Vehicle key positioning method, vehicle control method, vehicle key and vehicle

Abstract

The embodiment of the invention discloses a vehicle key positioning method, a vehicle control method, a vehicle key and a vehicle. The vehicle key positioning method comprises the steps that under the condition that a vehicle door opening signal sent by a vehicle end is received, the initial position of a vehicle key is obtained, and sensing data collected by a sensor in the vehicle key is obtained; determining the relative displacement of the vehicle key according to the sensing data; obtaining the current position of the vehicle key according to the relative displacement and the initial position; and sending the current position of the vehicle key to the vehicle end. According to the vehicle key positioning method and device, the sensing data collected by the sensor in the vehicle key can be obtained, the relative displacement of the vehicle relative to the initial position of the vehicle key can be determined, and the current position of the vehicle key can be obtained based on the initial position and the relative displacement of the vehicle key, so that accurate positioning of the vehicle key can be realized; the vehicle key positioning precision is improved, and the user experience and reliability of the non-inductive unlocking and locking function of the vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle key positioning method, a vehicle control method, a vehicle key, and a vehicle. Background Art

[0002] With the continuous development of vehicle technology, digital keys have become an important way to implement the car's contactless unlocking function. They are connected to the vehicle through low-power Bluetooth, providing users with a convenient unlocking and locking experience. However, the vehicle's contactless unlocking function requires precise positioning of the digital key.

[0003] Among the related methods, Bluetooth positioning solutions can be divided into broadcast solutions and monitoring solutions, both of which rely on the field strength of Bluetooth signals for positioning. However, since Bluetooth signals are high-frequency signals at 2.4GHz, they are susceptible to environmental interference. For example, factors such as walls, vehicle sheet metal, and human body occlusion can significantly affect signal strength, resulting in poor positioning accuracy and insufficient stability. Therefore, positioning methods that rely solely on Bluetooth field strength are difficult to overcome these interferences, especially when the user turns around immediately after the non-sensing locking or when the vehicle's surrounding environment is complex. Problems such as unstable non-sensing locking distance and mis-locking after turning around are prone to occur. Summary of the Invention

[0004] In view of the above problems, the present application proposes a vehicle key positioning method, a vehicle control method, a vehicle key, and a vehicle to improve the above problems.

[0005] In a first aspect, the present application provides a vehicle key positioning method, the method comprising: Upon receiving a door opening signal sent from the vehicle end, obtaining an initial position of the vehicle key and obtaining sensor data collected by a sensor in the vehicle key; determining a relative displacement of the vehicle key based on the sensing data; obtaining a current position of the vehicle key according to the relative displacement and the initial position; The current location of the vehicle key is sent to the vehicle end.

[0006] Optionally, the sensor data includes at least: acceleration of the vehicle key in a current key coordinate system; and determining the relative displacement of the vehicle key based on the sensor data includes: Based on the target rotation matrix, convert the acceleration of the vehicle key in the current key coordinate system into the acceleration of the vehicle key in the vehicle coordinate system; Based on the acceleration of the vehicle key in the whole vehicle coordinate system, the relative displacement of the vehicle key in the whole vehicle coordinate system is obtained.

[0007] Optionally, the sensing data further includes: an angular velocity of the vehicle key in a current key coordinate system; and the method further includes: Obtaining a current heading angle of the vehicle key according to the angular velocity of the vehicle key in the current key coordinate system; Based on the current heading angle of the vehicle key, the current rotation matrix of the vehicle key is obtained, and the current rotation matrix of the vehicle key is used as the target rotation matrix. The current rotation matrix of the vehicle key is used to characterize the conversion relationship between the current key coordinate system and the vehicle coordinate system.

[0008] Optionally, the sensing data includes at least: the angular velocity of the vehicle key in the current key coordinate system; the method further includes: acquiring, according to the angular velocity of the vehicle key in the current key coordinate system, turning information of the vehicle key, wherein the turning information indicates whether a user holding the vehicle key has made a turning motion; The turning information of the vehicle key is sent to the vehicle end, so that the vehicle end determines whether to maintain the locked state based on the turning information.

[0009] In a second aspect, the present application provides a vehicle control method, the method comprising: Receiving a current position of the vehicle key sent from the vehicle key, where the current position of the vehicle key is determined based on sensor data collected by a sensor in the vehicle key using the above method; determining a current location area of ​​the vehicle key from a first area and a second area based on the current location of the vehicle key; When the current location area of ​​the vehicle key changes from the first area to the second area, sensorless locking is performed.

[0010] Optionally, after performing the sensorless locking, the method further includes: detecting a fluctuation amplitude of a short-range communication signal emitted by the vehicle key; When the fluctuation amplitude of the short-range communication signal is greater than a fluctuation amplitude threshold, detecting whether the current position of the vehicle key has changed; When the current position of the vehicle key does not change, the vehicle state is maintained in the locked state.

[0011] Optionally, after performing the sensorless locking, the method further includes: receiving the turn information sent by the vehicle key; If the turning information indicates that the user holding the vehicle key has made a turning motion, detecting whether the current position of the vehicle key has changed; When the current position of the vehicle key does not change, the vehicle state is maintained in the locked state.

[0012] Optionally, the method further includes: determining a current location area of ​​the vehicle key based on the current location of the vehicle key when the current location of the vehicle key changes; When the current positioning area of ​​the vehicle key jumps from the first area to the third area, contactless unlocking is performed.

[0013] In a third aspect, the present application provides a vehicle key, comprising a first short-range communication module, a sensor, one or more processors, and a memory; A first short-range communication module is used to exchange information with a second short-range communication module of the vehicle; A sensor for obtaining the acceleration of the vehicle key in the current key coordinate system and the angular velocity of the vehicle key in the current key coordinate system; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute any of the above-mentioned vehicle key locating methods.

[0014] In a fourth aspect, the present application provides a vehicle, comprising a second short-range communication module, one or more processors, and a memory; A second short-range communication module, configured to exchange information with the first short-range communication module of the vehicle key; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned vehicle control method.

