Method for determining a position of a vehicle key, electronic device and vehicle

Abstract

The application provides a vehicle key position determination method, an electronic device and a vehicle. In the process of determining the vehicle key position, the unobstructed area of the vehicle is determined based on image information around the vehicle, a low-frequency antenna corresponding to the unobstructed area is determined as a target low-frequency antenna, only the target low-frequency antenna is controlled to send first authentication information, and 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 searching, ensure the normal operation of the key searching function, improve the accuracy of the determined vehicle key position, controlling other low-frequency antennas not to send the first authentication information can avoid the useless key searching operation of other low-frequency antennas, and can also reduce the number of low-frequency antennas sending the first authentication information, thereby reducing the sleep current of the vehicle and the energy consumption of the vehicle.

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] The Passive Entry and Start System (PEPS) includes an antenna system consisting of multiple low-frequency antennas. The existing system simultaneously controls multiple low-frequency antennas to continuously transmit low-frequency antenna signals and field strength carrier signals during key location determination, resulting in high vehicle sleep current and energy consumption. Summary of the Invention

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

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

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

[0006] 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;

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

[0008] In response to receiving the first feedback information, the 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 image area 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 each of the image areas in the image information including 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 driver's side of the vehicle, a third image area corresponding to the passenger side of the vehicle, and a fourth image area corresponding to the rear of the vehicle;

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

[0017] determining a first ratio between the size of the preset obstacle and the front size of the vehicle in the first image region, a second ratio between the size of the preset obstacle and the driver's side size of the vehicle in the second image region, a third ratio between the size of the preset obstacle and the passenger's side size of the vehicle in the third image region, and a fourth ratio between the size of the preset obstacle and the rear size of the vehicle in the fourth image region;

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

[0019] In response to determining that a minimum ratio exists among the first ratio, the second ratio, the third ratio, and the fourth ratio, determining an 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] Determining the priorities of the image regions corresponding to the at least two smallest ratios based on a preset priority rule;

[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 location based on the first feedback information includes:

[0025] Control all low-frequency antennas to cyclically transmit 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, continuing to control all low-frequency antennas to cyclically transmit field strength carriers, receive second feedback information, and determine the vehicle key location based on the second feedback information, until the vehicle key is determined to be located outside the preset area, controlling the vehicle to automatically lock;

[0029] Or in response to the vehicle key being located within a preset area, all low-frequency antennas are 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 transmit second authentication information;

[0032] In response to receiving the third feedback information, the vehicle is controlled to automatically unlock 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 the vehicle key location 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, comprising 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] As can be seen from the above, the method for determining the position of the car key, the electronic device and the vehicle provided in 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 this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 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 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 vehicle key position 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 this application more clear, this 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 have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before 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 may 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 an exemplary structural diagram 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 vehicle's trunk.

[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 car key, thereby realizing the keyless start and vehicle lock functions. For example, see Figure 2As shown, after the key finder function is activated, the vehicle body controller sequentially controls the second LF antenna 120, the third LF antenna 130, the first LF antenna 110, and the fourth LF antenna 140 to execute the key finder strategy. The key finder strategy involves one LF antenna transmitting low-frequency data, followed by the control of all four LF antennas to transmit a field strength carrier. After receiving the low-frequency data from the second LF antenna 12 and the field strength carriers from the four LF antennas, the key controller returns high-frequency data based on the low-frequency data and the field strength carriers. After receiving this high-frequency data, the vehicle body controller decrypts the high-frequency data and calculates the key location based on the high-frequency data. If the calculated key location is within the unlocked zone, the key finder strategy is correct, marking the key location as the starting position. The control then sequentially controls the third LF antenna 130, the first LF antenna 110, and the fourth LF antenna 140 to execute the key finder strategy. This process repeats until the key is finally located within the locked zone, at which point the vehicle can be locked.

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

[0052] Therefore, how to reduce the vehicle's dormant current while ensuring the effectiveness of the key search function, thereby reducing the vehicle's energy consumption, is an urgent problem that needs to be solved.

[0053] Based on this, the inventor thought that in actual application, due to the limitation of the vehicle parking position, 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 parked close to the wall, resulting in the key not being able to appear on the side parked close to the wall. Therefore, even if the low-frequency antenna on the side of the vehicle 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 continued 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 including multiple low-frequency antennas, and 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: Control 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 by receiving changes in the 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 vehicle's power is off and no one is inside, the body controller activates the key search function and the vehicle enters sleep mode. The body controller then controls the low-frequency antenna to detect the key, enabling keyless start and door-to-door locking.

