenna generates a weak induced current by sensing changes in the electromagnetic field, and generates a strong electromagnetic field by transmitting current to receive and send signals. The signals received and sent by the high-frequency antenna are mainly frequency modulation band signals (referred to as "FM signals") or global positioning system signals (Global Positioning System signals, GPS signals), etc.

[0062] When the body controller determines that the vehicle is powered off and there is no user in the vehicle, it wakes up the key search function and the vehicle enters sleep mode. At this time, the body controller can detect the key by controlling the low-frequency antenna, thereby realizing keyless start and vehicle lock functions.

[0063] When it is determined that the key search function is awakened, image information around the vehicle is obtained. Specifically, image information around the vehicle can be obtained through a 360° camera set on the vehicle to determine the situation around the vehicle through the image information.

[0064] The barrier-free area of ​​the vehicle is determined based on the image information, and the low-frequency antenna corresponding to the barrier-free area is determined as the target low-frequency antenna. The barrier-free area can be an area with no obstacles at all, or an area with some obstacles and some without obstacles.

[0065] Then, the target low-frequency antenna is controlled to send the first authentication information, and other low-frequency antennas do not send the first authentication information. Since the target low-frequency antenna is the low-frequency antenna corresponding to the barrier-free area, the possibility of the user leaving the vehicle or approaching the vehicle from the barrier-free area is very high compared to the low-frequency antenna corresponding to the barrier-free area. Therefore, the target low-frequency antenna corresponding to the barrier-free area has a very high success rate in finding the key, while the target low-frequency antenna corresponding to the barrier-free area has a very low success rate in finding the key. Therefore, controlling the target low-frequency antenna to send the first authentication information can greatly improve the success rate of finding the key. At the same time, controlling other low-frequency antennas not to send the first authentication information can avoid other low-frequency antennas from performing useless key-finding operations, thereby reducing the vehicle's dormant current.

[0066] The first authentication information may be low-frequency data or a field strength carrier. When the body controller controls the target low-frequency antenna to send the first authentication information, if the key controller receives the first authentication information, it will generate first feedback information based on the first authentication information and then send the first feedback information to the body controller.

[0067] When the body controller receives the first feedback information, it indicates that the key has been found based on the target low-frequency antenna, which further indicates that the key exists near the vehicle. Then, the location of the car key is further determined based on the first feedback information, and the vehicle is automatically locked or unlocked based on the specific location of the car key.

[0068] In the present application, in the process of determining the location of the car key, the barrier-free area of ​​the vehicle is determined based on the image information around the vehicle, and the low-frequency antenna corresponding to the barrier-free area is determined as the target low-frequency antenna. Only the target low-frequency antenna is controlled to send the first authentication information, and the other low-frequency antennas are controlled not to send the first authentication information. In this way, controlling the target low-frequency antenna to send the first authentication information can greatly improve the success rate of key finding, ensure the normal operation of the key finding function, and improve the accuracy of the determined car key location. At the same time, controlling other low-frequency antennas not to send the first authentication information can avoid other low-frequency antennas from performing useless key finding operations, and can also reduce the number of low-frequency antennas that send the first authentication information, thereby reducing the sleep current of the vehicle, and thereby reducing the energy consumption of the vehicle.

[0069] In some embodiments, the multiple low-frequency antennas include four low-frequency antennas respectively arranged inside the vehicle, on the main driver's side of the vehicle body, on the co-driver's side of the vehicle body, and on the rear of the vehicle; the image information includes four image areas, and the four image areas are respectively the image area corresponding to the front of the vehicle, the image area corresponding to the main driver's side of the vehicle body, the image area corresponding to the co-driver's side of the vehicle body, and the image area corresponding to the rear of the vehicle. In this way, the four image areas correspond one-to-one to the four low-frequency antennas.

[0070] The barrier-free area is a completely barrier-free area or a partially barrier-free area. The completely barrier-free area is an area where no preset obstacles exist, and the partially barrier-free area is an area where preset obstacles exist but the size of the preset obstacles is small and will not affect the user leaving or approaching the vehicle.