[0015] In a fifth aspect, the present application provides a computer-readable storage medium, in which program code is stored, wherein the above method is executed when the program code is run.

[0016] The present application provides a vehicle key positioning method, a vehicle control method, a vehicle key, a vehicle, and a storage medium. Upon receiving a door opening signal sent from a vehicle end, the method obtains the initial position of the vehicle key and obtains sensor data collected by a sensor within the vehicle key; based on the sensor data, the method determines the relative displacement of the vehicle key; based on the relative displacement and the initial position, the method obtains the current position of the vehicle key; and the method sends the current position of the vehicle key to the vehicle end.

[0017] In the present application, the above-mentioned method enables the acquisition of sensor data collected by the sensor in the vehicle key, the determination of the relative displacement of the vehicle relative to the initial position of the vehicle key, and the acquisition of the current position of the vehicle key based on the initial position and relative displacement of the vehicle key, thereby achieving precise positioning of the vehicle key and improving the positioning accuracy of the vehicle key. This can avoid the problems of poor positioning accuracy and insufficient stability caused by environmental interference when simply relying on Bluetooth signal field strength for positioning in related technologies, and significantly improve the user experience and reliability of the vehicle's senseless unlocking function. In particular, when the user turns around immediately after senseless locking or when the vehicle's surrounding environment is complex, it can avoid problems such as unstable senseless locking distance and mis-locking after turning around, providing users with a more stable and reliable senseless unlocking experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a vehicle key-vehicle system proposed in an embodiment of the present application is shown; Figure 2 A flow chart of a vehicle key positioning method proposed in an embodiment of the present application is shown; Figure 3 A flow chart of a vehicle control method proposed in an embodiment of the present application is shown; Figure 4 A schematic diagram showing a positioning area of ​​a vehicle proposed in an embodiment of the present application is shown; Figure 5 A flowchart of a preferred vehicle key positioning method and vehicle control method proposed in an embodiment of the present application is shown; Figure 6 A structural block diagram of a vehicle key proposed in an embodiment of the present application is shown; Figure 7 Shown is a structural block diagram of a vehicle proposed in this application. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] In the drawings, the sizes of components, layer thicknesses, or regions may be exaggerated for clarity. Therefore, any implementation of the present disclosure is not necessarily limited to the dimensions shown in the drawings, and the shapes and sizes of components in the drawings do not reflect true proportions. Furthermore, the drawings schematically illustrate idealized examples, and any implementation of the present disclosure is not limited to the shapes or values ​​shown in the drawings.

[0022] In an embodiment of the present application, a vehicle key positioning method, a vehicle control method, a vehicle key, a vehicle, and a storage medium provided by the present application obtain the initial position of the vehicle key and the sensor data collected by the sensor in the vehicle key upon receiving a door opening signal sent from the vehicle end; determine the relative displacement of the vehicle key based on the sensor data; obtain the current position of the vehicle key based on the relative displacement and the initial position; and send the current position of the vehicle key to the vehicle end. Since the sensor data collected by the sensor in the vehicle key can be obtained to determine the relative displacement of the vehicle relative to the initial position of the vehicle key, the current position of the vehicle key can be obtained based on the initial position and relative displacement of the vehicle key, thereby achieving accurate positioning of the vehicle key and improving the positioning accuracy of the vehicle key. This can avoid the problems of poor positioning accuracy and insufficient stability caused by environmental interference when simply relying on the Bluetooth signal field strength for positioning in the related art, and significantly improve the user experience and reliability of the vehicle's sensorless unlocking function. Especially when the user turns around immediately after locking the vehicle without any sense of lock or when the vehicle's surrounding environment is complex, it can avoid problems such as unstable locking distance and mislocking after turning around, providing users with a more stable and reliable unlocking experience without any sense of lock.

[0023] The embodiments of this application will be described below with reference to the accompanying drawings.

[0024] In order to better understand the solution of the embodiment of the present application, the hardware environment of a vehicle key-vehicle system of the present application is introduced below.

[0025] See also Figure 1 The system may include a vehicle key end and a vehicle end. The vehicle key end may include a first short-range communication module, a sensor module, and a vehicle key positioning algorithm module.

[0026] Among them, the first short-range communication module can be a Bluetooth Low Energy communication module (BLE). In the present application, the first short-range communication module on the vehicle key side can establish a wireless transmission channel with the second short-range communication module on the vehicle side to exchange information. In this wireless transmission channel, the RKE command of the vehicle key, the current position of the vehicle key, and the turning information of the vehicle key can be transmitted. The sensor module can be a six-axis gyroscope module. In the present application, the sensor module can include a gyroscope and an accelerometer. The gyroscope can be used to collect the angular velocity of the vehicle key in the current key coordinate system, and the accelerometer can be used to collect the acceleration of the vehicle key in the current key coordinate system. The vehicle key positioning algorithm module can be used to calculate the current position of the vehicle key based on the sensor data (angular velocity, acceleration) collected by the sensor module.

[0027] On the vehicle side, it may include a second short-range communication module, a fusion positioning algorithm module, and a vehicle unlocking module. Among them, the second short-range communication module may be a Bluetooth low-power communication module. In the present application, the second short-range communication module may be used to receive RKE instructions, the current position of the vehicle key, and the turning information of the vehicle key sent from the first short-range communication module. In addition, in the present application, N BLE positioning anchor points are provided on the vehicle to monitor the field strength of the wireless transmission channel between the first short-range communication module and the second short-range communication module. The N BLE positioning anchor points are distributed at the vehicle's rain light position, left and right B-pillars, and rear bumper, with no limit on the number. The fusion positioning algorithm module may be used to calculate the current positioning area of ​​the vehicle key based on the current position of the vehicle key. The vehicle unlocking module is used to determine and execute related operations of the vehicle's senseless unlocking based on the current positioning area of ​​the vehicle key.

