Key positioning device, key positioning method, and vehicle

Abstract

The application discloses a key positioning device, a key positioning method and a vehicle. The key positioning device comprises an antenna module, a rotating module and a control module. The antenna module comprises at least three antennas, and the at least three antennas are used for receiving wireless signals sent by a key. The rotating module is connected with the antenna module and is used for driving the antenna module to rotate. The control module is connected with the antenna module and the rotating module respectively, is used for acquiring the wireless signals sent by the key and received by the at least three antennas respectively in the process of controlling the rotating module to drive the antenna module to rotate, and is used for determining the position of the key according to the wireless signals sent by the key and received by the at least three antennas respectively and the setting positions of the at least three antennas in the case that the wireless signals sent by the key and received by two antennas of the at least three antennas are matched, so that the accuracy of key positioning is improved.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and in particular to a key positioning device, a key positioning method, and a vehicle. Background Technology

[0002] With the increasing popularity and development of automobiles, people have higher and higher requirements for the intelligence and comfort of cars. In order to meet these requirements, the PEPS (Passive Entry Passive Start) system has emerged. Among them, the PEPS system can control the working status of the vehicle locks according to the position of the key; based on this, the accuracy requirements for key positioning in related technologies are becoming increasingly higher. Summary of the Invention

[0003] In view of the above problems, this application proposes a key positioning device, a key positioning method, and a vehicle. By changing the direction of the antenna used for positioning during the key positioning process according to the Angle of Arrival (AOA) method, the positioning antenna receives a matching wireless signal, and the key position is located based on the matching wireless signal and the setting position of the positioning antenna. This improves the accuracy of AOA positioning, enhances the precision of key positioning, and improves the user experience.

[0004] In a first aspect, embodiments of this application provide a key positioning device, comprising: an antenna module, a rotation module, and a control module. The antenna module includes at least three antennas, the at least three antennas being positioned on different lines, and each of the at least three antennas is used to receive wireless signals transmitted by a key. The rotation module is connected to the antenna module and is used to rotate the antenna module. The control module is connected to both the antenna module and the rotation module, and is used to control the rotation module to rotate the antenna module. Furthermore, during the rotation process, the control module acquires the wireless signals transmitted by the key received by each of the at least three antennas, and, if it is determined that two of the at least three antennas receive matching wireless signals transmitted by the key, determines the position of the key based on the wireless signals received by each of the at least three antennas and the positions of the at least three antennas.

[0005] In one embodiment, the rotating module includes a motor connected to the antenna module for driving the antenna module to rotate.

[0006] In one embodiment, the at least three antennas include a first antenna, a second antenna, and a third antenna, and the positions of the first antenna, the second antenna, and the third antenna form a triangular relationship.

[0007] Secondly, embodiments of this application provide a key positioning method, which is applied to the key positioning device provided in the first aspect above. The method includes: during the process of controlling the rotation module to rotate the antenna module, acquiring wireless signals transmitted by the key received by each of the at least three antennas; and, if it is determined that two of the at least three antennas receive matching wireless signals transmitted by the key, determining the position of the key based on the wireless signals received by each of the at least three antennas and the arrangement positions of the at least three antennas.

[0008] Thirdly, embodiments of this application provide a virtual key positioning device corresponding to the key positioning method provided in the second aspect above. The virtual key positioning device includes a rotation control module and a positioning module. The rotation control module is used to acquire wireless signals transmitted by the key received by each of the at least three antennas while controlling the rotation module to rotate the antenna module. The positioning module is used to determine the position of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the arrangement positions of the at least three antennas, provided that at least two of the at least three antennas receive matching wireless signals transmitted by the key.

[0009] Fourthly, embodiments of this application provide a vehicle, the vehicle including a vehicle body and a key locating device as described in the first aspect above, the key locating device being disposed within the vehicle body.

[0010] Fifthly, embodiments of this application provide a computer-readable storage medium storing program code, which is invoked by a processor to execute the key location method provided in the second aspect above.

