Detection method and device and related product

Abstract

The invention discloses a detection method and device and related products, and relates to the technical field of communication. The detection device is applied to a first vehicle and comprises a first processing unit and at least two antennas. The detection device is not provided with a plurality of processing units for respectively processing signals received by the at least two antennas, but the first processing unit is used for processing the signals received by part of or all of the at least two antennas, on one hand, the antennas are simple in structure and not easy to damage, so that the reliability of the detection device can be improved, and on the other hand, the detection device is convenient to use. A large number of processing units can be saved, and the cost of the detection device can be reduced as much as possible. In addition, the antenna is small in size, so that the installation position of the antenna in the first vehicle is convenient to select, and the detection device is convenient to install in the first vehicle. In a word, the detection device provided by the invention has the characteristics of high reliability, low cost, small size, convenience in installation and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, and in particular to a detection method and device and related products. BACKGROUND

[0002] A digital key is a kind of intelligent key system that uses digital technology and wireless communication technology to digitize traditional physical keys to realize the operation of unlocking, locking, starting, etc. of specific devices, vehicles, houses, etc. It mainly uses smart phones, smart watches and other smart devices as carriers, and interacts with target devices through Bluetooth, near field communication (NFC), ultra-wideband (UWB) and other wireless communication technologies. For example, a car digital key can allow the car owner to control the unlocking, locking, starting, etc. of the vehicle through a mobile phone or other device, and a home digital key can allow the resident to open the door through a mobile phone.

[0003] However, the prerequisite for the digital key to realize specific functions is that the target can perceive the digital key through wireless communication technology. Therefore, how to simply and effectively perceive the digital key is a problem that needs to be solved urgently. SUMMARY

[0004] The present application provides a detection method, device and related products. The detection device provided by the present application directly connects multiple antennas and a processor, thereby improving the reliability of the detection device and reducing the cost of the detection device.

[0005] In a first aspect, the present application provides a detection device applied to a first vehicle, comprising a first processing unit and at least two antennas. The at least two antennas are arranged on the body of the first vehicle, and the first processing unit is connected with the at least two antennas respectively. Each of the at least two antennas is used to receive a signal and output an electric signal, and the first processing unit is used to determine the positional relationship between a target and the first vehicle based on the first electric signal output by part or all of the at least two antennas.

[0006] In the present application, the first processing unit is connected with at least two antennas respectively, and the at least two antennas are arranged on the vehicle body of the first vehicle, so that the first processor can obtain signals from part or all of the at least two antennas, and determine the positional relationship between the target and the first vehicle based on the first electric signal output by part or all of the at least two antennas. The at least two antennas in the detection device can be arranged at different positions of the first vehicle to receive signals from different directions of the first vehicle, ensuring that the detection device can obtain signals from different directions of the first vehicle in time and avoiding signal omission. The detection device does not arrange multiple processing units to process the signals received by the at least two antennas, but uses the first processing unit to process the signals received by part or all of the at least two antennas. On the one hand, since the antenna structure is simple and not easy to be damaged, the reliability of the detection device can be improved. On the other hand, a large number of processing units can be saved, and the cost of the detection device can be reduced as much as possible. In addition, since the antenna has a small volume, it is convenient to select the installation position of the antenna on the first vehicle, thereby facilitating the installation of the detection device on the first vehicle. In summary, the detection device provided by the present application has the characteristics of high reliability, low cost, small size and easy installation.

[0007] Optionally, the target is, for example, a device installed with a digital key, such as a smart phone, a smart watch, a car key card or a car key buckle, etc.

[0008] Optionally, the positional relationship between the target and the first vehicle includes the distance and the direction between the target and the first vehicle.

[0009] In a possible implementation, the positions of the at least two antennas on the first vehicle are determined by the vehicle model of the first vehicle.

[0010] The vehicle model of the first vehicle exemplarily includes a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV), a sports car, a pickup truck or a new energy vehicle, etc. Further, the sedan can also be classified into a micro sedan, a small sedan, a compact sedan, a medium-sized sedan, a large sedan, etc., the SUV can also be classified into a small SUV, a compact SUV, a medium-sized SUV, a medium-large SUV, a large SUV, etc., the MPV can also be classified into a compact MPV, a medium-sized MPV, a large MPV, etc., the sports car can also be classified into an entry-level sports car, a medium-level sports car, a super sports car, an ultimate sports car, etc., the pickup truck can also be classified into a small pickup truck, a medium-sized pickup truck, a large pickup truck, etc. In addition, the vehicle can also be classified according to the length, width and height of the vehicle.

[0011] In the above embodiments, the location of at least two antennas distributed on the first vehicle is determined by the vehicle model, so that the at least two antennas can be reasonably distributed according to the vehicle model, ensuring that the at least two antennas can accurately and effectively receive signals, thereby determining the positional relationship between the target and the first vehicle.

[0012] In another possible implementation, the above-mentioned at least two antennas include two antennas disposed on the side door of the first vehicle.

[0013] In the above embodiment, two antennas are installed on the side doors of the first vehicle, for example, the two antennas are installed on the left and right doors of the first vehicle, respectively. Installing two antennas on the side doors of the first vehicle is beneficial because at least two antennas can receive signals from both sides of the vehicle, ensuring that the target's signal can be obtained in a timely manner whenever the target approaches or moves away from the first vehicle from either side, thereby determining the positional relationship between the target and the first vehicle.

[0014] Optionally, in the case of at least two antennas, the two antennas can also be respectively installed on the side windows of the first vehicle, for example, the two antennas can be respectively installed on the triangular windows of the first vehicle. For some models without side windows, the two antennas can also be installed on the B-pillar of the first vehicle.

[0015] In another possible implementation, the above-mentioned at least two antennas include four antennas, which are respectively disposed on the windshield, the left front quarter window, the right front quarter window and the rear windshield of the first vehicle.

[0016] In the above embodiment, four antennas are respectively installed on the windshield, left front quarter window, right front quarter window, and rear windshield of the first vehicle. This allows the detection device to receive signals from the surrounding area of ​​the first vehicle through the four antennas, ensuring that the target's signal can be obtained in a timely manner whenever it approaches or moves away from the first vehicle from any direction, thereby determining the positional relationship between the target and the first vehicle. Furthermore, installing the four antennas on the various windows of the first vehicle also facilitates the reception of signals from inside the vehicle, thereby determining whether the target is located inside the first vehicle.

[0017] In another possible implementation, the above-mentioned at least two antennas further include a first antenna disposed on the roof of the first vehicle.

[0018] In the above embodiment, the first antenna is disposed on the roof of the first vehicle, which is beneficial for receiving signals from inside the vehicle, thereby determining whether the target is located inside the first vehicle.

[0019] Optionally, if the first vehicle includes a canopy, the first antenna may also be located on the canopy of the first vehicle.

[0020] In another possible implementation, the above-mentioned at least two antennas include five antennas, which are respectively disposed on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper, the right side of the rear bumper, and the roof of the first vehicle.

[0021] In the above embodiment, five antennas are respectively installed on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper, the right side of the rear bumper, and the roof of the first vehicle. This allows the detection device to receive signals from the surrounding area of ​​the first vehicle through the five antennas, ensuring that the target's signal can be obtained in a timely manner whenever it approaches or moves away from the first vehicle from any direction, thereby determining the positional relationship between the target and the first vehicle. Specifically, the antenna installed on the roof of the first vehicle is used to receive signals from inside the vehicle to determine whether the target is located inside the first vehicle.

[0022] In another possible implementation, the detection device further includes a switching unit for connecting the first processing unit to the at least two antennas, and the switching unit for controlling the signal transmission of one or more of the at least two antennas to be turned on or off.

[0023] In the above embodiment, the switching unit is used to connect the first processing unit to the at least two antennas. The switching unit is used to control the signal transmission of one or more of the at least two antennas to be on or off. For example, when the antenna signal is on, the first processing unit can receive signals from the antenna. Conversely, when the antenna signal is off, the first processing unit cannot receive signals from the antenna. Therefore, the switching unit can control one or more of the at least two antennas to receive signals and transmit the received signals to the first processing unit, thereby determining the positional relationship between the target and the first vehicle.

[0024] Optionally, when the switching unit controls the signal transmission of multiple antennas among the at least two antennas to be in the conducting state, the first electrical signal received by the first processing unit includes the electrical signals output by the multiple antennas. It can also be understood that the first electrical signal is obtained by superimposing the electrical signals output by the multiple antennas.

[0025] In another possible implementation, the at least two antennas are divided into multiple antenna combinations, each antenna combination including at least one antenna. The first processing unit is further configured to control a switching unit such that the multiple antenna combinations are connected to the first processing unit in a first order.

[0026] In the above embodiments, this application does not limit the method of dividing at least two antennas into multiple antenna combinations. For example, at least two antennas can be divided according to their installation positions; for instance, multiple adjacent antennas can be divided into one antenna combination. An antenna combination can include one antenna or multiple antennas, such as one, two, or three antennas. Different antenna combinations can also include different numbers of antennas. For example, multiple antenna combinations may include a first antenna combination and a second antenna combination, where the first antenna combination includes two antennas and the second antenna combination includes three antennas. The first order can be preset or customized, and this application does not limit this either. In the above embodiments, by dividing at least two antennas into multiple antenna combinations and then controlling the multiple antenna combinations to connect to the first processing unit in a first order, the connection relationship between the first processing unit and the antennas has a high degree of freedom, adapting to the needs of various vehicle models or scenarios, thereby improving the practicality and reliability of the detection device.