[0028] See also Figure 2 , an embodiment of the present application provides a vehicle key positioning method, the method comprising: S110: When a door opening signal is received from the vehicle end, the initial position of the vehicle key is obtained, and sensor data collected by the sensor in the vehicle key is obtained.

[0029] The door opening signal can represent a signal triggered by the user getting out of the car to open the door. The initial position can be the initial coordinates of the vehicle key in the vehicle coordinate system when the vehicle key receives the door start signal. The initial coordinates can be used ( x 0 ，y0) indicates that, in this application, the initial position of the vehicle key can represent the position of the vehicle key in the vehicle when the door start signal is received, which can specifically include the positions in the vehicle such as the driver's seat, the co-driver's seat, and the rear seat. Among them, the vehicle coordinate system can be based on the vehicle armrest box as the origin, and the front of the vehicle (such as the direction of the front of the vehicle) as the positive direction of the X axis, the right side of the vehicle as the positive direction of the Y axis, and the vertical upward as the positive direction of the Z axis. In this application, the Z axis can be ignored, and the vehicle coordinate system can be simplified to the coordinate system of the XY plane (the armrest box plane). The G system can be used to represent the vehicle coordinate system.

[0030] The sensor in the vehicle key may be a six-axis gyroscope. In the present application, the six-axis gyroscope may include a gyroscope and an accelerometer. The sensing data may include the angular velocity and acceleration of the vehicle key in the current key coordinate system. The gyroscope may be used to collect the angular velocity of the vehicle key in the current key coordinate system, and the accelerometer may be used to collect the acceleration of the vehicle key in the current key coordinate system. The current key coordinate system may be the key coordinate system at the moment the sensor collects the sensing data. The key coordinate system may use the current displacement of the vehicle key as the coordinate origin, and use the direction directly in front of the user holding the vehicle key as the positive direction of the X-axis of the key coordinate system, the right side of the user holding the vehicle key as the positive direction of the Y-axis of the key coordinate system, and the top of the user holding the vehicle key as the positive direction of the Z-axis. The current key coordinate system may be represented by the B system.

[0031] In an optional embodiment, when it is detected that the vehicle is switched to the P gear, the initial position of the vehicle key can be obtained, and the sensor data collected by the sensor in the vehicle key can be obtained.

[0032] In this application, upon receiving a door opening signal from the vehicle via a wireless transmission channel, the vehicle key can first collect the vehicle key's short-range communication signal to determine the vehicle key's initial coordinates within the vehicle. This process can also capture sensor data collected by the vehicle key's sensors. This step provides an accurate starting point for subsequent key positioning, ensuring that the vehicle key can update its location information in real time after the user exits the vehicle through continuously collected sensor data, thereby achieving precise, sensorless vehicle unlocking.

[0033] S120: Determine the relative displacement of the vehicle key according to the sensing data.

[0034] Among them, the relative displacement represents the displacement change of the vehicle key relative to the initial position in the vehicle coordinate system, wherein the relative displacement can include the change in the X-axis direction and the change in the Y-axis direction. The relative displacement can be used express.

[0035] In the present application, the target rotation matrix can be obtained based on the angular velocity of the vehicle key in the current key coordinate system, and the acceleration of the vehicle key in the current key coordinate system can be converted into the acceleration in the whole vehicle key coordinate system based on the target rotation matrix to determine the relative displacement of the vehicle key, so as to facilitate the subsequent acquisition of the current position of the vehicle based on the initial position and relative displacement of the vehicle key.

[0036] S130: Obtaining the current position of the vehicle key according to the relative displacement and the initial position.

[0037] In this application, the initial position and relative displacement of the vehicle key in the vehicle coordinate system can be superimposed to obtain the current position of the vehicle key. The current position of the vehicle key can be used ( , )express.

[0038] S140: Send the current location of the vehicle key to the vehicle end.

[0039] In the present application, the vehicle key end can send the current position of the vehicle key to the vehicle end after obtaining the current position of the vehicle key, so that the vehicle can determine whether to perform a non-sensing unlocking operation based on the current position of the vehicle key.

[0040] In the embodiment of the present application, since the sensor data collected by the sensor in the vehicle key can be obtained, the relative displacement of the vehicle relative to the initial position of the vehicle key can be determined, and the current position of the vehicle key can be obtained based on the initial position and relative displacement of the vehicle key, the vehicle key can be accurately positioned, thereby improving the positioning accuracy of the vehicle key. This can avoid the problems of poor positioning accuracy and insufficient stability caused by environmental interference when the related art relies solely on the Bluetooth signal field strength for positioning, and significantly improve the user experience and reliability of the vehicle's non-sensing unlocking function. In particular, when the user turns around immediately after non-sensing locking or when the vehicle's surrounding environment is complex, it can avoid problems such as unstable non-sensing locking distance and mislocking after turning around, providing users with a more stable and reliable non-sensing unlocking system.

[0041] Based on this, an embodiment of the present application further provides a vehicle key positioning method. In this method, the above step S110 "obtaining the initial position of the vehicle key upon receiving a door opening signal sent from the vehicle end" may include the following steps S111 to S113: Step S111: When a door opening signal is received from the vehicle end, multiple short-range communication signals of the vehicle key are collected.

[0042] Among them, the short-range communication signal can be a Bluetooth field strength signal. In this application, the short-range communication signal can also be an ultra-wideband (UWB) signal, a Wi-Fi signal, an NFC signal or any other wireless signal suitable for short-range communication.

[0043] In the present application, upon receiving a door opening signal sent from the vehicle end, the vehicle key end can continuously collect N Bluetooth field strength signals (for example, continuously collect 20 Bluetooth field strength signals within 1 second).

[0044] Step S112: obtaining an initial signal feature vector of the vehicle key based on multiple short-range communication signals of the vehicle key.

[0045] In the present application, the initial signal feature vector of the vehicle key can be obtained based on the mean and variance of N Bluetooth field strength signals.