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

[0064] The vehicle's barrier-free area 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 transmit the first authentication information, while the other low-frequency antennas are not. Since the target low-frequency antenna is the low-frequency antenna corresponding to the barrier-free area, the user is much more likely to leave the vehicle or approach the vehicle from the barrier-free area than from 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 transmit the first authentication information can greatly improve the success rate of finding the key. At the same time, controlling the other low-frequency antennas not to transmit the first authentication information can prevent the other low-frequency antennas from performing useless key-finding operations, thereby reducing the vehicle's sleep current.

[0066] The first authentication information can be low-frequency data or a field strength carrier. When the body controller controls the target low-frequency antenna to transmit the first authentication information, if the key controller receives the first authentication information, it generates first feedback information based on the first authentication information and then sends 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, and further indicates that the key exists near the vehicle. Then, based on the first feedback information, the position of the car key is further determined, and the vehicle is controlled to automatically lock or unlock based on the specific position of the car key.

[0068] In the present application, in the process of determining the location of the car key, the vehicle's barrier-free area 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 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 vehicle's sleep current and thereby reducing the vehicle's energy consumption.

[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 at the rear of the vehicle; the image information includes four image areas, which are 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 without any preset obstacles, and the partially barrier-free area is an area with preset obstacles, but the preset obstacles are small in size and will not affect the user's departure from 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 image area 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 each of the image areas in the image information including 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 image area 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 preset obstacles, it means that each image area includes preset obstacles. Then it is necessary to further determine, based on all the image areas, the area in which obstacles account for a smaller proportion in these four image areas, 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 this application, the barrier-free area is determined based on whether different image areas in the image information contain preset obstacles, and the areas on the vehicle without obstacles or with fewer obstacles are determined as barrier-free areas, ensuring that the target low-frequency antenna corresponding to the barrier-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 driver's side of the vehicle, a third image area corresponding to the passenger side of the vehicle, and a fourth image area corresponding to the rear of the vehicle;

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

[0081] determining a first ratio between the size of the preset obstacle and the front size of the vehicle in the first image region, a second ratio between the size of the preset obstacle and the driver's side size of the vehicle in the second image region, a third ratio between the size of the preset obstacle and the passenger's side size of the vehicle in the third image region, and a fourth ratio between the size of the preset obstacle and the rear size of the vehicle in the fourth image region;

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

[0083] In response to determining that a minimum ratio exists among the first ratio, the second ratio, the third ratio, and the fourth ratio, determining an 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 and rear dimensions are the width dimensions of the vehicle (i.e., the width of the front or rear). The driver's side and passenger's side dimensions are the length dimensions of the vehicle (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 vehicle's front end represents the proportion of the obstacle size in the first image area to the size of the vehicle's front end. The larger the ratio, the larger the area of ​​the vehicle's front end 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 of ​​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 proportion 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 this 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 this partially barrier-free area is the smallest, and the user is more likely to leave or approach the vehicle from 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 this 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 this application, the obstacle ratios 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. This 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 obstacle-free area based on the minimum of at least two ratios includes:

[0095] Determining the priorities of the image regions corresponding to the at least two smallest ratios based on a preset priority rule;

[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 at least two of the first, second, third, and fourth ratios have the same minimum ratio of obstacles, it indicates that the image areas corresponding to the at least two ratios have the same percentage of obstacles. In this case, the percentage of obstacles cannot be used to determine the partial obstacle-free area. Therefore, based on a preset priority rule, the priority of the image areas corresponding to the at least two minimum ratios can be determined, and the image area with the highest priority can be determined as the partial obstacle-free area. In this way, if the percentage of obstacles is the same, the area with a higher priority, that is, the area with a higher probability of a user leaving or approaching the vehicle area corresponding to the image area, can be determined as the obstacle-free area, thereby improving the success rate of key finding for the target low-frequency antenna corresponding to the obstacle-free area and ensuring 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 transmit 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, while receiving the first feedback message confirms the key's presence near the vehicle, it cannot pinpoint its exact location. This is because determining the key's exact location requires calculating the field strength corresponding to the four low-frequency antennas, while the first feedback message only contains the high-frequency data corresponding to the target low-frequency antenna. Therefore, the key's exact location cannot be calculated. Without a clear key location, continuous monitoring of key position changes is impossible.