[0011] The key positioning device, key positioning method, and vehicle provided in this application, by controlling the rotation module to drive the antenna module to rotate, acquire the wireless signals transmitted by the key received by each of the at least three antennas included in the antenna module, and determine the key's position based on the wireless signals received by each of the at least three antennas and the setting positions of the at least three antennas when it is determined that the wireless signals transmitted by the key received by two of the at least three antennas match. Furthermore, by changing the direction of the antenna used for positioning during the key positioning process according to the Angle of Arrival (AOA) method, the antenna used for positioning receives the matching wireless signal, and the key's position is located based on the matching wireless signal and the setting position of the positioning antenna, the accuracy of AOA positioning is improved, the accuracy of key positioning is improved, and the user experience is enhanced. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A schematic diagram of the key positioning device provided in one embodiment of this application is shown.

[0014] Figure 2 This diagram illustrates the placement of the antenna in an antenna module provided in one embodiment of the present application.

[0015] Figure 3 A schematic diagram of the rotation of an antenna module provided in an embodiment of this application is shown.

[0016] Figure 4 A schematic flowchart of a key positioning method provided in one embodiment of this application is shown.

[0017] Figure 5 A schematic diagram of at least two locations to be verified is shown, according to one embodiment of this application.

[0018] Figure 6 A block diagram of a virtual key locating device provided in one embodiment of this application is shown.

[0019] Figure 7 A structural block diagram of a vehicle provided in one embodiment of this application is shown.

[0020] Figure 8 A structural block diagram of a computer-readable storage medium provided in one embodiment of this application is shown. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0022] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] To better understand the solutions of the embodiments of this application, the technical terms used in the embodiments of this application will be explained below.

[0024] RKE is an abbreviation for Remote Keyless Entry, meaning a remote access control system.

[0025] Polling function: This is a smart vehicle technology primarily used in PEPS (Passive Entry System). This function allows the vehicle to automatically lock when the user leaves and automatically unlock when the user approaches.

[0026] AOA (Angle of Arrival) is a technique for determining the location of a signal source by measuring the angle at which a signal arrives at a node. The main principle is to receive signals using multiple receiving antennas and then estimate the signal source's location by calculating the phase difference between the signals at different antennas.

[0027] With the increasing popularity and development of automobiles, people have higher and higher demands for the intelligence and comfort of cars. However, traditional keyless entry (RKE) keys lack polling functionality, requiring manual operation of key buttons to activate the car's functions, such as unlocking, locking, and opening / closing the trunk. Based on this, the AOA key solution has been proposed. The AOA key features polling functionality, allowing real-time location of the car key and enabling the car to proactively perform actions based on the key's position, such as automatically unlocking when the key approaches and automatically locking when it moves away, thus facilitating people's travel.

[0028] However, during the AOA key positioning process, due to the directionality of the antenna, the accuracy of receiving wireless signals from angles outside the antenna's direction is not high. This leads to situations where the key's location cannot be accurately identified, the vehicle cannot perform corresponding functions, and the user experience is poor. Therefore, the relevant technology suffers from a problem of low accuracy in key positioning.

[0029] To address the aforementioned problems, the inventors, through extensive research, discovered and proposed a key positioning device, key positioning method, and vehicle as provided in this application. By changing the direction of the antenna used for positioning during the AOA (Angle of Arrival) method key positioning process, the positioning antenna receives a matching wireless signal. The key's position is then located based on the matching wireless signal and the antenna's position, thus improving the accuracy of AOA positioning, enhancing key positioning precision, and improving the user experience. The specific key positioning method will be described in detail in subsequent embodiments.

[0030] Please see Figure 1 , Figure 1 A schematic diagram of a key positioning device according to an embodiment of this application is shown. In this embodiment, the key positioning device 10 may include an antenna module 11, a rotation module 12, and a control module 13.

[0031] The antenna module 11 may include at least three antennas, which may not be aligned in a straight line. All three antennas can be used to receive wireless signals transmitted by the key. The key can transmit wireless signals in real time; correspondingly, the vehicle can determine the key's location based on the wireless signal and perform appropriate actions, such as automatic unlocking or locking. The wireless signal may include infrared, Zigbee, WiFi, Bluetooth, etc., and is not limited thereto.