[0046] Step S113: Match the initial signal feature vector of the vehicle key with the signal feature vector in the two-dimensional coordinate library to obtain the initial position of the vehicle key.

[0047] Among them, the two-dimensional coordinate library can be a two-dimensional fingerprint coordinate library. In this two-dimensional coordinate library, the signal feature vector corresponds one-to-one to the position inside the vehicle under the global coordinate system of the whole vehicle. The two-dimensional coordinate library stores multiple signal feature vectors and mapping rules for multiple signal feature vectors corresponding to each position in the vehicle. The mapping rules characterize the correspondence between the signal feature vector and each position in the vehicle under the global coordinate system of the whole vehicle. The signal feature vector is obtained based on the mean value and variance of the short-range communication signal at each position in the vehicle.

[0048] In the present application, before obtaining the initial signal feature vector of the vehicle key, a two-dimensional coordinate library can be pre-constructed (the signal feature vector is obtained based on the short-range communication signal mean and short-range communication signal variance of each position in the vehicle, and a mapping rule is established for multiple signal feature vectors and multiple signal feature vectors corresponding to each position in the vehicle). Therefore, after obtaining the initial signal feature vector of the vehicle key, the initial signal feature vector of the vehicle key can be matched with the signal feature vector in the two-dimensional coordinate library based on weighted nearest neighbor (WKNN) or support vector machine (SVM) to obtain a signal feature vector matching the initial signal feature vector in the two-dimensional coordinate library. After that, the coordinates of the position in the vehicle that matches the initial signal feature vector can be obtained based on the mapping rule, so that the initial position of the vehicle key in the coordinates of the entire vehicle (i.e., the initial coordinates) can be obtained.

[0049] Because vehicle keys have inconsistent initial states and erratic movements, they may occupy different positions and postures in different scenarios. Furthermore, the user's movements when carrying the key are unpredictable, which poses a challenge to accurately locating the key. Therefore, initial state calibration and acquisition are necessary to ensure that the key can accurately determine its initial position and posture in a variety of complex situations, providing a reliable foundation for subsequent dynamic positioning and sensorless unlocking functions.

[0050] Based on this, an embodiment of the present application further provides a vehicle key positioning method. In this method, before the above step S120 of "determining the relative displacement of the vehicle key according to the sensor data", a calibration step of obtaining the initial state of the vehicle key (which may include the initial position, the gravity angle between the current key coordinate system and the vehicle coordinate system, the initial heading angle, the initial pitch angle, and the initial roll angle) may be included: In the present application, when a door opening signal is received from the vehicle end, the gravity angle between the current key coordinate system and the vehicle coordinate system can be determined based on the collected initial angular velocity of the vehicle key in the current key coordinate system, so as to obtain the initial pitch angle and initial roll angle based on the gravity angle, and the initial heading angle can be preset to 0 to obtain the initial state of the vehicle key based on the initial position, the gravity angle between the current key coordinate system and the vehicle coordinate system, the initial heading angle, the initial pitch angle and the initial roll angle.

[0051] In this application, the initial heading angle can be the rotation angle of the current key coordinate system around the Z axis of the vehicle coordinate system (following the right-hand rule). When the initial heading angle is preset to 0, the X axis of the current key coordinate system (directly in front of the user) can be made to completely coincide with the X axis of the vehicle coordinate system (in front of the vehicle, in the direction of the vehicle head); the Y axis of the current key coordinate system (to the right of the user) can be made to completely coincide with the Y axis of the vehicle coordinate system (to the right of the vehicle); at this time, there is no rotational deviation around the Z axis between the current key coordinate system and the vehicle coordinate system at the initial moment, only a positional difference. Therefore, the vehicle key posture is in a standard alignment state.

[0052] In this application, the following formula can be used to process the initial acceleration of the vehicle key in the current key coordinate system to determine the gravity angle between the current key coordinate system and the vehicle coordinate system: ; in, It can represent the gravity angle; It can represent the acceleration component of the initial acceleration of the vehicle key in the current key coordinate system in the XY plane; Characterizes the acceleration component of the vehicle key's initial acceleration on the Z axis in the current key coordinate system (assuming the vehicle key is stationary at the initial moment, the initial acceleration of the vehicle key in the current key coordinate system output by the accelerometer is approximately the gravity acceleration g).

[0053] In an optional embodiment, after obtaining the gravity angle between the current key coordinate system and the vehicle coordinate system, the initial pitch angle and the initial roll angle can be obtained based on the gravity angle between the current key coordinate system and the vehicle coordinate system, wherein the initial pitch angle can be used to characterize the angle at which the vehicle key tilts forward and backward from the current key coordinate system to the vehicle coordinate system (such as the vehicle key tilts forward or backward), and the initial roll angle is used to characterize the angle at which the vehicle key tilts left and right from the current key coordinate system to the vehicle coordinate system (such as the vehicle key swings left or right).

[0054] In an embodiment of the present application, when a door opening signal is received from the vehicle end, the initial state of the vehicle (initial position, the gravity angle between the current key coordinate system and the vehicle coordinate system, the initial heading angle, the initial pitch angle and the initial roll angle) can be determined based on the Bluetooth field strength signal of the vehicle key and the initial acceleration of the vehicle key in the current key coordinate system obtained by the sensor inside the vehicle key. The initial state of the vehicle is calibrated and determined through multi-source data fusion, providing an accurate starting point for the subsequent positioning of the vehicle key, so that the vehicle key can update its position information in real time through continuously collected sensor data (such as angular velocity, acceleration, etc.) during the user's movement, thereby realizing accurate and senseless unlocking function.

[0055] Based on this, an embodiment of the present application further provides a vehicle key positioning method. In this method, the above step S120 of "determining the relative displacement of the vehicle key according to the sensor data" may include the following steps S211 to S214: Step S211: obtaining the current heading angle of the vehicle key according to the angular velocity of the vehicle key in the current key coordinate system.