[0027] In another possible implementation, the detection device further includes at least one second processing unit and an antenna connected to the second processing unit. The antenna connected to the second processing unit is used to receive signals and output a second electrical signal. The second processing unit is used to determine a first distance between the antenna connected to the second processing unit and the target based on the second electrical signal. The aforementioned first processing unit is also used to determine the positional relationship between the target and the first vehicle based on the first distance determined by at least one second processing unit and / or the first electrical signal. Specifically, the first processing unit is used to control the first vehicle to perform a first operation based on the positional relationship between the target and the first vehicle.

[0028] In the above embodiment, the second processing unit is directly connected to the antenna. The second processing unit processes the second electrical signal output by the antenna and generates a first distance between the target and the antenna. The first processing unit then determines the positional relationship between the target and the first vehicle based on the first distance and / or the first electrical signal, making the determined positional relationship more accurate and reliable. The first processing unit also controls the first vehicle to perform a first operation based on the positional relationship between the target and the first vehicle. For example, if the distance between the target and the first vehicle is less than or equal to the first distance, the first vehicle is unlocked. Conversely, if the distance between the target and the first vehicle is greater than the first distance, the first vehicle is locked.

[0029] Optionally, the first processing unit is further configured to control multiple second processing units to determine the first distance based on the second electrical signal in a second order. The second order can be preset or customized, and this application does not limit it.

[0030] In another possible implementation, the first processing unit controls the first vehicle to perform the first operation when it determines that the signal strength of the first electrical signal is greater than the first threshold.

[0031] The first threshold can be preset or customized; this application does not impose any limitations on it. For example, the first threshold can be determined based on the antenna model, the characteristics of the signal transmitted by the target, or the vehicle model, etc. The first operation includes operations such as unlocking the vehicle, opening the door, or turning on the welcome lights.

[0032] Optionally, if the first processing unit determines that the signal strength of the first electrical signal is less than or equal to the first threshold, it controls the first vehicle to perform a second operation. The second operation includes operations such as locking the vehicle, closing the doors, or turning off the vehicle.

[0033] Secondly, this application provides a detection method applied to a detection device, the detection device including a first processing unit and at least two antennas, the first processing unit being connected to at least two antennas respectively, the at least two antennas being disposed on the body of a first vehicle, the method including: each of the at least two antennas receiving a signal and outputting an electrical signal, the first processing unit acquiring a first electrical signal output by a target antenna among the at least two antennas, the target antenna being some or all of the at least two antennas, the first processing unit determining the positional relationship between the target and the first vehicle based on the first electrical signal.

[0034] In this application, at least two antennas in the detection device can be positioned at different locations on the first vehicle to receive signals from different directions of the first vehicle. The target antenna is some or all of the at least two antennas. The first processing unit determines the positional relationship between the target and the first vehicle based on the first electrical signal output by the target antenna, enabling timely acquisition of signals from different directions of the first vehicle and avoiding missed signal detection. Instead of using multiple processing units to process the signals received by the at least two antennas separately, the detection device uses a first processing unit to process the signals received by some or all of the at least two antennas. This improves the reliability of the detection device due to the simple structure and durability of the antennas, while also saving on processing units and minimizing the cost. Furthermore, the small size of the antennas facilitates the selection of their installation location on the first vehicle, thus simplifying the installation of the detection device. In summary, the detection device provided in this application features high reliability, low cost, small size, and ease of installation.

[0035] Alternatively, the target may be a device equipped with a digital key, such as a smartphone, smartwatch, car key card, or car key fob.

[0036] Optionally, the positional relationship between the target and the first vehicle includes the distance and orientation between the target and the first vehicle.

[0037] In one possible implementation, the detection device further includes a switching unit for connecting the first processing unit to the at least two antennas. The first processing unit acquires the first electrical signal output by some or all of the at least two antennas, including: the first processing unit sending a first control signal to the switching unit, the first control signal controlling the switching state of the switching unit, such that the target antenna is connected to the first processing unit, and the first processing unit acquiring the first electrical signal output by the target antenna.

[0038] In the above embodiments, the first processing unit can connect the target antenna to itself by controlling the switching unit. This allows the first processing unit to acquire the first electrical signal output by the target antenna while preventing interference from signals received by other antennas. In summary, the first processing unit can connect to any one or more of the at least two antennas by controlling the switching unit, thereby determining the positional relationship between the target and the vehicle based on the first electrical signal output by any one or more antennas.

[0039] In another possible implementation, the at least two antennas are divided into multiple antenna combinations, each antenna combination including at least one antenna. The first control signal is used to instruct the switching unit to connect the multiple antenna combinations to the first processing unit in a first order.

[0040] In the above embodiments, this application does not limit the method of dividing at least two antennas into multiple antenna combinations. For example, at least two antennas can be divided according to their installation positions; for instance, multiple adjacent antennas can be divided into one antenna combination. An antenna combination can include one antenna or multiple antennas, such as one, two, or three antennas. Different antenna combinations can also include different numbers of antennas. For example, multiple antenna combinations may include a first antenna combination and a second antenna combination, where the first antenna combination includes two antennas and the second antenna combination includes three antennas. The first order can be preset or customized, and this application does not limit this either. In the above embodiments, by dividing at least two antennas into multiple antenna combinations and then controlling the switching unit to connect the multiple antenna combinations to the first processing unit in a first order, the connection relationship between the first processing unit and the antennas has a high degree of freedom, adapting to the needs of various vehicle models or scenarios, thereby improving the practicality and reliability of the detection device.

[0041] In another possible implementation, the detection device further includes at least one second processing unit and an antenna connected to the second processing unit. The method further includes: the first processing unit and the processing unit in the at least one second processing unit sequentially acquiring electrical signals output by the antenna in a first polling order. The second processing unit determines a first distance between the antenna connected to the second processing unit and the first vehicle based on the acquired electrical signals. The first processing unit determines the positional relationship between the target and the first vehicle based on the first electrical signal, including: the first processing unit determining the positional relationship between the target and the first vehicle based on the first distance, and / or, the first electrical signal.

[0042] In the above embodiments, the first polling order can be custom-defined or preset, and this application does not impose any specific limitations. The first processing unit determines the positional relationship between the target and the first vehicle based on the first distance and / or the first electrical signal, making the determined positional relationship more accurate and reliable.

[0043] Optionally, the first processing unit may further control the first vehicle to perform a first operation based on the positional relationship between the target and the first vehicle. For example, if the distance between the target and the first vehicle is less than or equal to a first distance, the first vehicle may be unlocked. Alternatively, if the distance between the target and the first vehicle is greater than the first distance, the first vehicle may be locked.

[0044] Thirdly, embodiments of this application also provide an electronic device, which includes the detection device described in any of the first aspects above.

[0045] Fourthly, embodiments of this application also provide a detection system, which includes the detection device described in any of the first aspects above.

[0046] Fifthly, a program is provided that, when executed by a processor, performs the method provided in any of the second aspects above.

[0047] In a sixth aspect, a program product is provided, the program product including instructions that, when executed by a processor, cause the method provided in any of the second aspects above to be performed.

[0048] In a seventh aspect, embodiments of this application also provide a vehicle, the vehicle including the detection device described in any of the first aspects above, or the vehicle including the electronic device described in any of the third aspects above, or the vehicle including the detection system described in any of the fourth aspects above.

[0049] Eighthly, a computer-readable storage medium is provided for storing a program that, when the program is run by a processor, executes the method provided in any of the second aspects above.

[0050] Ninthly, embodiments of this application provide a chip including a processor, the processor being configured to execute instructions, which, when executed, cause the chip to perform the reminder method described in any of the second aspects above.

[0051] The technical effects of some solutions in aspects three to nine of this application can be referred to the technical effects of the solutions in aspect one or two. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the 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.

[0053] Figure 1 A schematic diagram illustrating a scenario for a digital key provided in this application;

[0054] Figure 2A A schematic diagram illustrating another scenario for the digital key provided in this application;

[0055] Figure 2B A schematic diagram illustrating another scenario for the digital key provided in this application;

[0056] Figure 3A A schematic diagram of the structure of a detection device provided in this application;

[0057] Figure 3B A schematic diagram of another detection device provided in this application;

[0058] Figure 4 A schematic diagram of another detection device provided in this application;

[0059] Figure 5A A schematic diagram of another detection device provided in this application;

[0060] Figure 5B A schematic diagram of another detection device provided in this application;

[0061] Figure 6 A schematic diagram of a layout of at least two antennas on a first vehicle provided for this application;

[0062] Figure 7 A schematic diagram of another arrangement of at least two antennas on a first vehicle provided for this application;

[0063] Figure 8 A schematic diagram of another arrangement of at least two antennas on a first vehicle provided for this application;

[0064] Figure 9 A schematic diagram of another arrangement of at least two antennas on a first vehicle provided for this application;

[0065] Figures 10A to 10D A schematic diagram of another arrangement of at least two antennas on a first vehicle provided for this application;

[0066] Figures 11A to 11C A schematic diagram illustrating the antenna connection sequence of a first processing unit according to an embodiment of this application;

[0067] Figure 12 A schematic diagram of another detection device provided in this application;

[0068] Figure 13A A schematic diagram showing the layout of a detection device on a first vehicle, as provided in this application;

[0069] Figure 13B A schematic diagram of a node structure provided in this application

[0070] Figures 14 to 16 This is a schematic diagram of a polling signal reception method provided in this application;

[0071] Figure 17 A flowchart illustrating a detection method provided in this application;

[0072] Figure 18 This is a schematic block diagram of a detection device provided in an embodiment of this application. Detailed Implementation

[0073] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In this application, "at least one" means one or more, and "more than one" means two or more. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0074] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and are not intended to limit the scope of protection claimed in this application.