[0032] In some embodiments, the at least three antennas may include a first antenna 01, a second antenna 02, and a third antenna 03. The positions of the first antenna 01, the second antenna 02, and the third antenna 03 form a triangular relationship. This triangular relationship may include a right-angled triangle, an isosceles triangle, etc., and is not limited thereto.

[0033] For example, please refer to Figure 2 This diagram illustrates the antenna configuration of an antenna module according to an embodiment of this application. The antenna module 11 includes a first antenna 01, a second antenna 02, and a third antenna 03; the positions of the first antenna 01, the second antenna 02, and the third antenna 03 form a right-angled triangle. The first antenna 01, the second antenna 02, and the third antenna 03 are all used to receive wireless signals transmitted by a key.

[0034] In some embodiments, the antenna module 11 may further include a filtering module, wherein the filtering module may be connected to at least three antennas included in the antenna module 11 and the control module 13 respectively, for filtering the wireless signals received by each of the at least three antennas, so as to suppress interference signals of the wireless signals received by each of the at least three antennas, and sending the wireless signals after interference suppression to the control module 13, thereby improving the efficiency of wireless signal transmission and improving the accuracy of key positioning.

[0035] The filtering module may consist of a filter, one or more resistors, one or more capacitors, one or more comparators, etc., without limitation.

[0036] The rotation module 12 is connected to the antenna module 11 and can be used to rotate the antenna module 11. Considering that the antenna position is fixed and the antenna is directional during AOA positioning, the positioning of signal sources in certain angular regions is not accurate enough. Therefore, in this embodiment, by rotating the antenna module 11 through the rotation module 12, the antenna direction can be changed by altering the antenna's position, thereby improving the accuracy of AOA positioning.

[0037] For example, please refer to Figure 3 This illustrates a schematic diagram of an antenna module rotation according to an embodiment of this application. The rotation module 12 ( Figure 3 (Not shown) drives the antenna module 11 to rotate; wherein, the antenna module 11 includes a first antenna 01, a second antenna 02 and a third antenna 03; wherein, the rotation module 12 can drive the first antenna 01, the second antenna 02 and the third antenna 03 to rotate in the same direction and at the same angle, thereby changing the direction of the antenna transmitting and receiving signals during the AOA positioning key process, improving the positioning accuracy of AOA and also improving the user experience.

[0038] In some embodiments, the rotation module 12 may include one or more motors connected to the antenna module 11 to drive the antenna module 11 to rotate. Optionally, the rotation module 12 may also include a vehicle speed transmission module, which is connected to the antenna module 11 to drive the antenna module 11 to rotate. The key positioning device 10 may be mounted on the vehicle, and during vehicle operation, the vehicle speed transmission module can drive the antenna module 11 to rotate based on the vehicle's speed.

[0039] The control module 13 can be connected to both the antenna module 11 and the rotation module 12, and is used to control the rotation module 12 to drive the antenna module 11 to rotate. Optionally, the control module 13 may include a microcontroller unit (MCU).

[0040] The control module 13 can also be used to acquire the wireless signals transmitted by the key received by each of the at least three antennas included in the antenna module 11 during the process of controlling the rotation module 12 to drive the antenna module 11 to rotate, and determine the position of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the setting position of the at least three antennas when it is determined that there are two antennas among the at least three antennas that receive matching wireless signals transmitted by the key.

[0041] In this embodiment, considering that the closer the signal strength of the wireless signals received by the two antennas is during AOA-based positioning, the better the positioning effect, the control module 13 controls the rotation module 12 to rotate the antenna module 11 during AOA-based key positioning. By changing the antenna direction, the matching wireless signal received by the antenna is selected as the positioning data, and the key's position is located based on this matching wireless signal and the antenna's position. This improves the accuracy of AOA positioning, enhances the precision of key positioning, and improves the user experience.