[0056] In this application, the angular velocity of the vehicle key in the current key coordinate system can be integrated to obtain the heading angle change of the vehicle key, and then the current heading angle of the vehicle key can be obtained based on the heading angle change and the initial heading angle.

[0057] The following formula can be used to process the angular velocity of the vehicle key in the current key coordinate system to obtain the current heading angle of the vehicle key: ; in, It can represent the current heading angle of the vehicle key. It can represent the initial heading angle, It can represent the angular velocity component of the vehicle key's angular velocity on the Z axis in the current key coordinate system.

[0058] In this application, the angular velocity of the vehicle key in the current key coordinate system can be expressed as Since the current heading angle of the vehicle key is the rotation angle of the current key coordinate system around the Z axis of the vehicle coordinate system, it can be assumed that and Nothing changes, only It is changing, so you can use The current heading angle of the vehicle key is obtained by processing, and the initial pitch angle and roll angle are obtained by calibrating the gravity direction, which can be regarded as constant or slowly changing quantities.

[0059] Step S212: Based on the current heading angle of the vehicle key, the current rotation matrix of the vehicle key is obtained, and the current rotation matrix of the vehicle key is used as the target rotation matrix. The current rotation matrix of the vehicle key is used to characterize the conversion relationship between the current key coordinate system and the vehicle coordinate system.

[0060] In the present application, the current heading angle of the vehicle key can be processed by a quaternion integration algorithm to obtain the current rotation matrix of the vehicle key, and then obtain the target rotation matrix.

[0061] The current heading angle of the vehicle key can be processed using the following formula to obtain the current rotation matrix of the vehicle key, and then the target rotation matrix can be obtained: ; in, can represent the target rotation matrix, It can indicate the current heading angle of the vehicle key.

[0062] Step S213: Based on the target rotation matrix, convert the acceleration of the vehicle key in the current key coordinate system into the acceleration of the vehicle key in the vehicle coordinate system.

[0063] Among them, the target rotation matrix can represent the transformation relationship between the key coordinate system and the vehicle coordinate system.

[0064] In this application, the following formula can be used to convert the acceleration of the vehicle key in the current key coordinate system to the acceleration of the vehicle key in the vehicle coordinate system based on the target rotation matrix: ; ; in, It can represent the acceleration of the vehicle key in the vehicle coordinate system. can represent the target rotation matrix, It can represent the acceleration of the vehicle key in the current key coordinate system. It can represent the acceleration component of the vehicle key in the current key coordinate system on the Z axis. It can represent the gravity angle between the current key coordinate system and the vehicle coordinate system.

[0065] Step S214: Based on the acceleration of the vehicle key in the vehicle coordinate system, obtain the relative displacement of the vehicle key in the vehicle coordinate system.

[0066] In this application, the relative displacement of the vehicle key in the vehicle coordinate system can be obtained based on the acceleration of the vehicle key in the vehicle coordinate system using the following formula: ; = ; in, It can represent the displacement change of the vehicle key on the X-axis. 、 can represent the integral time variable, It can represent the acceleration component of the vehicle key on the X-axis in the vehicle coordinate system. It can represent the displacement change of the vehicle key on the Y axis. It can represent the acceleration component of the vehicle key on the Y-axis in the vehicle coordinate system.

[0067] In an optional embodiment, the current position of the vehicle key can be obtained based on the relative displacement and initial position of the vehicle key in the vehicle coordinate system using the following formula: ; ; in, It can represent the coordinate of the current position of the vehicle key on the X-axis. It can represent the coordinate of the initial position of the vehicle key on the X-axis, It can represent the coordinate of the current position of the vehicle key on the Y axis, It can represent the coordinate of the initial position of the vehicle key on the Y-axis.

[0068] In an optional embodiment, the turning information of the vehicle key can be obtained based on the angular velocity of the vehicle key in the current key coordinate system, and the turning information of the vehicle key can be sent to the vehicle end so that the vehicle end can determine whether to maintain the locked state based on the turning information.

[0069] The turning information may indicate whether the user holding the vehicle key has made a turning motion.

[0070] In this application, the vehicle key's heading angle change can be calculated based on the vehicle key's angular velocity in the current key coordinate system. When the heading angle change exceeds a preset turning action threshold (such as 45 degrees or π / 4 radians), it can be determined that the user has turned and corresponding turning information (such as a flag or a specific angle value) can be generated. Subsequently, the vehicle key can send the turning information to the vehicle end via wireless communication, and the vehicle end can use this information to determine whether the vehicle needs to remain locked, thereby effectively avoiding the phenomenon of mislocking caused by the user turning around, significantly improving the reliability of the vehicle's senseless unlocking function and user experience.

[0071] In an embodiment of the present application, when the vehicle key receives a door opening signal sent from the vehicle end, the vehicle key obtains the initial state (initial position, initial pitch angle, initial roll angle, initial heading angle, gravity angle) of the vehicle key based on the two-dimensional coordinate library, gyroscope, and accelerometer. It can include: when the door opening signal is received from the vehicle end, the mean value and variance of the short-range communication signal at each position in the vehicle are collected to construct a two-dimensional coordinate library (that is, the coordinates of each position in the vehicle in the whole vehicle coordinate system), so that when the user triggers the door opening, N short-range communication signals can be collected continuously for a short time to match the initial position of the vehicle key in the two-dimensional coordinate library. Afterwards, based on the accelerometer collecting the initial acceleration of the vehicle key in the current key coordinate system, and assuming that the initial key is stationary at the initial moment, the gravity angle between the Z axis of the current key coordinate system and the Z axis of the vehicle coordinate system can be calculated, and the initial pitch angle and initial roll angle can be obtained, and it is assumed that the initial heading angle is 0 (at this time, there is no rotation deviation around the Z axis between the B system and the G system at the initial moment, only a position difference, and the posture is in a standard alignment state), so that the initial state of the vehicle key can be obtained.