[0071] The determining of the barrier-free area of ​​the vehicle based on the image information includes:

[0072] In response to at least one of the image areas in the image information not including a preset obstacle, determining the at least one image area as a completely obstacle-free area;

[0073] In response to the fact that each of the image areas in the image information includes a preset obstacle, the size of the preset obstacle in each image area is obtained, and a partial obstacle-free area is determined based on the size of the preset obstacle.

[0074] Specifically, when at least one of the image areas in the image information does not include a preset obstacle, indicating that the image area does not include an obstacle, then the at least one image area is determined as a completely obstacle-free area, and the low-frequency antenna corresponding to the completely obstacle-free area is determined as the target low-frequency antenna.

[0075] When each of the image areas in the image information includes a preset obstacle, it means that each image area includes a preset obstacle. Then it is necessary to further determine, based on all the image areas, the area in the four image areas where the obstacle ratio is relatively small, which is the partial obstacle-free area in this case.

[0076] Obtain the size of the preset obstacle in each image area, determine a partial obstacle-free area based on the size of the preset obstacle, and determine the low-frequency antenna corresponding to the partial obstacle-free area as the target low-frequency antenna. In this way, when there are obstacles in each image area, the partial obstacle-free area can be determined specifically based on the size of the obstacle, and the target low-frequency antenna with a higher success rate in finding the key can be further determined to ensure the normal operation of the key finding function.

[0077] The preset obstacle is a preset obstacle that can prevent the user from walking or passing through. Exemplarily, the preset obstacle can be a wall, a lake, a pillar or other obstacles that can block the user.

[0078] In the present application, the obstacle-free area is determined based on whether different image areas in the image information contain preset obstacles, and the areas without obstacles or areas with fewer obstacles on the vehicle are determined as obstacle-free areas, ensuring that the target low-frequency antenna corresponding to the obstacle-free area is the low-frequency antenna with the highest success rate in finding the key among all low-frequency antennas, so as to ensure the normal operation of the key finding function.

[0079] In some embodiments, the image information includes a first image area corresponding to the front of the vehicle, a second image area corresponding to the main driver's side of the vehicle, a third image area corresponding to the co-driver's side of the vehicle, and a fourth image area corresponding to the rear of the vehicle;

[0080] The determining of a partial obstacle-free area based on the size of the preset obstacle includes:

[0081] Determine a first ratio between the size of the preset obstacle in the first image area and the size of the front of the vehicle, a second ratio between the size of the preset obstacle in the second image area and the size of the main driver's side of the vehicle, a third ratio between the size of the preset obstacle in the third image area and the size of the co-driver's side of the vehicle, and a fourth ratio between the size of the preset obstacle in the fourth image area and the size of the rear of the vehicle;

[0082] comparing the first ratio, the second ratio, the third ratio and the fourth ratio,

[0083] In response to determining that there is a minimum ratio among the first ratio, the second ratio, the third ratio and the fourth ratio, determining the image area corresponding to the minimum ratio as the partial obstacle-free area;

[0084] In response to determining that there are at least two smallest ratios among the first ratio, the second ratio, the third ratio and the fourth ratio, the partial obstacle-free area is determined based on the at least two smallest ratios.

[0085] Specifically, the front size and the rear size are the size of the front and rear in the width direction of the vehicle (i.e. the width of the front or rear). The main driver side size and the co-driver side size are the size of the vehicle in the length direction (i.e. the length of the vehicle).

[0086] The first ratio between the size of the preset obstacle in the first image area and the size of the front of the vehicle represents the proportion of the size of the obstacle in the first image area to the size of the front of the vehicle. The larger the ratio, the larger the area of ​​the front of the vehicle blocked by the obstacle.

[0087] The second ratio between the size of the preset obstacle in the second image area and the size of the main driver's side of the vehicle body represents the proportion of the size of the obstacle in the second image area to the size of the main driver's side of the vehicle body. The larger the ratio, the larger the area on the main driver's side of the vehicle body blocked by the obstacle.