[0042] Please see Figure 4 , Figure 4 A schematic flowchart of a key positioning method according to an embodiment of this application is shown. This key positioning method improves the accuracy of AOA positioning and enhances the user experience by changing the direction of the antenna used for positioning during the AOA method key positioning process. The positioning antenna receives a matching wireless signal, and the key's position is located based on the matching wireless signal and the setting position of the positioning antenna. In specific embodiments, this key positioning method can be applied to, for example... Figure 1 The key locating device 10 shown and the vehicle 100 equipped with the key locating device 10 are shown. Figure 7 The following will use a vehicle as an example to illustrate the specific process of this embodiment. Of course, it is understood that the vehicle used in this embodiment may include electric vehicles, gasoline vehicles, and other mobile electronic devices, and is not limited thereto. The vehicle includes, for example,... Figure 1 The key positioning device 10 shown below. The following will address... Figure 4 The process shown will be described in detail. The key positioning method may specifically include the following steps:

[0043] Step S110: During the process of controlling the rotation module to drive the antenna module to rotate, the wireless signals transmitted by the key received by each of the at least three antennas are acquired.

[0044] In some implementations, the vehicle can receive a location command input by a user, wherein the location command can be used to indicate the location of the key; accordingly, the vehicle can locate the key position via a key locator in response to the location command.

[0045] Optionally, the vehicle can determine that it has received a location command if it detects that the door is closed; the vehicle can also determine that it has received a location command if it detects that no user is inside the vehicle; the vehicle can also obtain the current time, and determine that it has received a location command if it determines that the current time belongs to a preset time period. This preset time period can be pre-set in the vehicle, can be set by the user, or can be obtained from third-party experimental data; no limitation is made here.

[0046] During the process of locating the key position using the key positioning device, the control module within the key positioning device can control the rotation module to rotate the antenna module included in the key positioning device. Correspondingly, while controlling the rotation module to rotate the antenna module, the control module within the key positioning device can also acquire, in real time, the wireless signals transmitted by the key received by each of the at least three antennas included in the antenna module.

[0047] Step S120: If it is determined that two of the at least three antennas receive a matching wireless signal transmitted by the key, the position of the key is determined based on the wireless signal transmitted by the key received by each of the at least three antennas and the setting position of the at least three antennas.

[0048] In some implementations, after the control module obtains the wireless signals transmitted by the key received by each of the at least three antennas included in the antenna module, it can determine whether there are two antennas among the at least three antennas whose received wireless signals transmitted by the key match; and if it is determined that there are two antennas among the at least three antennas whose received wireless signals transmitted by the key match, it can determine the position of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the setting position of the at least three antennas.

[0049] In the signal source localization process based on AOA (Optical Angle of Atmosphere), the control module can determine the signal source's location based on the wireless signals received by at least three antennas and the placement of these three antennas. During AOA localization, antennas can be arranged in pairs. Optionally, one pair can obtain the phase difference between the two antennas in that pair based on the received wireless signals, and calculate the horizontal angle of the signal source based on this phase difference. The other pair can obtain the phase difference between the two antennas in that pair based on the received wireless signals, and calculate the elevation angle of the signal source based on this phase difference. Based on this, the control module can determine the signal source's location using the horizontal and elevation angles.

[0050] As an feasible approach, considering that the closer the signal strength received by two antennas is, the better the positioning effect, in this embodiment, the process by which the control module determines whether there are two antennas among the at least three antennas whose received wireless signals transmitted by the key match may include obtaining the signal strength corresponding to the wireless signal transmitted by the key received by each of the at least three antennas, and calculating the difference in signal strength between the two antennas in each pair. Specifically, if it is determined that the difference in signal strength between two antennas among the at least three antennas whose received wireless signals transmitted by the key is less than a preset difference, then it can be determined that there are two antennas among the at least three antennas whose received wireless signals transmitted by the key match.

[0051] The preset difference can be pre-set in the vehicle, obtained through third-party experimental data, or set by the user; no restrictions are imposed here.

[0052] The process by which the control module determines the key's location based on the wireless signals transmitted by the key received by at least three antennas and the setup positions of the at least three antennas may include using the wireless signals received by two antennas with a signal strength difference less than a preset difference as target positioning data. The key's location is then determined based on this target positioning data and the setup positions of these two antennas with signal strength differences less than the preset difference. This eliminates the need to obtain the antenna rotation angles. By selecting the wireless signals received by two antennas with similar signal strengths as positioning data and combining this with the setup distance between the matching antennas, the accuracy of AOA positioning is improved.