[0072] After obtaining the initial state of the vehicle key, the rotation matrix can be obtained by quaternion integration calculation, which may include: integrating the Z-axis angular velocity component of the angular velocity of the vehicle key in the current key coordinate system (the angular velocity of the vehicle key in the current key coordinate system is collected in real time by the gyroscope) to obtain the current heading angle of the vehicle key, so that the rotation matrix of the current key coordinate system converted to the vehicle coordinate system can be obtained based on the quaternion integration and the current heading angle of the vehicle key.

[0073] After obtaining the rotation matrix, the acceleration of the vehicle key in the current key coordinate system (obtained through real-time acquisition by the accelerometer) can be converted to the acceleration of the vehicle key in the vehicle coordinate system based on the rotation matrix. This can include: the acceleration of the vehicle key in the current key coordinate system needs to be subtracted from its acceleration component on the Z axis, and the gravity component on the Z axis can be calculated by the gravity angle. The acceleration after subtracting the acceleration component on the Z axis is converted based on the rotation matrix to obtain the acceleration of the vehicle key in the vehicle coordinate system; finally, the acceleration of the vehicle key in the vehicle coordinate system can be integrated twice to obtain the relative displacement, and then the current position of the vehicle key can be obtained based on the relative displacement and the initial position, and sent to the vehicle end. In this way, the vehicle key can be accurately positioned, the positioning accuracy of the vehicle key is improved, and the problems of poor positioning accuracy and insufficient stability caused by environmental interference when simply relying on the Bluetooth signal field strength for positioning in related technologies can be avoided. It also significantly improves the user experience and reliability of the vehicle's sensorless unlocking function. Especially when the user turns around immediately after the non-sensing locking or the vehicle's surrounding environment is complex, it can avoid problems such as unstable non-sensing locking distance and mislocking after turning around, providing users with a more stable and reliable non-sensing unlocking body.

[0074] The vehicle key positioning method provided in this embodiment can obtain sensor data collected by sensors within the vehicle key to determine the relative displacement of the vehicle relative to the initial position of the vehicle key. Based on the initial position and relative displacement of the vehicle key, the current position of the vehicle key can be obtained, thereby achieving precise positioning of the vehicle key and improving the positioning accuracy of the vehicle key. This can avoid the problems of poor positioning accuracy and insufficient stability caused by environmental interference when the related art relies solely on Bluetooth signal field strength for positioning. It also significantly improves the user experience and reliability of the vehicle's non-sensing unlocking function. In particular, when the user turns around immediately after non-sensing locking or when the vehicle's surrounding environment is complex, it can avoid problems such as unstable non-sensing locking distance and mis-locking after turning around, providing users with a more stable and reliable non-sensing unlocking system.

[0075] See also Figure 3 , an embodiment of the present application provides a vehicle control method, the method comprising: S310: Receive the current position of the vehicle key sent from the vehicle key, where the current position of the vehicle key is determined according to the above-mentioned vehicle key positioning method based on sensor data collected by a sensor in the vehicle key.

[0076] S320: Based on the current position of the vehicle key, determine the current positioning area of ​​the vehicle key from the first area and the second area.

[0077] Among them, Figure 4As shown, the positioning areas of the vehicle may include the interior area (area O), the unlocking area (area D1, D2, D3), the buffer area (area B), the welcome area (area A), and the wake-up area (area E). In this application, the first area may be the buffer area (area B) and the second area may be the welcome area (area A).

[0078] In this application, the coordinate range of each positioning area of ​​the vehicle can be pre-set in the vehicle coordinate system; After obtaining the current position of the vehicle key, a fusion positioning algorithm can be used to determine the current positioning area of ​​the vehicle key from the first area and the second area based on the current position of the vehicle key, so that the current positioning area of ​​the vehicle key can be sent to the vehicle-side unlocking module.

[0079] S330: When the current positioning area of ​​the vehicle key jumps from the first area to the second area, performing sensorless locking.

[0080] In the present application, after receiving the current positioning area of ​​the vehicle key output by the positioning area of ​​the fusion positioning algorithm module, the vehicle-side unlocking module can determine whether the current positioning area of ​​the vehicle key has jumped (jumping from the buffer area to the welcome area, triggering contactless locking; jumping from the buffer area to the unlocking area, triggering contactless unlocking), so that contactless locking can be performed when the current positioning area of ​​the vehicle key jumps from the first area (buffer area) to the second area (welcome area).

[0081] In an optional embodiment, after performing contactless locking, the fluctuation amplitude of the short-range communication signal emitted by the vehicle key can be detected. When the fluctuation amplitude of the short-range communication signal is greater than the fluctuation amplitude threshold, it is detected whether the current position of the vehicle key has changed; when the current position of the vehicle key has not changed, the vehicle state is maintained in a locked state.

[0082] Among them, the short-range communication signal can be a Bluetooth field strength signal. In this application, the short-range communication signal can also be an ultra-wideband (UWB) signal, a Wi-Fi signal, an NFC signal or any other wireless signal suitable for short-range communication; the fluctuation amplitude of the short-range communication signal can be the change in signal strength (such as the change value of RSSI), and the fluctuation amplitude threshold can be a preset value. For example, for the Bluetooth field strength signal, the fluctuation amplitude threshold can be set to 10 dBm or higher. The specific value can be adjusted according to the actual application scenario and test results.

[0083] In the present application, the short-range communication signal emitted by the vehicle key can be continuously monitored after the vehicle key enters the buffer area. When it is detected that the signal fluctuation amplitude exceeds the fluctuation amplitude threshold, the current position of the vehicle key sent by the vehicle key is continuously obtained, and it is determined whether the current position of the vehicle key has changed; when the current position of the vehicle key has not changed, the vehicle state is maintained in a locked state. In other words, when it is detected that the signal fluctuation amplitude exceeds the fluctuation amplitude threshold, the sensor data collected by the sensor of the vehicle key can be integrated to determine that the current position of the vehicle key has not changed substantially. It can be determined that the short-range communication signal is abnormal due to environmental interference (such as human body occlusion, metal reflection), and the vehicle is maintained in a locked state at this time. Therefore, through the joint judgment of multiple signals, the real displacement and signal noise can be effectively distinguished, and the problem of misinterpretation of locking caused by communication interference can be avoided, thereby ensuring the safety of the vehicle and the consistency of user experience.