[0088] The third ratio between the size of the preset obstacle in the third image area and the size of the passenger side of the vehicle body represents the proportion of the size of the obstacle in the third image area to the size of the passenger side of the vehicle body. The larger the ratio, the larger the area on the passenger side of the vehicle body blocked by the obstacle.

[0089] The fourth ratio between the size of the preset obstacle in the fourth image area and the size of the rear of the vehicle represents the ratio of the size of the obstacle in the fourth image area to the size of the rear of the vehicle. The larger the ratio, the larger the area of ​​the rear of the vehicle blocked by the obstacle.

[0090] Under the premise that there are obstacles all around the vehicle, the user is more likely to leave or approach the vehicle from the area of ​​the vehicle body corresponding to the image area where the obstacle size accounts for a smaller proportion. Therefore, the low-frequency antenna corresponding to the image area where the obstacle size accounts for a smaller proportion has a higher success rate in finding the key.

[0091] Therefore, in the present application, the first ratio, the second ratio, the third ratio and the fourth ratio are compared. When it is determined that there is a smallest ratio among the first ratio, the second ratio, the third ratio and the fourth ratio, the image area corresponding to the smallest ratio is determined as a partially barrier-free area. At this time, the proportion of obstacles in the partially barrier-free area is the smallest, and the user is more likely to leave or approach the vehicle in this area. Therefore, the low-frequency antenna corresponding to this area has a higher success rate in finding the key.

[0092] When it is determined that there are at least two minimum ratios among the first ratio, the second ratio, the third ratio and the fourth ratio, in order to further reduce the vehicle's sleep current while ensuring the normal operation of the key-finding function, in the present application, based on the at least two minimum ratios, a partial obstacle-free area is determined, and finally a target low-frequency antenna is determined to reduce the vehicle's sleep current as much as possible.

[0093] In the present application, the obstacle proportions in each image area are compared, and the image area corresponding to the smallest ratio is determined as a partial obstacle-free area, and the low-frequency antenna corresponding to the partial obstacle-free area is determined as the target low-frequency antenna, which can further reduce the vehicle's sleep current while ensuring the normal operation of the key-finding function.

[0094] In some embodiments, determining the partial barrier-free area based on the minimum of at least two ratios includes:

[0095] Based on a preset priority rule, determining the priority of the image area corresponding to the at least two smallest ratios;

[0096] The two priorities are compared, and the image area with the best priority is determined as the partial obstacle-free area.

[0097] Specifically, the preset priority rule is a priority rule for the image area preset based on actual conditions. A higher priority means that the user is more likely to leave or approach the vehicle from the vehicle area corresponding to the image area, and a lower priority means that the user is less likely to leave or approach the vehicle from the vehicle area corresponding to the image area.

[0098] Exemplarily, in the present application, the preset priority rule is that the priority of the first image area, the second image area, the third image area and the fourth image area are in the order from best to worst: the second image area, the first image area, the third image area and the fourth image area.

[0099] When it is determined that there are at least two minimum ratios among the first ratio, the second ratio, the third ratio and the fourth ratio, it means that the image areas corresponding to the at least two ratios have the same obstacle ratio, and the obstacle ratio cannot be used to determine the partial obstacle-free area. Then, based on the preset priority rule, the priority of the image area corresponding to the at least two minimum ratios can be determined, and the image area with the best priority can be determined as the partial obstacle-free area. In this way, when the obstacle ratio is the same, the area with a higher priority, that is, the area where the user is more likely to leave or approach the vehicle area corresponding to the image area, is determined as the obstacle-free area, so as to improve the success rate of finding the key of the target low-frequency antenna corresponding to the obstacle-free area and ensure the normal operation of the key-finding function.

[0100] In some embodiments, determining the location of the vehicle key based on the first feedback information includes:

[0101] Control all low-frequency antennas to cyclically send the first field strength carrier;

[0102] In response to receiving the second feedback information and the second feedback information being valid, determining the vehicle key location based on the second feedback information.