[0053] As one feasible approach, the antenna module includes at least three antennas: a first antenna, a second antenna, and a third antenna. Based on this, the process by which the control module determines the key's location based on target positioning data and the positions of two antennas whose signal strength difference is less than a preset difference may include: if the difference between the signal strength of the first wireless signal received by the first antenna and the signal strength of the second wireless signal received by the second antenna is less than a preset difference, then the phase difference between the first and second antennas is obtained based on the first and second wireless signals; and at least two locations to be verified are obtained based on this phase difference and the distance between the first and second antennas. Correspondingly, the key's location can also be determined from the at least two locations based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal. This eliminates the need to obtain the antenna rotation angle. By selecting the wireless signals received by two antennas with similar signal strengths as positioning data, obtaining the phase difference between the matching antennas based on the positioning data, and obtaining the key's location based on this phase difference and the distance between the matching antennas, the accuracy of AOA positioning is improved, the efficiency of key positioning is increased, and the computational load for key positioning is reduced.

[0054] Among them, considering that at least two locations to be verified obtained based on the signal strength matching of the two antennas and the setting positions of the two antennas matching the signal strength of the corresponding wireless signals are symmetrical, that is, the signal strength of the wireless signal received by the first antenna of the signal source located at the symmetrical position is the same as the signal strength of the wireless signal received by the second antenna, which may lead to misjudgment of positioning.

[0055] For example, please refer to Figure 5 This illustration shows a schematic diagram of at least two locations to be verified according to an embodiment of this application. The at least two locations to be verified include location 1 and location 2, wherein location 1 and location 2 can be located symmetrically about the line connecting the positions of the first and second antennas. Since the signal source is located at location 1 or location 2 and the wireless signal is transmitted, the signal strength received by the first antenna is the same as the signal strength received by the second antenna. Based on this, misjudgment of the location may occur. Therefore, in this embodiment, by determining one of the at least two locations as the key's location based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal, the accuracy of key location is improved.

[0056] As one feasible approach, the process by which the control module determines a key location from at least two locations to be verified based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal may include, if it is determined that the signal strength of the first wireless signal is greater than the signal strength of the third wireless signal, then the location closest to the setting position of the first antenna among the at least two locations to be verified may be determined as the key location.

[0057] For example, please refer to again Figure 5 If it is determined that the signal strength corresponding to the first wireless signal is greater than the signal strength corresponding to the third wireless signal, then the location to be verified, 1, can be determined as the location of the key.

[0058] As one feasible approach, the process by which the control module determines a key location from at least two locations to be verified based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal may include, if it is determined that the signal strength of the first wireless signal is less than the signal strength of the third wireless signal, then the location closest in distance to the setting position of the third antenna among the at least two locations to be verified may be determined as the key location.

[0059] For example, please refer to again Figure 5 If it is determined that the signal strength corresponding to the first wireless signal is less than the signal strength corresponding to the third wireless signal, then the location to be verified, 2, can be determined as the location of the key.

[0060] One embodiment of this application provides a key positioning method that, while controlling a rotation module to rotate an antenna module, acquires the wireless signals transmitted by the key received by each of the at least three antennas in the antenna module. If it is determined that two of the at least three antennas receive matching wireless signals transmitted by the key, the key's position is determined based on the wireless signals received by each of the at least three antennas and the placement positions of the at least three antennas. Furthermore, by changing the direction of the antenna used for positioning during the AOA (Angle of Arrival) method for key positioning, the positioning antenna receives matching wireless signals, and the key's position is located based on the matching wireless signals and the placement positions of the positioning antenna. This improves the accuracy of AOA positioning, enhances the precision of key positioning, and improves the user experience.

[0061] Please see Figure 6 , Figure 6 A block diagram of a virtual key positioning device according to an embodiment of this application is shown. The following will focus on... Figure 6The process shown is described in detail. The virtual key positioning device 200 includes: a rotation control module 210 and a positioning module 220, wherein:

[0062] The rotation control module 210 is used to acquire the wireless signals transmitted by the key received by each of the at least three antennas during the process of controlling the rotation module to drive the antenna module to rotate.