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

[0105] Specifically, first, a determination is made as to whether the second feedback information is valid. After receiving the second feedback information, the vehicle body controller decrypts the second feedback information to obtain decrypted second information. Based on the decrypted second information, the vehicle body controller determines a plurality of first field strength values, where the plurality of first field strength values ​​correspond one-to-one to a plurality of first field strength carriers.

[0106] When at least one of the plurality of first field intensity values ​​is a preset invalid value, the second feedback information is determined to be invalid. When no first field intensity value among the plurality of first field intensity 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 location 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 a preset field strength rule, wherein the preset field strength rule is a relationship between the field strength values ​​of each low-frequency antenna and the position of the car key stored in the vehicle body controller.

[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 preset field strength rules, thereby determining the current position of the vehicle key.

[0110] In this 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 the car key location determination.

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

[0112] In response to the vehicle key being located within the preset area, continuing to control all low-frequency antennas to cyclically transmit field strength carriers, receive second feedback information, and determine the vehicle key location based on the second feedback information, until the vehicle key is determined to be located outside the preset area, controlling the vehicle to automatically lock;

[0113] Or in response to the vehicle key being located within a preset area, all low-frequency antennas are 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 a preset area, indicating that the key has left the unlocking zone and entered the locking zone, the vehicle is automatically locked. The preset area is a preset unlocking zone. When the vehicle key is in the unlocking zone, the vehicle cannot be automatically locked. When the vehicle key is outside the unlocking zone, i.e., in the locking zone, 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 continued to be 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, it means that the key has entered the locking area from the unlocking area. At this time, the vehicle can be controlled to automatically lock.

[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 a valid 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 second feedback information being invalid. 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 automatically lock.

[0118] The preset number of times is a preset number of times the first field strength carrier is cyclically transmitted. Under normal circumstances, if valid second feedback information has not been received when the number of cycles reaches the preset number, it is almost impossible to receive valid second feedback information by continuing the cyclic transmission. Exemplarily, the preset number of times is 10 or 12.

[0119] In this application, by judging the second feedback information, it is determined whether the car key position can be determined based on the second feedback information, and then it is determined whether the vehicle automatic locking can be controlled based on the determined car key position. 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 transmit second authentication information;

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

[0123] Specifically, after controlling the vehicle to automatically lock, the target low-frequency antenna is continuously controlled to transmit a second authentication message. The second authentication message is low-frequency data or a field strength carrier. In this way, a key search strategy can be executed based on the continuously transmitted second authentication message to determine whether a key is present near 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 a key is present near the vehicle, the key controller may receive the second authentication information and may generate third feedback information based on the second authentication information, and then send the third feedback information to the body controller. Upon receiving the third feedback information, the body controller determines that a key is present 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 is continued 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 the vehicle key location 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. When the fourth feedback information is received, it is determined whether the fourth feedback information is valid. When it is determined that the fourth feedback information is valid, the car key position is determined based on the fourth feedback information.

[0132] Specifically, first, a determination is made as to whether the fourth feedback information is valid. After receiving the fourth feedback information, the vehicle body controller decrypts the fourth feedback information to obtain decrypted third information. Based on the decrypted third information, the vehicle body controller determines a plurality of second field strength values, where the plurality of second field strength values ​​correspond one-to-one to a plurality of second field strength carriers.

[0133] When at least one of the plurality of second field intensity values ​​is a preset invalid value, the third feedback information is determined to be invalid. When no second field intensity value among the plurality of second field intensity 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 a preset field strength rule, wherein the preset field strength rule is a relationship between the field strength values ​​of each low-frequency antenna and the position of the car key stored in the vehicle body controller.

[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 preset field strength rules, thereby determining the current position of the vehicle key.

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

[0138] In this 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 location of a vehicle key includes:

[0140] 1. When the vehicle is about to be locked, the 360° camera captures the surrounding image information of the vehicle;

[0141] 2. If the rear of the vehicle is against a wall or other obstruction, when the vehicle is dormant, only the front passenger low-frequency antenna, driver's low-frequency antenna, and passenger low-frequency antenna are driven for approach unlocking or exit locking.

[0142] If the rear bumper and passenger side are against a wall, when the vehicle is dormant, only the front bumper and driver's side low-frequency antennas are driven for approach unlocking or exit locking.

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

[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 operation, while the low-frequency antenna on the side close to the wall does not perform corresponding periodic operation.