[0103] Specifically, although the first feedback information can be received to determine that there is a key around the vehicle, the specific location of the key cannot be determined. This is because the specific location of the key must be calculated by the field strength values ​​corresponding to the four low-frequency antennas, and the first feedback information only contains the high-frequency data corresponding to the target low-frequency antenna, so the specific location of the key cannot be calculated. If the specific location of the key cannot be determined, the key position change cannot be continuously monitored.

[0104] Therefore, after receiving the first feedback information, all low-frequency antennas are controlled to cyclically send the first field strength carrier. After receiving the second feedback information, it is determined whether the second feedback information is valid. When it is determined that the second feedback information is valid, the vehicle key position is determined based on the second feedback information.

[0105] Specifically, first determine whether the second feedback information is valid. After receiving the second feedback information, the body controller decrypts the second feedback information to obtain the decrypted second information, and determines a plurality of first field strength values ​​based on the decrypted second information, wherein the plurality of first field strength values ​​correspond to the plurality of first field strength carriers one by one.

[0106] When at least one of the plurality of first field strength values ​​is a preset invalid value, the second feedback information is determined to be invalid. When no first field strength value of the plurality of first field strength values ​​is a preset invalid value, the second feedback information is determined to be valid.

[0107] When it is determined that the second feedback information is valid, the vehicle key position is determined based on the second feedback information.

[0108] Specifically, the position of the car key is determined based on the multiple first field strength values ​​in the second feedback information and the preset field strength rule, wherein the preset field strength rule is the relationship between the field strength values ​​of each low-frequency antenna and the position of the car key stored in the vehicle body controller itself.

[0109] The vehicle body controller obtains the first field strength values ​​of each low-frequency antenna based on the second feedback information, and matches these first field strength values ​​with the preset field strength rules, so as to determine the current position of the vehicle key.

[0110] In the present application, after determining that there is a key near the vehicle, all low-frequency antennas are controlled to cyclically send the first field strength carrier, and the location of the car key is determined based on the received second feedback information. In this way, the location of the car key can be accurately determined based on multiple low-frequency antennas, thereby improving the accuracy of determining the location of the car key.

[0111] In some embodiments, after determining the position of the vehicle key, the method further includes:

[0112] In response to the vehicle key being located within the preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carrier waves, receive second feedback information, and determine the vehicle key position based on the second feedback information, until the determined vehicle key position is outside the preset area, and the vehicle is controlled to be automatically locked;

[0113] Or in response to the vehicle key being located within a preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carriers until the number of cycles reaches a preset number and no second feedback information is received or the received second feedback information is invalid, the vehicle is controlled to automatically lock.

[0114] Specifically, when the vehicle key is located outside the preset area, it means that the key has left the unlocking area and entered the locking area, and the vehicle is automatically locked. The preset area is a preset unlocking area. When the vehicle key is located in the unlocking area, the vehicle cannot be automatically locked; when the vehicle key is located outside the unlocking area, that is, the locking area, the vehicle can be automatically locked.

[0115] When the car key position is within the preset area, it means that the car key is within the unlocking area and the user has not left the unlocking area. At this time, it is necessary to continue to monitor the key position until the key enters the locking area. Therefore, all low-frequency antennas are controlled to cyclically send the first field strength carrier, receive the second feedback information, and determine the car key position based on the second feedback information until the determined car key position is outside the preset area. This indicates that the key has entered the locking area from the unlocking area, and the vehicle can be controlled to lock automatically.

[0116] Alternatively, while continuing to control all low-frequency antennas to cyclically send the first field strength carrier, the number of loop executions has reached a preset number, but the second feedback information is still not received, indicating that the user has left the unlocking area far away, causing the key to be unable to receive the first field strength carrier, and thus unable to feed back the second feedback information. At this time, the vehicle can be controlled to automatically lock.

[0117] Alternatively, while continuing to control all low-frequency antennas to cyclically send the first field strength carrier, the number of loop executions has reached the preset number of times, but the received second feedback information is invalid, indicating that the key controller may be unable to receive the effective first field strength carrier or generate a valid first field strength value due to factors such as spatial electromagnetic interference, signal interference or distance, resulting in the invalidity of the fed back second feedback information. However, at this time, the number of loop executions has reached the preset number of times, and continuing to send the second field strength carrier is meaningless and will only consume too much power. At this time, the vehicle can be controlled to lock automatically.