[0075] (1) Vehicle.

[0076] In this application, "vehicle" refers to equipment that includes a power unit and a traction unit. For example, a vehicle can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trams, trains, etc.), an industrial vehicle (such as forklifts, trailers, tractors, etc.), an engineering vehicle (such as excavators, bulldozers, cranes, etc.), or agricultural equipment (such as lawnmowers, harvesters, etc.). A vehicle can also refer to a robot (automated guided vehicle, AGV, walking conversational robot, service robot, etc.), industrial equipment (industrial robots, robotic arms, etc.), or leisure and entertainment equipment (virtual reality (VR) equipment, mixed reality (MR) equipment, or 4D cinema cabins, etc.).

[0077] (2) Terminal equipment.

[0078] Terminal equipment can also be called user equipment (UE). Terminal equipment can be cellular phones, cordless phones, session initiation protocol (SIP) phones, smartphones, mobile phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other devices connected to a wireless modem, vehicle-mounted terminal equipment, wearable devices, drone equipment, or terminals in the Internet of Things (IoT), vehicle-to-everything (V2X) networks, 5G mobile communication networks, and any form of terminal in future networks, or terminals in future evolved public land mobile networks (PLMNs). For example, terminal equipment can be virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in industrial control, wireless terminals in autonomous driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, etc. This application does not limit this.

[0079] (3) Digital key.

[0080] Digital keys utilize communication technology to verify the identity between devices, enabling users to unlock and lock their vehicles. For example, a digital key is used to verify the identity between a terminal device and a vehicle, allowing users to unlock and lock their vehicles. Digital keys offer numerous important functions. Taking vehicles as an example, digital keys enhance the convenience of vehicle use, allowing owners to easily unlock, lock, start, and stop their vehicles without carrying traditional physical keys. Digital keys can also provide personalized vehicle settings based on the owner's usage habits. Furthermore, digital keys excel in vehicle sharing and access management; for instance, they facilitate operators in managing rental permissions, and vehicle owners can set the access permissions for others using their vehicles.

[0081] The hardware component of a digital key consists of a terminal device and a vehicle-side device. Both the terminal and vehicle-side devices possess communication capabilities and can establish a communication connection. For example, the terminal device can send signals via technologies such as GPS, Bluetooth, NFC, or UWB, while the vehicle-side device can receive these signals. Furthermore, the vehicle-side device can process the received signals and generate relevant control information, such as unlocking the vehicle, locking the vehicle, or starting the engine.

[0082] Optionally, the signals transmitted by the terminal device may employ encryption algorithms, including one or more of the Advanced Encryption Standard (AES) and Rivest Shamir Adleman (RSA) encryption algorithms.

[0083] Optionally, digital key technology can also be applied to other devices, such as access control systems, barriers, or vehicle stops. When digital key technology is applied to other devices, the first vehicle in this application can be replaced by other devices, such as access control systems, barriers, or vehicle stops. Correspondingly, the vehicle-side device in this application can be replaced by access control device, barrier device, or vehicle stop device, etc. In summary, this application uses a vehicle as an example to exemplify digital keys, and the methods and apparatus provided in this application can also be applied to other devices.

[0084] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating a scenario for a digital key provided in this application. For example... Figure 1The digital key scenario shown includes a first vehicle 101 and a target 102. The first vehicle 101 has multiple nodes, such as node 1, node 2, node 3, and node 4. These nodes receive and process signals. The target 102 is, for example, a smartwatch, which can send signals containing the device's identity information and control information. After receiving the signals, the nodes on the first vehicle 101 perform signal parsing and authentication. If authentication is successful, they generate corresponding control signals based on the signal strength and the control information to control the first vehicle 101 to perform related operations, such as unlocking, locking, turning on welcome lights, starting, or turning off the engine.

[0085] Please see Figure 2A and Figure 2B The user carries a terminal device with a digital key, such as the aforementioned target 102. The area covered by the dashed circle indicates that the distance between target 102 and the first vehicle 101 meets a preset requirement. The first vehicle 101 can perform related operations based on the signals sent by target 102. For example, when the user enters the area covered by the dashed circle, the door of the first vehicle 101 automatically opens. Figure 2A As shown. For example, when the user leaves the area covered by the dashed circle, the doors of the first vehicle 101 automatically close.

[0086] Optionally, the above Figure 2A and Figure 2B The dotted circle shown is illustrative. In the implementation of the solution, it can also be an area of ​​other patterns, such as square, ellipse, trapezoid, etc., or it can be an irregular shape. This application does not limit this.

[0087] Alternatively, in a specific implementation, the concept of a circle may not be required, as described above. Figure 2A and Figure 2B The dashed circle described herein is used to exemplarily represent the positional relationship between target 102 and first vehicle 101. During the implementation of the scheme, the nodes on the first vehicle 101 can calculate the positional relationship between target 102 and first vehicle 101 based on the received signals, thereby determining whether to control the first vehicle 101 to perform related operations.

[0088] To facilitate understanding of the solution provided in this application, several ranging techniques will be introduced below.

[0089] 1) Received signal strength indicator (RSSI) ranging.

[0090] During communication, the signal transmitter actively sends signals. As the distance between the signal receiver and the transmitter increases, the signal strength received by the receiver continuously weakens. By comparing the RSSI values ​​of the transmitter and receiver, the distance between them can be calculated. The distance d between the transmitter and receiver can be described by the following formula:

[0091] D = 10 ((abs(RSSI)-a) / (10*n)) ,

[0092] Where RSSI represents the strength of the signal received at the signal receiver, a is the signal strength when the signal transmitter and the signal receiver are 1 meter apart, and n is the environmental attenuation factor.

[0093] 2) Channel sounding (CS) ranging.

[0094] CS ranging refers to distance measurement using the characteristics of a specific frequency band (such as the Bluetooth band). By operating on multiple radio frequency physical channels, the device performs phase measurements and round-trip time (RTT) measurements. One device initiates the transmission by sending a signal, while another device repeats the transmission without modifying the phase. For each frequency transmission, the initiator measures the phase change between the transmitted and received signals. When using two or more signals of different frequencies, the distance can be accurately estimated based on the phase difference between the signals. Furthermore, RTT measurements help to further refine the distance estimation results, thereby improving the accuracy of the ranging.

[0095] For example, 79 radio frequency physical channels are defined in the 2.4 GHz band, with 72 actually used. Distance estimation is performed and cross-corrected through phase measurement and round trip time (RTT) measurement to achieve functions such as more accurate distance measurement.

[0096] 3) Time of flight (TOF) ranging.

[0097] Time-of-Flight (TOF) ranging determines the distance between two devices by measuring the time it takes for a signal to travel back and forth between them. Specifically, one device emits a specific signal (such as a light or radio signal) that travels at the speed of light (approximately the speed of light in a vacuum) to another device, where it is either reflected back or directly transmitted back by the receiving device. By precisely measuring the time interval between signal transmission and reception, and since distance equals speed multiplied by time, the distance between the two devices can be calculated by multiplying the measured time by the speed of light and dividing by 2 (or by 2 for a one-way distance in the case of a round-trip measurement).

[0098] 4) Time difference of arrival (TDOA) ranging.

[0099] TDOA ranging determines the location of a signal source or calculates the distance to the signal source based on the time difference of signal arrival at different receiving points. Assuming there are multiple base stations or receiving points, when a signal source emits a signal, the arrival time at each receiving point differs due to the varying distances between the receiving points and the signal source. By accurately measuring the time difference of signal arrival at two or more receiving points, and based on the signal propagation speed (usually the speed of light, which is a fixed value under known conditions), the location of the signal source can be determined as lying on a hyperbola with these receiving points as its foci. If there are enough receiving points, the points where multiple hyperbolas intersect are the locations of the signal source, thus achieving localization. Alternatively, algorithms can be used to calculate the distance to the signal source using this time difference.

[0100] As described above, the node set in the first vehicle 101 is used to receive signals from the target 102. For ease of understanding, the device used to receive and process signals will be referred to as a detection device in the following text. The detection device can be set on the first vehicle 101, or it can be set on other equipment, such as access control, barrier gates, or vehicle stops, etc. This application does not limit this. The following is an exemplary description of this application using the example of the detection device being set on the first vehicle 101.