[0084] Based on this, an embodiment of the present application further provides a vehicle control method. In this method, after the above step S330 of "performing sensorless locking when the current location area of ​​the vehicle key jumps from the first area to the second area", the following steps S331 to S335 may be further included: Step S331: receiving the turn information sent by the vehicle key.

[0085] Step S332: When the turning information indicates that the user holding the vehicle key has turned around, detecting whether the current position of the vehicle key has changed.

[0086] Step S333: When the current position of the vehicle key does not change, the vehicle state is kept in the locked state.

[0087] In this application, when a user is leaving the vehicle, the vehicle side can receive turn information transmitted by the vehicle key. Once the vehicle side receives the turn information, and this turn information indicates that the user holding the vehicle key has indeed turned, the vehicle side will further detect whether the current position of the vehicle key has changed. If the current position of the vehicle key remains unchanged, the vehicle side will maintain the vehicle's locked state. This mechanism can effectively prevent the phenomenon of mis-locking caused by the user turning, ensuring the safety of the vehicle and the consistency of the user experience. Through the above steps, this application can accurately handle the user's turning movement during the process of leaving the vehicle, avoiding misjudgment caused by turning movements. Specifically, after the vehicle key uses its built-in sensor to detect the user's turning movement, it will promptly send the turn information to the vehicle side. After receiving the turn information, the vehicle side will further verify whether the vehicle key's position has changed. If the vehicle key's position has not changed, the vehicle side will maintain the vehicle's locked state, thus ensuring the safety of the vehicle and the consistency of the user experience. This method not only improves the reliability of the vehicle's sensorless unlocking function, but also significantly enhances the user experience.

[0088] Step S334 : When the current position of the vehicle key changes, determine the current positioning area of ​​the vehicle key based on the current position of the vehicle key.

[0089] Step S335: When the current positioning area of ​​the vehicle key jumps from the first area to the third area, performing contactless unlocking.

[0090] The third area may be an unlocking area.

[0091] In the present application, when the user is leaving the vehicle, the vehicle side receives a turning information, which indicates that the user holding the vehicle key has indeed turned around. The vehicle side will further detect whether the current position of the vehicle key has changed. If the current position of the vehicle key has changed, the current positioning area of ​​the vehicle key can be further obtained, and when the current positioning area of ​​the vehicle key jumps from the first area to the third area, the senseless unlocking can be performed. This can accurately handle the position change of the vehicle key and intelligently perform the senseless unlocking operation based on its current position and area jump. This method not only improves the reliability and user experience of the vehicle's senseless unlocking function, but also avoids the phenomenon of mis-locking caused by environmental interference or misoperation through precise area division and intelligent judgment.

[0092] This embodiment provides a vehicle control method that receives the current location of a vehicle key from a vehicle key, where the current location of the vehicle key is determined based on sensor data collected by sensors within the vehicle key. Based on the current location of the vehicle key, the method determines the current location area of ​​the vehicle key from a first area and a second area. When the current location area of ​​the vehicle key changes from the first area to the second area, the method triggers contactless locking. Through this method, after periodically receiving the current location of the vehicle key from the vehicle key, the vehicle terminal calculates the current location area of ​​the key based on a fusion positioning algorithm. When the vehicle key determines that the current location area has changed from the first area to the second area, the method triggers contactless locking. Consequently, the vehicle can automatically lock based on the precise location change of the vehicle key, eliminating the need for manual user intervention, thereby achieving contactless locking. This method not only improves the vehicle's intelligence level but also significantly enhances the convenience and consistency of the user experience. Furthermore, through precise area division and intelligent judgment, it avoids false locking caused by environmental interference or misoperation, thereby enhancing vehicle safety and reliability.

[0093] In order to better understand the solutions of all embodiments of the present application, the basic business processes of the vehicle key positioning method and vehicle control method of the present application are introduced below.

[0094] See also Figure 5 , the vehicle end can send a door opening signal to the vehicle key end after detecting the user getting off the vehicle and opening the door. After receiving the door opening signal, the vehicle key end obtains the initial position of the vehicle key and the sensor data collected by the sensor in the vehicle key (the angular velocity and acceleration of the vehicle key in the current key coordinate system), and can integrate the angular velocity of the vehicle key in the current key coordinate system to obtain the current heading angle of the vehicle key. Based on the quaternion integration algorithm and the current heading angle of the vehicle key, the current rotation matrix is ​​obtained, and then the target rotation matrix can be obtained; then, based on the target rotation matrix, the acceleration of the vehicle key in the current key coordinate system can be converted into the acceleration of the vehicle key in the whole vehicle coordinate system, and then the acceleration of the vehicle key in the whole vehicle coordinate system can be integrated twice to obtain the relative displacement, and then, based on the initial position and relative displacement of the vehicle key, the current position of the vehicle key can be obtained, and the current position of the vehicle key is sent to the vehicle end; After receiving the current position of the vehicle key, the vehicle end determines the current positioning area of ​​the vehicle key based on the current position of the vehicle key, and performs contactless locking when the current positioning area of ​​the vehicle key jumps from the first area to the second area.

[0095] See also Figure 6The present application provides a vehicle key 600, which includes a first short-range communication module, a sensor, one or more processors, and a memory.

[0096] The first short-range communication module 610 is used to exchange information with the second short-range communication module of the vehicle.

[0097] The sensor 620 is used to obtain the acceleration and angular velocity of the vehicle key in the current key coordinate system.