[0118] The preset number of times is the preset number of times the first field strength carrier is sent cyclically. Under normal circumstances, when the number of cycles reaches the preset number of times and no valid second feedback information has been received, it is almost impossible to receive valid second feedback information by continuing the cycle. Exemplarily, the preset number of times is 10 or 12 times.

[0119] In the present application, the second feedback information is judged to determine whether the car key position can be determined based on the second feedback information, and then based on the determined car key position, it is determined whether the vehicle automatic locking can be controlled. In this way, the change of the car key position can be accurately determined, and the vehicle automatic locking can be controlled in a timely and accurate manner.

[0120] In some embodiments, after controlling the vehicle to automatically lock, the method further includes:

[0121] Controlling the target low-frequency antenna to send second authentication information;

[0122] In response to receiving the third feedback information, the vehicle is controlled to be automatically unlocked based on the third feedback information.

[0123] Specifically, after controlling the vehicle to lock automatically, the target low-frequency antenna is continuously controlled to send the second authentication information. The second authentication information is low-frequency data or field strength carrier, so that the key search strategy can be executed based on the continuously launched second authentication information to determine whether there is a key around the vehicle.

[0124] When there is no key around the vehicle, the key controller cannot receive the second authentication information, and cannot return the third feedback information, so the body controller will not receive the third feedback information.

[0125] When there is a key near the vehicle, the key controller can receive the second authentication information, or generate third feedback information based on the second authentication information, and then send the third feedback information to the body controller. When the body controller receives the third feedback information, it determines that there is a key near the vehicle, and then controls the vehicle to automatically unlock based on the third feedback information.

[0126] In the present application, after controlling the vehicle to automatically lock, the target low-frequency antenna continues to be controlled to send the second authentication information to continue searching for the key, so as to facilitate the subsequent control of the vehicle to automatically unlock.

[0127] In some embodiments, controlling the vehicle to automatically unlock based on the third feedback information includes:

[0128] Control all low-frequency antennas to cyclically transmit the second field strength carrier;

[0129] In response to receiving fourth feedback information and the fourth feedback information being valid, determining a vehicle key position based on the fourth feedback information;

[0130] In response to the vehicle key being located within a preset area, the vehicle is controlled to be automatically unlocked.

[0131] Specifically, after receiving the third feedback information, all low-frequency antennas are controlled to cyclically send the second field strength carrier. After receiving the fourth feedback information, it is determined whether the fourth feedback information is valid. When it is determined that the fourth feedback information is valid, the vehicle key position is determined based on the fourth feedback information.

[0132] Specifically, first determine whether the fourth feedback information is valid. After receiving the fourth feedback information, the body controller decrypts the fourth feedback information to obtain the decrypted third information, and determines a plurality of second field strength values ​​based on the decrypted third information, wherein the plurality of second field strength values ​​correspond to the plurality of second field strength carriers one by one.

[0133] When at least one of the plurality of second field strength values ​​is a preset invalid value, the third feedback information is determined to be invalid. When no second field strength value of the plurality of second field strength values ​​is a preset invalid value, the third feedback information is determined to be valid.

[0134] When it is determined that the fourth feedback information is valid, the vehicle key position is determined based on the fourth feedback information.

[0135] Specifically, the position of the car key is determined based on the multiple second field strength values ​​in the fourth feedback information and the preset field strength rule, wherein the preset field strength rule is the relationship between the field strength values ​​of each low-frequency antenna and the position of the car key stored in the vehicle body controller itself.

[0136] The vehicle body controller obtains the second field strength values ​​of each low-frequency antenna based on the fourth feedback information, and matches these second field strength values ​​with the preset field strength rules, so as to determine the current position of the vehicle key.

[0137] When the determined vehicle key position is within a preset area, the vehicle is controlled to be automatically unlocked, thereby realizing a keyless automatic unlocking function.