[0101] The detection device includes a first processing unit and at least two antennas. The detection device is applied to a first vehicle, such as the vehicle described above, which will not be repeated here. The first processing unit has signal processing capabilities, enabling it to process the signals received by the at least two antennas and obtain corresponding information.

[0102] The first processing unit is connected to at least two antennas, which can be done in the following three ways.

[0103] Option 1: The first processing unit includes a radio frequency (RF) interface, and the first processing unit is connected to at least two antennas via the RF interface. Please refer to [link / reference]. Figure 3A , Figure 3A This is a schematic diagram of a detection device provided in this application. Figure 3A As shown, the detection device 310 includes a first processing unit 301, antenna 1, antenna 2, antenna 3 and antenna 4. The first processing unit 301 includes a radio frequency interface 1. Antennas 1 to 4 are connected to the first processing unit 301 through the radio frequency interface 1. Correspondingly, the first processing unit 301 obtains the first electrical signal output by antennas 1 to 4 through the radio frequency interface 1.

[0104] Optionally, the detection device 310 may also include a power amplifier, an antenna aggregation module, and an RF coaxial connector, etc. Figure 3B As shown, the detection device 310 includes a first processing unit 301, a power amplifier, an antenna concentrator, RF coaxial connectors 1 to 4, and antennas 1 to 4. The power amplifier amplifies the electrical signals output by the antennas, facilitating analysis and processing by the first processing unit 301. The antenna concentrator summarizes the electrical signals output by antennas 1 to 4 and generates a first electrical signal. The RF coaxial connectors 1 to 4 convert the electrical signals output by antennas 1 to 4 into a numerical antenna concentrator. The power amplifier is, for example, a front-end module (FEM) power amplifier, and the RF coaxial connectors are, for example, FAKRA connectors, SMA connectors, or N-type connectors.

[0105] Method 2: The first processing unit includes at least two radio frequency (RF) interfaces. The first processing unit is connected to at least two antennas through the at least two interfaces respectively. For example, the first processing unit includes four RF interfaces, and the at least two antennas include four antennas. The first processing unit is connected to the four antennas through the four RF interfaces respectively, that is, the four antennas are connected to the four RF interfaces in a one-to-one correspondence. Figure 4 As shown, the detection device 310 includes a first processing unit 301, antenna 1, antenna 2, antenna 3 and antenna 4. The first processing unit 301 includes radio frequency interface 1, radio frequency interface 2, radio frequency interface 3 and radio frequency interface 4. Antenna 1, antenna 2, antenna 3 and antenna 4 are respectively connected to radio frequency interface 1, radio frequency interface 2, radio frequency interface 3 and radio frequency interface 4. The first processing unit 301 acquires the first electrical signal output by antenna 1 to antenna 4 through radio frequency interface 1 to radio frequency interface 4.

[0106] Optionally, the detection device 310 may also include a power amplifier, an antenna aggregation module, and an RF coaxial connector. To avoid redundancy, the inclusion of a power amplifier, antenna aggregation module, and RF coaxial connector in the detection device 310 can be found above. Figure 3B The details of the introduction will not be repeated here.

[0107] Method 3: The detection device further includes a switching unit, which connects the first processing unit to at least two antennas and controls the on / off state of signal transmission from one or more of the at least two antennas. Please refer to [link to relevant documentation]. Figure 5A , Figure 5A A schematic diagram of another detection device provided in this application. Figure 5AAs shown, the detection device 310 includes a first processing unit 301, a switching unit 302, antennas 1, 2, 3, and 4. The first processing unit 301 includes a radio frequency interface 1, and the switching unit 302 is connected between the radio frequency interface 1 and antennas 1, 2, 3, and 4. By controlling the switching unit 302, the signal transmission of one or more antennas (antennas 1 to 4) can be adjusted to be on or off.

[0108] Optionally, the detection device 310 may also include a power amplifier, an antenna aggregation module, and an RF coaxial connector, etc. Figure 5B As shown, the detection device 310 includes a first processing unit 301, a power amplifier, a switching unit 302, RF coaxial connectors 1 to 4, and antennas 1 to 4. The first processing unit 301 includes an RF interface 1 and general purpose input / output (GPIO) interfaces 1 to 3. Antennas 1 to 4 are connected to the switching unit 302 via RF coaxial connectors 1 to 4. The power amplifier is connected between the RF interface 1 and the switching unit 302. The switching unit 302 is also connected to GPIO interfaces 1 to 3. The first processing unit 301 can control the switching unit 302 via GPIO interfaces 1 to 3, thereby adjusting the signal transmission of one or more antennas 1 to 4 to be on or off.

[0109] Alternatively, the switching unit may be, for example, a double-pole four-throw switch.

[0110] Optionally, the first processing unit 301 may be a StarFlash chip, an NFC chip, a Bluetooth chip, or a UWB chip, etc.

[0111] Optionally, the first processing unit 301 described above can also be connected to a CAN transceiver or an eSE chip, and this application does not limit this.

[0112] Each of the aforementioned at least two antennas is used to receive signals and output electrical signals. The signals received by the at least two antennas are, for example, one or more of Bluetooth signals, starlight signals, NFC signals, or UWB signals. As can be seen from the foregoing description of "digital keys," the signals sent by the terminal device include the terminal device's identity information, control information, etc. However, the focus of this application is not on identity verification. To avoid redundancy, the signals received by the antennas in this application refer to signals that can be authenticated by the detection device.

[0113] The first processing unit is used to determine the positional relationship between a target and a first vehicle based on a first electrical signal output by some or all of the at least two antennas. The first electrical signal is either a signal composed of electrical signals output by some of the at least two antennas, or a signal composed of electrical signals output by all of the at least two antennas. The positional relationship between the target and the first vehicle includes the distance between the target and the first vehicle, or the orientation of the target relative to the first vehicle. The target is, for example, a terminal device transmitting a signal, such as a smartphone, a smart wearable device, or a car key.

[0114] At least two antennas are mounted on the body of the first vehicle. It is understood that mounting at least two antennas on the body of the first vehicle is for better signal acquisition, allowing the first processing unit to promptly determine the positional relationship between the target and the first vehicle based on the signals acquired by the antennas, and then generate relevant control signals to control the first vehicle to perform corresponding operations.

[0115] In one possible implementation, the positions of at least two antennas on the first vehicle are determined by the vehicle model.

[0116] The vehicle type of the first vehicle includes, for example, sedans, SUVs, MPVs, sports cars, pickup trucks, or new energy vehicles. Further, sedans can be categorized as microcars, small sedans, compact sedans, mid-size sedans, and large sedans; SUVs can be categorized as small SUVs, compact SUVs, mid-size SUVs, mid-to-large SUVs, and large SUVs; MPVs can be categorized as compact MPVs, mid-size MPVs, and large MPVs; sports cars can be categorized as entry-level sports cars, mid-range sports cars, supercars, and ultimate sports cars; and pickup trucks can be categorized as small pickup trucks, mid-size pickup trucks, and large pickup trucks. Additionally, vehicles can be classified based on their length, width, and height. It is understood that the location of at least two antennas on the first vehicle is determined by the vehicle type, ensuring that the at least two antennas are reasonably distributed according to the vehicle type, guaranteeing that the at least two antennas can accurately and effectively receive signals, thereby determining the positional relationship between the target and the first vehicle.

[0117] The following diagram illustrates several layouts for installing at least two antennas on the first vehicle.

[0118] Layout 1: The above-mentioned at least two antennas include two antennas, which are installed in the side door of the first vehicle.

[0119] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating the arrangement of at least two antennas on a first vehicle, as provided in this application. Figure 6As shown, the two antennas are antenna 1 and antenna 2, which are respectively installed on the left and right doors of the first vehicle. It is understood that by installing the two antennas on the side doors of the first vehicle, it is beneficial for at least two antennas to receive signals from both sides of the vehicle. This allows the antennas to promptly acquire the target's signal whenever the target approaches or moves away from the first vehicle from either side, thereby ensuring that the first processing unit can determine the positional relationship between the target and the first vehicle based on the first electrical signal output by the antennas.

[0120] Optionally, at least two antennas may also include a first antenna disposed on the roof of the first vehicle.

[0121] Optionally, antenna 1, antenna 2 and the first antenna are all connected to the first processing unit 301.

[0122] Optionally, the two antennas can also be installed on the A-pillar, B-pillar, or C-pillar on both sides of the first vehicle.

[0123] Optionally, the two antennas can also be installed in the side windows of the first vehicle, for example, the two antennas can be installed in the left front quarter window and the right front quarter window of the first vehicle, or the two antennas can be installed in the left rear quarter window and the right rear quarter window of the first vehicle, etc.

[0124] Layout 2: The above-mentioned at least two antennas include four antennas, which are respectively installed on the windshield, left front quarter window, right front quarter window and rear windshield of the first vehicle.