[0146] 4. When in sleep mode, if you want to implement the near-vehicle unlocking function or the leaving-vehicle locking function, you only need to drive one low-frequency antenna. 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] This 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 in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0149] It should be noted that the above describes some embodiments of the present application. In some cases, the actions or steps described 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 processes depicted in the accompanying drawings do 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, which 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 location 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 at the rear of the vehicle; the image information includes four image areas, which are 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 completely 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 image area 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 each of the image areas in the image information including 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 driver's side of the vehicle, a third image area corresponding to the passenger 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] determining a first ratio between the size of the preset obstacle and the front size of the vehicle in the first image region, a second ratio between the size of the preset obstacle and the driver's side size of the vehicle in the second image region, a third ratio between the size of the preset obstacle and the passenger's side size of the vehicle in the third image region, and a fourth ratio between the size of the preset obstacle and the rear size of the vehicle in the fourth image region;

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

[0165] In response to determining that a minimum ratio exists among the first ratio, the second ratio, the third ratio, and the fourth ratio, determining an 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] Determining the priorities of the image regions corresponding to the at least two smallest ratios based on a preset priority rule;

[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 transmit 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, continuing to control all low-frequency antennas to cyclically transmit field strength carriers, receive second feedback information, and determine the vehicle key location based on the second feedback information, until the vehicle key is determined to be located outside the preset area, controlling the vehicle to automatically lock;

[0175] Or in response to the vehicle key being located within a preset area, all low-frequency antennas are 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 automatically unlock based on the third feedback information.

[0178] In some embodiments, the determining 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 the vehicle key location 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 devices are described as being divided into various modules according to their functions. Of course, when implementing this 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 and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable 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 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. 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 communicatively connected to each other within the device via the bus 1050.

[0185] The processor 1010 can be implemented using 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 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

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

[0188] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0189] The bus 1050 comprises a path for transmitting 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 a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this 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 media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules 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 disc read-only memory (CD-ROM), digital versatile disc (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 vehicle 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 a user's active request, a prompt message is sent to the user to clearly inform the user that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the disclosed technical solution based on the prompt message.

[0199] As an optional but non-limiting implementation, in response to a 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. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

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

[0201] Those 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 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, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the 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 invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize 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 scope of protection 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, which includes multiple low-frequency antennas. The method includes: In response to the key search function being activated, acquiring image information around the vehicle; 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; controlling only the target low-frequency antenna to transmit the first authentication information, and controlling other low-frequency antennas except the target low-frequency antenna not to transmit the first authentication information; In response to receiving the first feedback information, determining a vehicle key location based on the first feedback information; The determining of the car key position based on the first feedback information includes: controlling all low-frequency antennas to cyclically send a first field strength carrier, and in response to receiving second feedback information and the second feedback information being valid, determining the car key position based on the second 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 image area 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 each of the image areas in the image information including 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 driver's side of the vehicle, a third image area corresponding to the passenger side of the vehicle, and a fourth image area corresponding to the rear of the vehicle; The determining of a portion of the barrier-free area based on the size of the preset obstacle includes: determining a first ratio between the size of the preset obstacle and the front size of the vehicle in the first image region, a second ratio between the size of the preset obstacle and the driver's side size of the vehicle in the second image region, a third ratio between the size of the preset obstacle and the passenger's side size of the vehicle in the third image region, and a fourth ratio between the size of the preset obstacle and the rear size of the vehicle in the fourth image region; comparing the first ratio, the second ratio, the third ratio and the fourth ratio, In response to determining that a minimum ratio exists among the first ratio, the second ratio, the third ratio, and the fourth ratio, determining an 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 of the partial barrier-free area based on the minimum of the at least two ratios includes: Determining the priorities of the image regions corresponding to the at least two smallest ratios based on a preset priority rule; 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, wherein After determining the position of the vehicle key, the method further includes: In response to the vehicle key being located within the preset area, continuing to control all low-frequency antennas to cyclically transmit field strength carriers, receive second feedback information, and determine the vehicle key location based on the second feedback information, until the vehicle key is determined to be located outside the preset area, controlling the vehicle to automatically lock; Or in response to the vehicle key being located within a preset area, all low-frequency antennas are 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.

6. The method according to claim 5, characterized in that After controlling the vehicle to automatically lock, the method further includes: controlling the target low-frequency antenna to transmit second authentication information; In response to receiving the third feedback information, the vehicle is controlled to automatically unlock based on the third feedback information.

7. The method according to claim 6, 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 the vehicle key location 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.

8. 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 7 is implemented.

9. A vehicle, characterized in that: The electronic device comprising the electronic device according to claim 8.

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