[0138] In the present application, after controlling the vehicle to automatically lock, the target low-frequency antenna continues to be controlled to send the second authentication information. After receiving the third feedback information, all low-frequency antennas are controlled to cyclically send the second field strength carrier, and the vehicle key position is determined based on the received fourth feedback information. In this way, the position of the vehicle key can be accurately determined based on multiple low-frequency antennas, and then the vehicle can be automatically unlocked based on the position of the vehicle key, thereby realizing the keyless unlocking function of the vehicle.

[0139] In some embodiments, the method for determining the position of a vehicle key includes:

[0140] 1. When the vehicle is ready to be locked, the 360° camera obtains environmental image information around the parking area of ​​the vehicle;

[0141] 2. If the rear of the vehicle is against a wall or other obstacle area, when the vehicle is dormant, only the front guard low-frequency antenna, the driver's low-frequency antenna and the co-driver's low-frequency antenna are driven for approaching the vehicle to unlock or leaving the vehicle to lock;

[0142] If the rear bumper and the passenger side are against a wall, when the vehicle is dormant, only the front bumper low-frequency antenna and the driver's low-frequency antenna are driven for approaching the vehicle to unlock or leaving the vehicle to lock.

[0143] If the rear bumper, passenger side and front bumper side are against the wall, when the vehicle is dormant, only the driver's low-frequency antenna is driven for approach unlocking or exit locking functions;

[0144] If the rear bumper, passenger side and driver side are against the wall, when the vehicle is dormant, only the front bumper low-frequency antenna is driven for approaching vehicle unlocking or leaving vehicle locking functions.

[0145] 3. The low-frequency antenna on the side not close to the wall is controlled to perform corresponding periodic work, while the low-frequency antenna on the side close to the wall does not perform corresponding periodic work.

[0146] 4. When in sleep mode, if you want to implement the vehicle unlocking function or vehicle locking function, you only need to drive one low-frequency antenna at least. After the single low-frequency antenna detects the key, drive all antennas to locate the key position (that is, control the target low-frequency antenna to send the first authentication information, respond to receiving the first feedback information, control all low-frequency antennas to cyclically send the first field strength carrier, respond to receiving the second feedback information and the second feedback information is valid, determine the vehicle key position based on the second feedback information).

[0147] The present application can dynamically adjust the number of low-frequency antennas driven during sleep mode while ensuring the normal function of the key search function, thereby achieving the purpose of reducing the sleep current.

[0148] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0149] It should be noted that some embodiments of the present application are described above. In some cases, the actions or steps recorded in the above embodiments can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0150] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a device for determining the position of a vehicle key, wherein the device is executed based on a keyless entry and start system, and the keyless entry and start system includes multiple low-frequency antennas.

[0151] refer to Figure 4 , the device for determining the position of the vehicle key comprises:

[0152] The acquisition module 100 is configured to acquire image information around the vehicle in response to the key search function being awakened;

[0153] The determination module 200 is configured to determine an obstacle-free area of ​​the vehicle based on the image information, and determine a low-frequency antenna corresponding to the obstacle-free area as a target low-frequency antenna;

[0154] The execution module 300 is configured to control the target low-frequency antenna to send first authentication information;

[0155] The determination module 400 is configured to determine the vehicle key position based on the first feedback information in response to receiving the first feedback information.

[0156] In some embodiments, the multiple low-frequency antennas include four low-frequency antennas respectively arranged inside the vehicle, on the main driver's side of the vehicle body, on the co-driver's side of the vehicle body, and on the rear of the vehicle; the image information includes four image areas, and the four image areas are respectively the image area corresponding to the front of the vehicle, the image area corresponding to the main driver's side of the vehicle body, the image area corresponding to the co-driver's side of the vehicle body, and the image area corresponding to the rear of the vehicle.

[0157] In some embodiments, the barrier-free area is a fully barrier-free area or a partially barrier-free area.