[0125] Please see Figure 7 , Figure 7 A schematic diagram illustrating another arrangement of at least two antennas on a first vehicle, as provided in this application. Figure 7 As shown, the four antennas are antenna 1, antenna 2, antenna 3, and antenna 4. Antennas 1, 2, 3, and 4 are respectively mounted on the windshield, left front quarter window, right front quarter window, and rear windshield of the first vehicle. This allows the four antennas to receive signals from the front, rear, left, and right of the first vehicle, ensuring that the antennas can promptly acquire the target's signal whenever the target approaches or moves away from the vehicle from any direction. This ensures that the first processing unit can determine the positional relationship between the target and the first vehicle based on the first electrical signal. Furthermore, mounting the four antennas on the various windows of the first vehicle also facilitates the reception of signals from inside the vehicle, enabling the first processing unit to determine whether the target is located inside the first vehicle based on the first electrical signal.

[0126] Optionally, at least two antennas may also include a first antenna disposed on the roof of the first vehicle.

[0127] Optionally, antenna 1, antenna 2, antenna 3, antenna 4 and the first antenna are all connected to the first processing unit 301.

[0128] Optionally, the four antennas can also be respectively installed on the windshield, left rear quarter window, right rear quarter window and rear windshield of the first vehicle.

[0129] Optionally, the four antennas can also be respectively installed on the windshield, left front quarter window, right rear quarter window and rear windshield of the first vehicle.

[0130] Optionally, the four antennas can also be respectively installed on the windshield, left rear quarter window, right front quarter window and rear windshield of the first vehicle.

[0131] Alternatively, the four antennas can also be respectively installed on the windshield, left door, right door and rear windshield of the first vehicle.

[0132] Optionally, the four antennas can also be respectively installed on the windshield, left B-pillar, right B-pillar and rear windshield of the first vehicle.

[0133] Optionally, the four antennas are arranged to surround the first vehicle as much as possible, so that the target's transmitted signals can be received in a timely manner through the four antennas. For example, the four antennas are evenly arranged around the first vehicle.

[0134] Optionally, the four antennas include antennas mounted on the glass of the first vehicle (e.g., windshield, side windows, rear windshield, or panoramic sunroof). This allows the four antennas to acquire signals from inside the vehicle in a timely manner, enabling the first processing unit to determine whether the target is located inside the first vehicle based on the first electrical signal.

[0135] Optionally, the above-mentioned at least two antennas further include a first antenna, which is disposed on the roof of the first vehicle. See also Figure 8 , Figure 8 A schematic diagram illustrating another arrangement of at least two antennas on a first vehicle, as provided in this application. Figure 8 As shown, at least two antennas include antennas respectively disposed on the windshield, left front quarter window, right front quarter window, and rear windshield of the first vehicle, and a first antenna disposed on the roof of the first vehicle. It is understood that the first vehicle is mostly of a metal structure, which has a certain shielding effect on signals. By disposing of the first antenna on the roof of the first vehicle, the first processing unit can determine whether the target is located inside the first vehicle based on the electrical signal output by the first antenna.

[0136] Optionally, at least two antennas may also include a first antenna disposed on the roof of the first vehicle.

[0137] Optionally, antenna 1, antenna 2, antenna 3, antenna 4 and the first antenna are all connected to the first processing unit 301.

[0138] Understandably, the layout of the four antennas on the first vehicle can vary greatly, and we will not go into detail here due to space constraints.

[0139] Layout 3: The above-mentioned at least two antennas include five antennas, which are respectively located on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper, the right side of the rear bumper, and the roof of the first vehicle.

[0140] Please see Figure 9 , Figure 9 A schematic diagram illustrating another arrangement of at least two antennas on a first vehicle, as provided in this application. Figure 9 As shown, the five antennas are antenna 1, antenna 2, antenna 3, antenna 4, and antenna 5. Antennas 1, antenna 2, antenna 3, antenna 4, and antenna 5 are respectively located on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper, the right side of the rear bumper, and the roof of the first vehicle. This allows the five antennas to receive signals from the front, rear, left, right, and interior of the first vehicle, respectively. This ensures that the antennas can promptly acquire the target's signal whenever the target approaches or moves away from the first vehicle from any direction, thereby ensuring that the first processing unit can determine the positional relationship between the target and the first vehicle based on the first electrical signal.

[0141] Optionally, antennas 1, 2, 3, 4 and 5 are all connected to the first processing unit 301.

[0142] Optionally, the five antennas are respectively located on the left headlight, right headlight, left taillight, right taillight and roof of the first vehicle.

[0143] Optionally, the five antennas are respectively located on the left side of the hood, the right side of the hood, the left side of the tailgate, the right side of the tailgate, and the roof of the first vehicle.

[0144] Optionally, the above-mentioned at least two antennas also include a second antenna and a third antenna, with the second antenna located at the left door of the first vehicle and the third antenna located at the right door of the first vehicle.

[0145] Optionally, the five antennas on the first vehicle are arranged to surround the first vehicle as much as possible, so that the signals transmitted by the target can be received in a timely manner through the five antennas. For example, the five antennas are evenly arranged around the first vehicle.

[0146] The above content combined Figures 6 to 9 An exemplary layout of at least two antennas on a first vehicle is described, followed by an explanation of how to control the reception of signals by the at least two antennas mounted on the first vehicle.

[0147] In one possible implementation, at least two antennas are divided into multiple antenna combinations, and each antenna combination includes at least one antenna. A first processing unit controls a switching unit such that the multiple antenna combinations are connected to the first processing unit in a first order.

[0148] Please see Figure 10A , Figure 10A A schematic diagram illustrating another arrangement of at least two antennas on a first vehicle, as provided in this application. Figure 10A As shown, at least two antennas include seven antennas, namely antenna 1, antenna 2, antenna 3, antenna 4, antenna 5, antenna 6 and antenna 7, wherein antennas 1 to 6 are evenly arranged around the first vehicle, and antenna 7 is arranged on the roof of the first vehicle.

[0149] Next, referring to the attached diagram, Figure 10A The antenna assembly is illustrated using the layout shown as an example.

[0150] 1) Different antenna combinations include different antennas.

[0151] like Figure 10B As shown, antennas 1 to 7 are divided into four antenna combinations: antenna 1 and antenna 2 form antenna combination 1, antenna 3 and antenna 6 form antenna combination 2, antenna 4 and antenna 5 form antenna combination 3, and antenna 7 forms antenna combination 4. Of course, if each antenna combination includes one antenna, then different antenna combinations may include different antennas. For example... Figure 10A Antennas 1 to 7 shown can each be considered as an antenna combination. It is understandable that the range of signals received by an antenna is limited. By combining multiple antennas into an antenna combination, the limitations of a single antenna's receiving range can be overcome, thereby increasing the antenna's signal scanning frequency.

[0152] 2) Different antenna combinations can include the same antenna.

[0153] like Figure 10C As shown, antennas 1 to 7 are divided into seven antenna combinations. Antenna 1 and antenna 2 form antenna combination 1, antenna 2 and antenna 3 form antenna combination 2, antenna 3 and antenna 4 form antenna combination 3, antenna 4 and antenna 5 form antenna combination 4, antenna 5 and antenna 6 form antenna combination 5, antenna 6 and antenna 1 form antenna combination 6, and antenna 7 forms antenna combination 7. This method allows a single antenna to be used to receive signals multiple times within a continuous time period, thereby avoiding missed signal detection.

[0154] 3) Different antenna combinations include the same number of antennas.

[0155] like Figure 10DAs shown, antennas 1 to 7 are divided into four antenna combinations: antenna 1 and antenna 2 form antenna combination 1, antenna 3 and antenna 6 form antenna combination 2, antenna 4 and antenna 5 form antenna combination 3, and antenna 6 and antenna 7 form antenna combination 4. It is evident that each antenna combination includes two antennas. Of course, even when each antenna combination includes one antenna, different antenna combinations may still contain the same number of antennas; for example, Figure 10A Antennas 1 to 7 shown can each be considered as an antenna combination. This method ensures that the first electrical signal output by the antenna combination is composed of electrical signals output by the same antenna, facilitating the processing of the first electrical signal by the first processing unit.

[0156] 4) Different antenna combinations may include different numbers of antennas.

[0157] As mentioned above Figure 10B As shown, antenna assembly 1, antenna assembly 2 and antenna assembly 3 each include 2 antennas, while antenna assembly 4 includes only 1 antenna.

[0158] 5) Different antenna combinations are used to determine different positional relationships.

[0159] Please continue reading the above. Figure 10B , Figure 10B The electrical signals output by antenna assembly 1, antenna assembly 2 and antenna assembly 3 can be used to determine the positional relationship between the target and the first vehicle when the target is outside the first vehicle. Figure 10B The antenna combination 4 can be used to determine whether a target is inside the first vehicle. This method allows the first electrical signal output from different antenna combinations to be used for different forms of detection, thereby improving detection accuracy.

[0160] Optionally, when the ranging technology used by the first processing unit 301 is RSSI ranging, an antenna combination may include multiple antennas. When the ranging technology used by the first processing unit 301 is CS ranging, TOF ranging, or TDOA ranging, an antenna combination may include one antenna.

[0161] It is understandable that the above Figures 10B to 10D For illustrative purposes only and not as a limitation of this application, further implementation may result in more antenna combinations, which this application does not limit.

[0162] Next, combine Figures 10B to 10D The antenna combination shown is used to Figure 10A The layout shown is used as an example to illustrate the "first order".

[0163] 1) Each antenna element is connected to the first processing unit 301 in sequence.