[0063] The positioning module 220 is used to determine the position of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the setting positions of the at least three antennas, if it is determined that two of the at least three antennas receive a matching wireless signal transmitted by the key.

[0064] Furthermore, before determining the location of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the placement positions of the at least three antennas, in the case where it is determined that two of the at least three antennas receive a matching wireless signal transmitted by the key, the virtual key positioning device 200 may further include: a signal strength acquisition unit and a signal matching unit, wherein:

[0065] The signal strength acquisition unit is used to acquire the signal strength corresponding to the wireless signal transmitted by the key received by each of the at least three antennas.

[0066] The signal matching unit is configured to determine that there are two wireless signals transmitted by the key that are matched among the at least three antennas if the difference in signal strength between the two antennas receiving the wireless signals transmitted by the key is less than a preset difference.

[0067] Furthermore, the positioning module 220 may include: a target positioning data determination unit and a positioning subunit, wherein:

[0068] The target positioning data determination unit is used to take the wireless signals received by two antennas whose corresponding signal strength difference is less than the preset difference as target positioning data.

[0069] The positioning subunit is used to determine the position of the key based on the target positioning data and the positions of two antennas whose corresponding signal strength difference is less than a preset difference.

[0070] Furthermore, the at least three antennas include a first antenna, a second antenna, and a third antenna, and the positioning subunit may include: a phase difference acquisition unit, a position to be verified acquisition unit, and a key position determination unit, wherein:

[0071] A phase difference acquisition unit is used to obtain the phase difference between the first antenna and the second antenna based on the first wireless signal and the second wireless signal if the difference between the signal strength corresponding to the first wireless signal received by the first antenna and the signal strength corresponding to the second wireless signal received by the second antenna is less than the preset difference.

[0072] The location to be verified unit is used to obtain at least two locations to be verified based on the phase difference and the setting distance between the first antenna and the second antenna.

[0073] The key location determination unit is used to determine one of the at least two locations to be verified as the location of the key based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal.

[0074] Furthermore, the key position determination unit may include: a first positioning unit or a second positioning unit, wherein:

[0075] The first positioning unit is configured to determine the location of the key as the location of the at least two locations to be verified that are closest to the location of the first antenna if the signal strength corresponding to the first wireless signal is greater than the signal strength corresponding to the third wireless signal.

[0076] The second positioning unit is configured to determine the location of the key as the location of the at least two locations to be verified that are closest in distance to the location of the third antenna if the signal strength corresponding to the first wireless signal is less than the signal strength corresponding to the third wireless signal.

[0077] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0078] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.

[0079] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0080] Please see Figure 7 , Figure 7This illustration shows a structural block diagram of a vehicle according to an embodiment of this application. In this embodiment, the vehicle 100 includes a key positioning device 10 and a vehicle body. In the embodiments provided in this application, the coupling between the various modules of the vehicle 100 can be electrical, mechanical, or other forms of coupling.

[0081] Furthermore, in the embodiments of this application, the functional modules of the vehicle 100 can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module.

[0082] Those skilled in the art will understand that, for the sake of convenience and brevity, the process of key positioning device 10 positioning the key corresponding to vehicle 100 described above can be referred to the working process of key positioning device 10 in the foregoing embodiments, and will not be repeated here.

[0083] Please see Figure 8 This diagram illustrates a structural block diagram of a computer-readable storage medium according to an embodiment of this application. The computer-readable storage medium 300 stores program code that can be called by a processor to execute the key location method described in the above method embodiments.

[0084] The computer-readable storage medium 300 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 300 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 300 has storage space for program code 310 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 310 may be compressed, for example, in a suitable form.