[0098] One or more processors and a memory 630 , one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned vehicle key locating method.

[0099] The following will be combined Figure 7 A vehicle provided in this application is described.

[0100] See also Figure 7 Based on the above vehicle control method, the embodiments of the present application also provide another vehicle 100 that can execute the above vehicle control method. Vehicle 100 includes a processor 102, a memory 104, a communication module 106, and a second short-range communication module 108. The memory 104 stores a program that can execute the content of the above embodiments, and the processor 102 can execute the program stored in the memory 104.

[0101] The processor 102 may include one or more processing cores. The processor 102 utilizes various interfaces and circuits to connect various components within the vehicle 100. It executes instructions, programs, code sets, or instruction sets stored in the memory 104 and accesses data stored in the memory 104 to perform various functions and process data for the vehicle 100. Optionally, the processor 102 may be implemented in the form of at least one of a network processor (NPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 102 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; the NPU is responsible for processing multimedia data such as video and images; and the modem is responsible for wireless communication. It is understandable that the above-mentioned modem may not be integrated into the processor 102, but may be implemented separately through a communication chip.

[0102] The memory 104 may include random access memory (RAM), read-only memory (ROM), and double data rate synchronous dynamic random access memory (DDR). The memory 104 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created by the vehicle 100 during use (such as a phone book, audio and video data, chat history data, etc.).

[0103] The communication module 106 can be used to implement information exchange between the vehicle 100 and other devices, for example, transmitting device control instructions, operation request instructions, and status information acquisition instructions, etc. When the other devices are different devices, the corresponding communication modules 106 may be different.

[0104] The second short-range communication module 108 can be used to receive the RKE command, the current position of the vehicle key, and the turning information of the vehicle key sent from the first short-range communication module.

[0105] An embodiment of the present application provides a computer-readable storage medium having program code stored therein, wherein the program code can be invoked by a processor to execute the method described in the above method embodiment.

[0106] The computer-readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program codes can be compressed, for example, in an appropriate form.

[0107] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0110] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0111] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0112] The above is a detailed introduction to a vehicle key positioning method, device and vehicle provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A vehicle key positioning method, characterized in that: The method comprises: Upon receiving a door opening signal sent from the vehicle end, obtaining an initial position of the vehicle key and obtaining sensor data collected by a sensor in the vehicle key; determining a relative displacement of the vehicle key based on the sensing data; obtaining a current position of the vehicle key according to the relative displacement and the initial position; The current location of the vehicle key is sent to the vehicle end.

2. The method according to claim 1, characterized in that The sensor data at least includes: the acceleration of the vehicle key in the current key coordinate system; determining the relative displacement of the vehicle key based on the sensor data includes: Based on the target rotation matrix, convert the acceleration of the vehicle key in the current key coordinate system into the acceleration of the vehicle key in the vehicle coordinate system; Based on the acceleration of the vehicle key in the whole vehicle coordinate system, the relative displacement of the vehicle key in the whole vehicle coordinate system is obtained.

3. The method according to claim 2, characterized in that The sensing data further includes: the angular velocity of the vehicle key in the current key coordinate system; the method further includes: Obtaining a current heading angle of the vehicle key according to the angular velocity of the vehicle key in the current key coordinate system; Based on the current heading angle of the vehicle key, the current rotation matrix of the vehicle key is obtained, and the current rotation matrix of the vehicle key is used as the target rotation matrix. The current rotation matrix of the vehicle key is used to characterize the conversion relationship between the current key coordinate system and the vehicle coordinate system.

4. The method according to claim 1, wherein The sensing data at least includes: the angular velocity of the vehicle key in the current key coordinate system; the method further includes: acquiring, according to the angular velocity of the vehicle key in the current key coordinate system, turning information of the vehicle key, wherein the turning information indicates whether a user holding the vehicle key has made a turning motion; The turning information of the vehicle key is sent to the vehicle end, so that the vehicle end determines whether to maintain the locked state based on the turning information.

5. A vehicle control method, characterized in that: The method comprises: Receiving a current position of the vehicle key sent from a vehicle key, where the current position of the vehicle key is determined based on sensor data collected by a sensor in the vehicle key according to the method of any one of claims 1 to 4; determining a current location area of ​​the vehicle key from a first area and a second area based on the current location of the vehicle key; When the current location area of ​​the vehicle key changes from the first area to the second area, sensorless locking is performed.

6. The method according to claim 5, characterized in that After performing the sensorless locking, the method further includes: detecting a fluctuation amplitude of a short-range communication signal emitted by the vehicle key; When the fluctuation amplitude of the short-range communication signal is greater than a fluctuation amplitude threshold, detecting whether the current position of the vehicle key has changed; When the current position of the vehicle key does not change, the vehicle state is maintained in the locked state.

7. The method according to claim 5, characterized in that After performing the sensorless locking, the method further includes: receiving the turn information sent by the vehicle key; If the turning information indicates that the user holding the vehicle key has made a turning motion, detecting whether the current position of the vehicle key has changed; When the current position of the vehicle key does not change, the vehicle state is maintained in the locked state.

8. The method according to claim 7, characterized in that The method further comprises: determining a current location area of ​​the vehicle key based on the current location of the vehicle key when the current location of the vehicle key changes; When the current positioning area of ​​the vehicle key jumps from the first area to the third area, contactless unlocking is performed.

9. A vehicle key, characterized in that: comprising a first short-range communication module, a sensor, one or more processors, and a memory; A first short-range communication module is used to exchange information with a second short-range communication module of the vehicle; A sensor for obtaining the acceleration of the vehicle key in the current key coordinate system and the angular velocity of the vehicle key in the current key coordinate system; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the vehicle key locating method according to any one of claims 1 to 4.

10. A vehicle, characterized in that: comprising a second short-range communication module, one or more processors, and a memory; A second short-range communication module, configured to exchange information with the first short-range communication module of the vehicle key; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the vehicle control method according to any one of claims 5 to 8.

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