[0164] byFigure 10B For example, antenna combination 1, antenna combination 2, antenna combination 3, and antenna combination 4 are sequentially connected to the first processing unit 301. Exemplarily, the first processing unit 301 can send control information to the switching unit 302 via a GPIO interface, causing the antennas included in antenna combination 1, antenna combination 2, antenna combination 3, and antenna combination 4 to be sequentially connected to the first processing unit 301. In this case, each antenna is connected to the first processing unit 301 at the same frequency. Further, when the antenna combination is connected to the first processing unit 301 via the switching unit 302, the first processing unit 301 can determine the positional relationship between the target and the first vehicle through the first electrical signal output by the antenna combination.

[0165] like Figure 11A As shown, the first processing unit 301 is connected in sequence to antenna assembly 1, antenna assembly 2, antenna assembly 3 and antenna assembly 4.

[0166] Optionally, when the first processing unit 301 determines, based on the first electrical signal output by the target antenna assembly, that the positional relationship between the target and the first vehicle meets preset conditions, the first processing unit 301 can control the switching unit 302 to connect the target antenna assembly to the first processing unit 301 and acquire the first electrical signal output by the target antenna assembly to re-determine whether the positional relationship between the target and the first vehicle meets the preset conditions. The preset conditions may include, for example, the distance between the target and the first vehicle being less than or equal to a first distance, the distance between the target and the first vehicle being greater than the first distance, or the target being located inside the first vehicle.

[0167] like Figure 11B As shown, the first processing unit 301 is sequentially connected to antenna assembly 1, antenna assembly 2, antenna assembly 3, and antenna assembly 4. Based on the first electrical signal output by antenna assembly 4, the first processing unit 301 determines that the first distance between the target and the vehicle is greater than the first distance. The first processing unit 301 then controls the switching unit 301 to reconnect antenna assembly 4 to the first processing unit 301 and acquire the first electrical signal output by antenna assembly 4.

[0168] 2) Different antenna combinations require different connection frequencies.

[0169] The above Figure 11A In the first sequence shown, different antenna combinations are connected to the first processing unit 301 at the same frequency. However, different antenna combinations may be used to determine different positional relationships, such as... Figure 10B The electrical signals output by antenna assembly 1, antenna assembly 2 and antenna assembly 3 shown can be used to determine the positional relationship between the target and the first vehicle when the target is outside the first vehicle. Figure 10BThe antenna combination 4 can be used to determine whether a target is inside the first vehicle. Therefore, different antenna combinations can be configured with different connection frequencies. Figure 10B Taking the antenna combinations shown as an example, the connection frequencies between antenna combinations 1 to 3 and the first processing unit 301 are greater than the connection frequency between antenna combination 4 and the first processing unit 301. For example, the connection frequency between antenna combinations 1 to 3 and the first processing unit 301 is 10Hz, and the connection frequency between antenna combination 4 and the first processing unit 301 is 5Hz, etc. Figure 11C As shown, the first processing unit 301 connects with antenna assembly 1 to antenna assembly 3 twice, and then connects with antenna assembly 4 once. This connection scheme helps the first processing unit 301 to obtain the positional relationship between the target and the first vehicle when the target is outside the first vehicle in a timely manner.

[0170] Optionally, the connection frequency between the antenna assembly and the first processing unit 301 can be 5Hz, 10Hz, or 20Hz, etc., and this application does not limit this.

[0171] Optionally, when the first processing unit 301 is a star flash chip, the connection frequency between the antenna assembly and the first processing unit 301 can be 5Hz, and this application does not limit this.

[0172] Optionally, when the first processing unit 301 is a Bluetooth chip, NFC chip, or UWB chip, the connection frequency between the antenna combination and the first processing unit 301 can be 20Hz, and this application does not limit this.

[0173] The detection device 310 described above includes a first processing unit 301 and at least two antennas. In another possible implementation, the detection device 310 further includes at least one second processing unit and an antenna connected to the second processing unit. The antenna connected to the second processing unit is used to receive signals and output a second electrical signal. The second processing unit is used to determine a first distance between the antenna connected to the second processing unit and the target based on the second electrical signal.

[0174] Please see Figure 12 , Figure 12 A schematic diagram of another detection device provided in this application. Figure 12As shown, the detection device 310 includes a first processing unit 301, a second processing unit 401, a second processing unit 402, and antennas 1 to 4. The first processing unit 301 includes a radio frequency (RF) interface 1 and is connected to antennas 1 to 4 via the RF interface 1. The second processing unit 401 includes an RF interface 5 and is connected to antenna 5 via the RF interface 5. The second processing unit 402 includes an RF interface 6 and is connected to antenna 6 via the RF interface 6. Furthermore, the first processing unit 301 is also connected to the second processing unit 401 and the second processing unit 402. The second processing unit 401 can determine a first distance between antenna 5 and the target based on a second electrical signal output from antenna 5, while the second processing unit 402 can determine a first distance between antenna 6 and the target based on a second electrical signal output from antenna 6. It should be noted that... Figure 12 There are two second processing units in the detection device 310. In specific implementation, the detection device 310 may include more or fewer second processing units. This application does not limit this. For example, the detection device 310 may include one, two, three or four second processing units.

[0175] In one possible implementation, the first processing unit is further configured to determine the positional relationship between the target and the first vehicle based on a first distance determined by at least one second processing unit, and / or the first electrical signal.

[0176] As mentioned above Figure 12 As shown, the first processing unit 301 is connected to the second processing unit 401 and the second processing unit 402. The first processing unit 301 can be connected to the second processing unit indirectly; for example, the second processing unit sends the generated first distance to the vehicle's CAN bus, and the first processing unit 301 then obtains the first distance by reading data from the CAN bus. The first processing unit 301 can also be connected to the second processing unit directly; for example, the first processing unit 301, second processing unit 401, and second processing unit 402 can transmit data via a wired connection. Specifically, the first distance generated by the second processing unit can be transmitted to the first processing unit 301 via a wired connection. In summary, the first processing unit 301 can obtain the first distance output by the second processing unit.

[0177] The following describes several ways in which the first processing unit 301 determines the positional relationship between the target and the first vehicle.

[0178] Method 1: The first processing unit 301 determines the positional relationship of the first vehicle based on the first distance.

[0179] It is understood that the antennas (e.g., antennas 5 and 6) are fixed in their installation positions on the first vehicle. Therefore, given the first distance between the antennas, the positional relationship between the target and the first vehicle can be determined. Furthermore, the positional relationship between the target and the first vehicle can be determined based on the first distances corresponding to multiple antennas. For example, the positional relationship between the target and the first vehicle can be determined based on the first distances corresponding to antennas 5 and 6.

[0180] Method 2: The first processing unit 301 determines the positional relationship between the target and the first vehicle based on the first electrical signal.

[0181] Similar to the first method described above, the first electrical signal is the electrical signal output by the antenna connected to the first processing unit 301. Based on the first electrical signal, the first processing unit 301 can also determine the distance between the antenna and the target, and then determine the positional relationship between the target and the first vehicle based on the distances between multiple antennas and the target. For example, the first processing unit 301 can determine the positional relationship between the target and the first vehicle based on the first electrical signal corresponding to antenna 1 and the first electrical signal corresponding to antenna 2.

[0182] Method 3: The first processing unit 301 determines the positional relationship between the target and the first vehicle based on the first distance and the first electrical signal. Similar to Methods 1 and 2 above, the specific implementation will not be described in detail here.

[0183] To better understand the case where the detection device 310 includes at least one second processing unit, the following figures illustrate the layout of the first processing unit 301 and the second processing unit on the first vehicle in this case.

[0184] Please see Figure 13A , Figure 13A A schematic diagram showing the layout of a detection device provided in this application on a first vehicle. Figure 13A For a description of antenna 1 and antenna 2, please refer to the above. Figure 6 The details of the introduction will not be repeated here. Figure 13A The location of the first processing unit 301 on the first vehicle is exemplary, and this application does not limit the location of the first processing unit 301 on the first vehicle. Nodes 1 to 4 are also respectively provided at the four corners of the first vehicle. For example, node 1 is provided on the left side of the front bumper of the first vehicle, node 2 is provided on the right side of the front bumper of the first vehicle, node 3 is provided on the right side of the rear bumper of the first vehicle, and node 4 is provided on the left side of the rear bumper of the first vehicle. Each of nodes 1 to 4 includes a second processing unit 401 and an antenna connected to the second processing unit 401, such as... Figure 13B As shown.

[0185] Optionally, the first processing unit 301 is also connected to a first antenna, which is an antenna installed on the canopy of the first vehicle.

[0186] about, Figure 13A The hardware structure connecting the first processing unit 301 with antenna 1, antenna 2, and the first antenna can be referred to the above. Figure 3A , Figure 3B , Figure 4 , Figure 5A or Figure 5B The details of the introduction will not be repeated here.

[0187] Next Figure 13A Taking the layout shown as an example, for Figure 13A The order in which the nodes or antennas receive signals is described exemplarily.

[0188] 1) Pass through in sequence Figure 13A The node or antenna shown receives the signal.