[0158] In some embodiments, the determination module 200 is configured to:

[0159] In response to at least one of the image areas in the image information not including a preset obstacle, determining the at least one image area as a completely obstacle-free area;

[0160] In response to the fact that each of the image areas in the image information includes a preset obstacle, the size of the preset obstacle in each image area is obtained, and a partial obstacle-free area is determined based on the size of the preset obstacle.

[0161] In some embodiments, the image information includes a first image area corresponding to the front of the vehicle, a second image area corresponding to the main driver's side of the vehicle, a third image area corresponding to the co-driver's side of the vehicle, and a fourth image area corresponding to the rear of the vehicle.

[0162] In some embodiments, the determination module 200 is configured to:

[0163] Determine a first ratio between the size of the preset obstacle in the first image area and the size of the front of the vehicle, a second ratio between the size of the preset obstacle in the second image area and the size of the main driver's side of the vehicle, a third ratio between the size of the preset obstacle in the third image area and the size of the co-driver's side of the vehicle, and a fourth ratio between the size of the preset obstacle in the fourth image area and the size of the rear of the vehicle;

[0164] comparing the first ratio, the second ratio, the third ratio and the fourth ratio,

[0165] In response to determining that there is a minimum ratio among the first ratio, the second ratio, the third ratio and the fourth ratio, determining the image area corresponding to the minimum ratio as the partial obstacle-free area;

[0166] In response to determining that there are at least two smallest ratios among the first ratio, the second ratio, the third ratio and the fourth ratio, the partial obstacle-free area is determined based on the at least two smallest ratios.

[0167] In some embodiments, the determination module 200 is configured to:

[0168] Based on a preset priority rule, determining the priority of the image area corresponding to the at least two smallest ratios;

[0169] The two priorities are compared, and the image area with the best priority is determined as the partial obstacle-free area.

[0170] In some embodiments, the determination module 400 is configured to:

[0171] Control all low-frequency antennas to cyclically send the first field strength carrier;

[0172] In response to receiving the second feedback information and the second feedback information being valid, determining the vehicle key location based on the second feedback information.

[0173] In some embodiments, the determination module 400 is configured to:

[0174] In response to the vehicle key being located within the preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carrier waves, receive second feedback information, and determine the vehicle key position based on the second feedback information, until the determined vehicle key position is outside the preset area, and the vehicle is controlled to be automatically locked;

[0175] Or in response to the vehicle key being located within a preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carriers until the number of cycles reaches a preset number and no second feedback information is received or the received second feedback information is invalid, the vehicle is controlled to automatically lock.

[0176] In some embodiments, the determination module 400 is configured to: control the target low-frequency antenna to send second authentication information;

[0177] In response to receiving the third feedback information, the vehicle is controlled to be automatically unlocked based on the third feedback information.

[0178] In some embodiments, the determination module 400 is configured to: control all low-frequency antennas to cyclically transmit the second field strength carrier;

[0179] In response to receiving fourth feedback information and the fourth feedback information being valid, determining a vehicle key position based on the fourth feedback information;

[0180] In response to the vehicle key being located within a preset area, the vehicle is controlled to be automatically unlocked.

[0181] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0182] The device of the above embodiment is used to implement the corresponding method for determining the position of the car key in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0183] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for determining the position of the car key described in any of the above embodiments is implemented.

[0184] Figure 5 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0185] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0186] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0187] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0188] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0189] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0190] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0191] The electronic device of the above embodiment is used to implement the corresponding method for determining the position of the car key in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0192] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for determining the location of the car key as described in any of the above embodiments.

[0193] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0194] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method for determining the position of the car key as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0195] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method for determining the location of the car key as described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0196] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the device, electronic device, computer-readable storage medium and computer program product described in any of the above-mentioned embodiments.

[0197] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0198] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0199] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0200] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0201] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0202] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0203] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0204] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for determining the position of a car key, characterized in that: The method is performed based on a keyless entry and start system, the keyless entry and start system includes a plurality of low-frequency antennas, and the method includes: In response to the key finding function being awakened, acquiring image information around the vehicle; Determine an obstacle-free area of ​​the vehicle based on the image information, and determine a low-frequency antenna corresponding to the obstacle-free area as a target low-frequency antenna; Controlling the target low-frequency antenna to send first authentication information; In response to receiving the first feedback information, a vehicle key location is determined based on the first feedback information.