[0085] In summary, the key positioning device, key positioning method, and vehicle provided in this application, by controlling the rotation module to drive the antenna module to rotate, acquire the wireless signals transmitted by the key received by each of the at least three antennas included in the antenna module, and determine the key's position based on the wireless signals received by each of the at least three antennas and the setting positions of the at least three antennas when it is determined that the wireless signals transmitted by the key received by two of the at least three antennas match, thereby improving the accuracy of AOA positioning, improving the accuracy of key positioning, and improving the user experience. Furthermore, by changing the direction of the antenna used for positioning during the key positioning process according to the Angle of Arrival (AOA) method, the antenna used for positioning receives the matching wireless signal, and the key's position is located based on the matching wireless signal and the setting position of the positioning antenna.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A key positioning device, characterized in that, The key positioning device includes: An antenna module comprising at least three antennas, wherein the at least three antennas are not positioned on the same straight line, and all three antennas are used to receive wireless signals transmitted by a key. A rotating module, connected to the antenna module, is used to drive the antenna module to rotate; A control module, connected to both the antenna module and the rotation module, is used to control the rotation module to rotate the antenna module. The control module is further configured to acquire the wireless signals transmitted by the key received by each of the at least three antennas during the process of controlling the rotation module to drive the antenna module to rotate, and determine the position of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the setting position of the at least three antennas when it is determined that two of the at least three antennas receive matching wireless signals transmitted by the key.

2. The key positioning device according to claim 1, characterized in that, The rotating module includes a motor, which is connected to the antenna module and is used to drive the antenna module to rotate.

3. The key positioning device according to claim 1, characterized in that, The at least three antennas include a first antenna, a second antenna, and a third antenna, and the positions of the first antenna, the second antenna, and the third antenna form a triangular relationship.

4. A key positioning method, characterized in that, The method, applied to the key positioning device as described in any one of claims 1-3, comprises: During the process of controlling the rotation module to drive the antenna module to rotate, the wireless signals transmitted by the key received by each of the at least three antennas are acquired; If it is determined that two of the at least three antennas receive a matching wireless signal transmitted by the key, the position of the key is determined based on the wireless signal transmitted by the key received by each of the at least three antennas and the placement positions of the at least three antennas.

5. The method according to claim 4, characterized in that, Before determining the location of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the placement positions of the at least three antennas, if it is determined that two of the at least three antennas receive a matching wireless signal transmitted by the key, the method further includes: Obtain the signal strength corresponding to the wireless signal transmitted by the key received by each of the at least three antennas; If it is determined that the difference in signal strength between the wireless signals transmitted by the key received by two of the at least three antennas is less than a preset difference, then it is determined that the wireless signals transmitted by the key received by two of the at least three antennas are matched.

6. The method according to claim 5, characterized in that, Determining the location of the key based on the wireless signals transmitted by the key received by each of the at least three antennas and the placement positions of the at least three antennas includes: The wireless signals received by the two antennas whose corresponding signal strength difference is less than the preset difference are used as target positioning data. The location of the key is determined based on the target positioning data and the positions of two antennas whose corresponding signal strength difference is less than a preset difference.

7. The method according to claim 6, characterized in that, The at least three antennas include a first antenna, a second antenna, and a third antenna. Determining the key's location based on the target positioning data and the positions of the two antennas whose corresponding signal strength differences are less than a preset difference includes: If it is determined that the difference between the signal strength of the first wireless signal received by the first antenna and the signal strength of the second wireless signal received by the second antenna is less than the preset difference, then the phase difference between the first antenna and the second antenna is obtained based on the first wireless signal and the second wireless signal. Based on the phase difference and the setting distance between the first antenna and the second antenna, at least two locations to be verified are obtained; Based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal, one of the at least two locations to be verified is determined as the location of the key.

8. The method according to claim 7, characterized in that, The step of determining a location to be verified from the at least two locations to be verified as the location of the key based on the relationship between the signal strength of the third wireless signal received by the third antenna and the signal strength of the first wireless signal includes: If the signal strength corresponding to the first wireless signal is greater than the signal strength corresponding to the third wireless signal, then the location closest to the location of the first antenna among the at least two locations to be verified is determined as the location of the key; or If the signal strength corresponding to the first wireless signal is less than the signal strength corresponding to the third wireless signal, then the location of the key is determined as the location of the at least two locations to be verified that is closest to the location of the third antenna.

9. A vehicle, characterized in that, The vehicle includes a vehicle body and a key locating device as described in any one of claims 1 to 3, wherein the key locating device is disposed within the vehicle body.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that is invoked by a processor to perform the method as described in any one of claims 4 to 8.

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