[0189] Please see Figure 14 , Figure 14 In one polling cycle, nodes 1 to 4, antenna 1, antenna 2, and the first antenna sequentially receive signals. Correspondingly, after receiving a signal, nodes 1 to 4 process the signal to generate a first distance and transmit it to the first processing unit 301. After receiving the signal, antennas 1, 2, and the first antenna output a first electrical signal to the first processing unit 301. How the first processing unit 301 determines the positional relationship between the target and the first vehicle based on the first distance and / or the first electrical signal can be referred to the above description, and will not be repeated here.

[0190] 2) Within one polling cycle, the first processing unit 301 only controls antenna 1, antenna 2 and a portion of the first antenna to receive signals.

[0191] Please see Figure 15 Within one polling cycle, nodes 1 through 4 receive signals sequentially, and the first processing unit 301 controls only one antenna for receiving signals. It is understandable that... Figure 15 The sequence of received signals is shown, with nodes 1 through 4 receiving signals at frequencies higher than those received by antennas 1, 2, and the first antenna. For example, if nodes 1 through 4 receive signals at a frequency of 20 Hz, then antennas 1, 2, and the first antenna receive signals at a frequency of 20 / 3 Hz (approximately 6.67 Hz). As another example, if nodes 1 through 4 receive signals at a frequency of 5 Hz, then antennas 1, 2, and the first antenna receive signals at a frequency of 5 / 3 Hz (approximately 1.67 Hz).

[0192] Optionally, when both the first processing unit 301 and the second processing unit are star-flash chips, the frequency of the signals received by nodes 1 to 4 can be 5Hz, and the frequency of the signals received by antennas 1, antenna 2 and the first antenna can be 5 / 3Hz (approximately 1.67Hz). This application does not limit this.

[0193] Optionally, when both the first processing unit 301 and the second processing unit are Bluetooth chips, NFC chips, or UWB chips, the frequency at which nodes 1 to 4 receive signals can be 20Hz, and the frequency at which antennas 1, antenna 2, and the first antenna receive signals can be 20 / 3Hz (approximately 6.67Hz). This application does not limit this.

[0194] 3) Nodes 1 to 4 receive signals in a specified order and at a first frequency, and antennas 1, 2 and the first antenna receive signals in a specified order and at a second frequency.

[0195] Please see Figure 16 Nodes 1 to 4 receive signals sequentially in the order of Node 1, Node 2, Node 3, Node 4. Antennas 1, 2, and the first antenna receive signals sequentially in the order of Antenna 1, Antenna 2, and the first antenna. The two cycles do not interfere with each other. The first frequency and the second frequency can be the same or different. For example, both the first and second frequencies are 10Hz, or the first frequency is 10Hz and the second frequency is 5Hz, etc. This application does not limit this. The first frequency refers to the frequency at which any one of nodes 1 to 4 receives the signal, and the second frequency is the frequency at which antenna 1, antenna 2, or the first antenna receives the signal.

[0196] The above content illustrates various sequences of received signals, demonstrating that the solution provided in this application offers high flexibility in the sequence of received signals. This allows the detection method provided in this application to flexibly set the sequence of received signals based on specific circumstances, thereby improving the reliability of the detection device in receiving signals.

[0197] In one possible implementation, the first processing unit 301 controls the first vehicle to perform a first operation when it determines that the signal strength of the first electrical signal is greater than a first threshold.

[0198] Based on the RSSI ranging method described above, it can be seen that the distance between the target and the first vehicle is positively correlated with the RSSI value of the signal. Therefore, when the signal strength of the first electrical signal is greater than the first threshold, it can be determined that the distance between the target and the first vehicle is less than or equal to the first distance, thereby allowing the first vehicle to perform a first operation. The first operation includes unlocking, turning on welcome lights, starting the vehicle, or opening the door. It should be noted that this application does not limit the setting of the first threshold; the setting of the first threshold may be related to the antenna model, the length of the signal line between the antenna and the first processing unit, the initial strength of the target's transmitted signal, etc.

[0199] Optionally, if the first processing unit 301 determines that the signal strength of the first electrical signal is less than or equal to the first threshold, it controls the first vehicle to perform the second operation.

[0200] Similarly, when the signal strength of the first electrical signal is less than or equal to the first threshold, it can be determined that the distance between the target and the first vehicle is greater than the first distance, thereby allowing the first vehicle to perform a second operation. The first operation includes locking, turning off the engine, or opening / closing the door.

[0201] The detection method provided in this application will be described exemplarily below.

[0202] Please see Figure 17 , Figure 17 This is a flowchart illustrating a detection method provided in an embodiment of this application. Figure 17 The detection method shown may include one or more steps S1701 to S1703. For example, some schemes may only include steps S1701 and S1703. It should be understood that, for ease of description, the description is based on the order of steps S1701 to S1703, and is not intended to limit the execution to the above order. This application embodiment does not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S1701 to S1703 are as follows:

[0203] S1701, Each of at least two antennas receives a signal and outputs an electrical signal.

[0204] At least two of the antennas are those connected to the first processing unit 301 in the detection device 310. For details, please refer to the foregoing. Figure 3A , Figure 3B or Figure 4 The introduction is as follows. For details on how each of the at least two antennas receives and outputs an electrical signal, please refer to the aforementioned section. Figure 3A , Figure 3B or Figure 4 Introduction.

[0205] In one possible implementation, the aforementioned at least two antennas are divided into multiple antenna combinations, each antenna combination including at least one antenna. For details, please refer to the descriptions of 10B to 10D above; they will not be repeated here.

[0206] In another possible implementation, the detection device 310 includes a switching unit for connecting the first processing unit to at least two antennas, as detailed above. Figure 5A or Figure 5B The details of the introduction will not be repeated here.

[0207] S1702, the first processing unit acquires the first electrical signal output by the target antenna among at least two antennas, wherein the target antenna is some or all of the at least two antennas. Figure 3A , Figure 3B or Figure 4 For example, the target antennas are antennas 1 to 4. (Based on the above...) Figure 5A or Figure 5B For example, the target antenna is an antenna connected to the first processing unit 301 via the switching unit 302.

[0208] In one possible implementation, the first processing unit 301 sends a first control signal to the switching unit 302. The first control signal is used to control the switching state of the switching unit 302, so that the target antenna is connected to the first processing unit.

[0209] For example, the target antenna is antenna 1. The first processing unit 301 sends a first control signal to the switching unit 302 through the GPIO interface 1 to control the switching device of the switching unit 302, so that the antenna 1 is connected to the first processing unit 301.

[0210] Optionally, when the first processing unit 301 is connected to the target antenna via the switching unit 302, the first processing unit 301 can acquire the first electrical signal output by the target antenna. Then, the first processing unit 301 determines the positional relationship between the target and the first vehicle based on the first electrical signal.

[0211] In another possible implementation, the first control signal is used to instruct the switch 302 unit to connect the plurality of antenna combinations to the first processing unit 301 in a first order. For a description of the first order, please refer to the foregoing. Figure 11A or Figure 11B The details of the introduction will not be repeated here.

[0212] As mentioned above Figure 12 , Figure 13A , Figure 13BAs shown, the detection device 310 may further include at least one second processing unit and an antenna connected to the second processing unit. The second processing unit determines a first distance between the antenna connected to the second processing unit and the first vehicle based on the acquired electrical signals. In this case, the processing units of the first processing unit and at least one of the second processing units can sequentially acquire the electrical signals output by the antenna according to a first polling order; for details, please refer to the foregoing description. Figure 14 , Figure 15 or Figure 16 The details of the introduction will not be repeated here.

[0213] S1703, The first processing unit determines the positional relationship between the target and the first vehicle based on the first electrical signal.

[0214] The following describes several ways in which the first processing unit 301 determines the positional relationship between the target and the first vehicle.

[0215] Method 1: The first processing unit 301 determines the positional relationship of the first vehicle based on the first distance.

[0216] Understandably, antennas (e.g., Figure 13A Since the installation positions of antennas 5 and 6 on the first vehicle are fixed, the positional relationship between the target and the first vehicle can be determined by knowing the first distance between the antennas. Furthermore, the positional relationship between the target and the first vehicle can be determined based on the first distances corresponding to multiple antennas. For example, the positional relationship between the target and the first vehicle can be determined based on the first distances corresponding to antennas 5 and 6.

[0217] Method 2: The first processing unit 301 determines the positional relationship between the target and the first vehicle based on the first electrical signal.

[0218] Similar to the first method described above, the first electrical signal is the electrical signal output by the antenna connected to the first processing unit 301. Based on the first electrical signal, the first processing unit 301 can also determine the distance between the antenna and the target, and then determine the positional relationship between the target and the first vehicle based on the distances between multiple antennas and the target. For example, the first processing unit 301 can determine the positional relationship between the target and the first vehicle based on the first electrical signal corresponding to antenna 1 and the first electrical signal corresponding to antenna 2.

[0219] Method 3: The first processing unit 301 determines the positional relationship between the target and the first vehicle based on the first distance and the first electrical signal. Similar to Methods 1 and 2 above, the specific implementation will not be described in detail here.