2. The method according to claim 1, characterized in that The multiple low-frequency antennas include four low-frequency antennas respectively arranged inside the vehicle, on the main driver's side of the vehicle body, on the co-driver's side of the vehicle body and at the rear of the vehicle; The image information includes four image areas, which are an image area corresponding to the front of the vehicle, an image area corresponding to the main driver's side of the vehicle, an image area corresponding to the co-driver's side of the vehicle, and an image area corresponding to the rear of the vehicle; The barrier-free area is a completely barrier-free area or a partially barrier-free area; The determining of the barrier-free area of ​​the vehicle based on the image information includes: In response to at least one of the image areas in the image information not including a preset obstacle, determining the at least one image area as a completely obstacle-free area; In response to the fact that each of the image areas in the image information includes a preset obstacle, the size of the preset obstacle in each image area is obtained, and a partial obstacle-free area is determined based on the size of the preset obstacle.

3. The method according to claim 2, characterized in that The image information includes a first image area corresponding to the front of the vehicle, a second image area corresponding to the main driver's side of the vehicle, a third image area corresponding to the co-driver's side of the vehicle, and a fourth image area corresponding to the rear of the vehicle; The determining of a partial obstacle-free area based on the size of the preset obstacle includes: Determine a first ratio between the size of the preset obstacle in the first image area and the size of the front of the vehicle, a second ratio between the size of the preset obstacle in the second image area and the size of the main driver's side of the vehicle, a third ratio between the size of the preset obstacle in the third image area and the size of the co-driver's side of the vehicle, and a fourth ratio between the size of the preset obstacle in the fourth image area and the size of the rear of the vehicle; comparing the first ratio, the second ratio, the third ratio and the fourth ratio, In response to determining that there is a minimum ratio among the first ratio, the second ratio, the third ratio and the fourth ratio, determining the image area corresponding to the minimum ratio as the partial obstacle-free area; In response to determining that there are at least two smallest ratios among the first ratio, the second ratio, the third ratio and the fourth ratio, the partial obstacle-free area is determined based on the at least two smallest ratios.

4. The method according to claim 3, characterized in that The determining the partial barrier-free area based on the at least two smallest ratios includes: Based on a preset priority rule, determining the priority of the image area corresponding to the at least two smallest ratios; The two priorities are compared, and the image area with the best priority is determined as the partial obstacle-free area.

5. The method according to claim 1, characterized in that The determining the position of the vehicle key based on the first feedback information includes: Control all low-frequency antennas to cyclically send the first field strength carrier; In response to receiving the second feedback information and the second feedback information being valid, determining the vehicle key location based on the second feedback information.

6. The method according to claim 5, characterized in that After determining the position of the vehicle key, the method further includes: In response to the vehicle key being located within the preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carrier waves, receive second feedback information, and determine the vehicle key position based on the second feedback information, until the determined vehicle key position is outside the preset area, and the vehicle is controlled to be automatically locked; Or in response to the vehicle key being located within a preset area, all low-frequency antennas are continuously controlled to cyclically transmit field strength carriers until the number of cycles reaches a preset number and no second feedback information is received or the received second feedback information is invalid, the vehicle is controlled to automatically lock.

7. The method according to claim 1, characterized in that After controlling the vehicle to automatically lock, the method further includes: Controlling the target low-frequency antenna to send second authentication information; In response to receiving the third feedback information, the vehicle is controlled to be automatically unlocked based on the third feedback information.

8. The method according to claim 7, characterized in that The controlling the vehicle to automatically unlock based on the third feedback information includes: Control all low-frequency antennas to cyclically transmit the second field strength carrier; In response to receiving fourth feedback information and the fourth feedback information being valid, determining a vehicle key position based on the fourth feedback information; In response to the vehicle key being located within a preset area, the vehicle is controlled to be automatically unlocked.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 9.

Images