[0220] In summary, the first processing unit 301 in this application is connected to at least two antennas, which are disposed on the body of the first vehicle. This allows the first processor to acquire signals from some or all of the at least two antennas and determine the positional relationship between the target and the first vehicle based on the first electrical signals output by some or all of the at least two antennas. The at least two antennas in the detection device 310 can be disposed at different locations on the first vehicle to receive signals from different directions, ensuring that the detection device can acquire signals from different directions in a timely manner and avoiding signal misses. The detection device 310 does not use multiple processing units to process the signals received by the at least two antennas separately. Instead, the first processing unit 301 processes the signals received by some or all of the at least two antennas. On the one hand, the antenna structure is simple and not easily damaged, improving the reliability of the detection device. On the other hand, it saves a large number of processing units and minimizes the cost of the detection device. Furthermore, the small size of the antennas facilitates the selection of their installation location on the first vehicle, thus facilitating the installation of the detection device. In conclusion, the detection device 310 provided in this application features high reliability, low cost, small size, and ease of installation.

[0221] The unit division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into a single processor, exist as separate physical units, or be integrated into a single unit. The integrated units described above can be implemented in hardware or as software functional units.

[0222] It is understood that the functions of the communication unit in the above embodiments can be implemented by a transceiver, and the functions of the processing unit can be implemented by a processor. The transceiver may include a transmitter and / or a receiver, etc., respectively used to implement the functions of the sending unit and / or the receiving unit. The following, in conjunction with... Figure 18 Let's illustrate with examples.

[0223] Figure 18 This is a schematic block diagram of another detection device provided in the embodiments of this application. Figure 18 The detection device 1800 shown can be Figure 3A , Figure 3B , Figure 4 , Figure 5A or Figure 5B The illustrated device represents one hardware circuit implementation. The detection device 1800 is used to implement the above... Figure 17 The detection method is shown. For ease of explanation, Figure 18 Only the main components of the detection device are shown.

[0224] Figure 18 The detection device 1800 shown includes at least one processor 1801. The detection device 1800 may also include at least one memory 1802 for storing program instructions and / or data. The memory 1802 and the processor 1801 are coupled. The coupling in this embodiment is an indirect coupling or communication connection between devices, units, or modules, and can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. The processor 1801 can operate collaboratively with the memory 1802, and the processor 1801 can execute program instructions stored in the memory 1802. At least one of the at least one memory 1802 may be included in the processor 1801.

[0225] The detection device 1800 may further include a communication interface 1803 for communicating with other devices via a transmission medium, thereby enabling the detection device 1800 to communicate with other devices. In this embodiment, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface. In this embodiment, when the communication interface is a transceiver, the transceiver may include an independent receiver, an independent transmitter, or a transceiver integrating transceiver functions, or an interface circuit.

[0226] It should be understood that the connection medium between the processor 1801, memory 1802, and communication interface 1803 described above is not limited in the embodiments of this application. The embodiments of this application... Figure 18 The memory 1802, processor 1801, and communication interface 1803 are connected via a communication bus 1804. Figure 18 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus may include an address bus, data bus, control bus, etc. For ease of illustration, Figure 18 The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The operations performed by the processor 1801 can be referred to the operations performed by the first processing unit 301 mentioned above, and will not be repeated here. The operations performed by the communication interface 1803 can be referred to the operations performed by at least two antennas mentioned above, and will not be repeated here.

[0227] A chip includes: a processor coupled to a memory for storing programs or instructions that, when executed by the processor, cause a device to perform the above-mentioned functions. Figure 17 The method of any of the processes shown in the diagram.

[0228] In this application embodiment, the processor can be a general-purpose processor, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in this application embodiment. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0229] In the embodiments of this application, the memory can be non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). Memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer, but is not limited thereto. The memory in the embodiments of this application can also be a circuit or any other device capable of implementing storage functions, used to store program instructions and / or data.

[0230] This application also provides another detection device, which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program, causing the device to perform the above-described... Figure 17 The detection methods obtained by combining them.

[0231] This application also provides a vehicle, which includes the aforementioned detection device 310 or detection device 1800. Optionally, a detailed description of the vehicle can be found in the foregoing description of the vehicle, and will not be repeated here.

[0232] This application also provides a terminal device, which includes the aforementioned detection device 310 or detection device 1800. Optionally, the relevant description of the terminal device can be found in the foregoing description of the terminal device, and will not be repeated here.

[0233] This application also provides a detection system, including the detection device 310 described above. Optionally, the detection system includes a target.

[0234] This application provides a computer program that, when executed by a processor, performs the above-described... Figure 17 The detection methods obtained by combining them.

[0235] This application provides a computer program product, comprising: a computer program (also referred to as code or instructions); when the computer program is run, it causes a computer to perform the above-described actions. Figure 17 The detection methods obtained by combining them.

[0236] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor, implement the above-described... Figure 17 The detection methods obtained by combining them.

[0237] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

Claims

1. A detection device, characterized in that, The detection device, applied to a first vehicle, includes: a first processing unit and at least two antennas; The at least two antennas are disposed on the body of the first vehicle, and the first processing unit is connected to the at least two antennas respectively; Each of the at least two antennas is used to receive signals and output electrical signals; The first processing unit is used to determine the positional relationship between the target and the first vehicle based on the first electrical signal output by some or all of the at least two antennas.

2. The detection device according to claim 1, characterized in that, The positions of the at least two antennas on the first vehicle are determined by the model of the first vehicle.

3. The detection device according to claim 1 or 2, characterized in that, The at least two antennas include two antennas disposed on the side door of the first vehicle.

4. The detection device according to claim 1 or 2, characterized in that, The at least two antennas include four antennas, which are respectively disposed on the windshield, left front triangular window, right front triangular window and rear windshield of the first vehicle.

5. The detection device according to claim 4, characterized in that, The at least two antennas also include a first antenna disposed on the roof of the first vehicle.

6. The detection device according to claim 1 or 2, characterized in that, The at least two antennas include five antennas, which are respectively located on the left side of the front bumper, the right side of the front bumper, the left side of the rear bumper, the right side of the rear bumper, and the roof of the first vehicle.

7. The detection device according to any one of claims 1 to 6, characterized in that, The detection device further includes a switching unit, which is used to connect the first processing unit to the at least two antennas and to control the signal transmission of one or more of the at least two antennas to be turned on or off.

8. The detection device according to claim 7, characterized in that, The at least two antennas are divided into multiple antenna combinations, and the antenna combination includes at least one antenna. The first processing unit is also configured to control the switching unit, such that the plurality of antenna combinations are connected to the first processing unit in a first order.

9. The detection device according to any one of claims 1 to 8, characterized in that, The detection device further includes at least one second processing unit and an antenna connected to the second processing unit; the antenna connected to the second processing unit is used to receive signals and output a second electrical signal, and the second processing unit is used to determine a first distance between the antenna connected to the second processing unit and the target based on the second electrical signal; The first processing unit is further configured to determine the positional relationship between the target and the first vehicle based on the first distance determined by the at least one second processing unit and / or the first electrical signal; The first processing unit is specifically used to control the first vehicle to perform a first operation based on the positional relationship between the target and the first vehicle.

10. The detection device according to any one of claims 1 to 9, characterized in that, When the first processing unit determines that the signal strength of the first electrical signal is greater than a first threshold, it controls the first vehicle to perform a first operation.

11. A detection method, characterized in that, The method is applied to a detection device, the detection device including a first processing unit and at least two antennas, the first processing unit being connected to each of the at least two antennas, the at least two antennas being disposed on the body of a first vehicle; the method includes: Each of the at least two antennas receives a signal and outputs an electrical signal; The first processing unit acquires a first electrical signal output by a target antenna among the at least two antennas, wherein the target antenna is some or all of the at least two antennas; The first processing unit determines the positional relationship between the target and the first vehicle based on the first electrical signal.

12. The method according to claim 11, characterized in that, The detection device further includes a switching unit for connecting the first processing unit to the at least two antennas; the first processing unit acquires a first electrical signal output by some or all of the at least two antennas, including: The first processing unit sends a first control signal to the switching unit, the first control signal being used to control the switching state of the switching unit, so that the target antenna is connected to the first processing unit; The first processing unit acquires the first electrical signal output by the target antenna.

13. The method according to claim 12, characterized in that, The at least two antennas are divided into multiple antenna combinations, and each antenna combination includes at least one antenna; the first control signal is used to instruct the switching unit to connect the multiple antenna combinations to the first processing unit in a first order.

14. The method according to claim 12 or 13, characterized in that, The detection device further includes at least one second processing unit and an antenna connected to the second processing unit; the method further includes: The processing units in the first processing unit and the at least one second processing unit sequentially acquire the electrical signals output by the antenna in a first polling order; The second processing unit determines a first distance between the antenna connected to the second processing unit and the first vehicle based on the acquired electrical signal; The first processing unit determines the positional relationship between the target and the first vehicle based on the first electrical signal, including: The first processing unit determines the positional relationship between the target and the first vehicle based on the first distance determined by the at least one second processing unit and / or the first electrical signal.

15. A terminal device, characterized in that, The terminal device includes the detection device according to any one of claims 1-10.

16. A vehicle, characterized in that, The vehicle includes the detection device according to any one of claims 1 to 10, or the terminal device according to claim 15.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 11-14.

18. A computer program product, characterized in that, The computer program product includes instructions that, when executed by a processor, cause the method according to any one of claims 11-14 to be implemented.

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