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WO2021243722A1 - 一种汽车尾翼控制方法、装置及汽车 - Google Patents

一种汽车尾翼控制方法、装置及汽车 Download PDF

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Publication number
WO2021243722A1
WO2021243722A1 PCT/CN2020/094775 CN2020094775W WO2021243722A1 WO 2021243722 A1 WO2021243722 A1 WO 2021243722A1 CN 2020094775 W CN2020094775 W CN 2020094775W WO 2021243722 A1 WO2021243722 A1 WO 2021243722A1
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WO
WIPO (PCT)
Prior art keywords
tail
car
automobile
result
wing
Prior art date
Application number
PCT/CN2020/094775
Other languages
English (en)
French (fr)
Inventor
刘洪泳
夏龙
Original Assignee
武汉路特斯汽车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉路特斯汽车有限公司 filed Critical 武汉路特斯汽车有限公司
Priority to CN202080098252.6A priority Critical patent/CN115298083A/zh
Priority to EP20938847.9A priority patent/EP4163194B1/en
Priority to US18/000,711 priority patent/US20230219640A1/en
Priority to PCT/CN2020/094775 priority patent/WO2021243722A1/zh
Publication of WO2021243722A1 publication Critical patent/WO2021243722A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/02—Stabilising vehicle bodies without controlling suspension arrangements by aerodynamic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D35/00—Vehicle bodies characterised by streamlining
    • B62D35/007—Rear spoilers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/82—Elements for improving aerodynamics

Definitions

  • This application relates to the technical field of automobile control, in particular to an automobile tail control method, device and automobile.
  • the car tail is part of the car’s aerodynamic kit. It is generally installed at the rear of the car. Its main function is to make the air resistance form a downward pressure during the driving process of the car, reduce the lift of the car’s rear, and effectively control the downforce of the airflow to make the drag coefficient. Correspondingly reduce, improve the stability of the vehicle at high speed. With the popularization and application of car tails in vehicles, safety issues that arise during the opening and closing of car tails also need to be resolved urgently.
  • a tail switch button is provided on the central control of the cab to control the movement of the tail wing, for example, long press This button can close the tail fin, and the movement will stop when the finger leaves the button tail.
  • a dangerous event such as a pinch of a person occurs and is noticed by the operator, the design can enable the operator to stop the operation of the tail wing (for example, close) through the button.
  • tail wing operation for example, closing
  • it is judged whether the tail wing is caught by foreign objects by detecting the motor locked rotor current. If the motor is locked during the tail operation process, the tail wing will automatically return to the previous position.
  • the solution of controlling the tail wing operation by long pressing the button cannot effectively avoid the safety risk. It just transfers the risk to the operator. Whether the risk can be avoided depends entirely on whether the operator notices that foreign matter is inserted into the tail wing, which cannot be realized. Automatic anti-pinch. Although the above scheme of detecting the motor's locked-rotor current can realize automatic anti-clamping, the clamping force of the mechanism is relatively large when the motor is locked, and there will still be a situation of being pinched. Therefore, it is necessary to provide a more reliable or effective solution to solve the safety problem during the use of the car tail.
  • This manual provides an automobile tail control method, device and automobile, which can greatly improve the safety of tail operation.
  • this specification provides a method for controlling the tail wing of an automobile, and the method includes:
  • the tail wing of the car is operated and controlled.
  • Another aspect provides an automobile tail wing control device, which includes:
  • Request receiving module used to receive tail operation request
  • the environment perception module is used to start the environment perception device of the car and collect environment perception data
  • An obstacle detection module configured to detect obstacles within a preset range of the position of the tail wing of the car based on the environmental perception data
  • the rear wing operation control module is used to control the operation of the rear wing of the automobile according to the result of obstacle detection.
  • an automobile includes: an environment sensing device, an automobile rear wing, and a controller;
  • the environment sensing device is used to collect obstacle detection within a preset range of the position of the tail wing of the car;
  • the controller is used to control the vehicle tail wing based on any of the aforementioned vehicle tail control methods.
  • the automobile tail wing control device may include a processor and a memory.
  • the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program It is loaded and executed by the processor to realize the vehicle tail control method provided by the above method embodiment.
  • the car tail control method, device and car provided in this manual have the following technical effects:
  • this manual After receiving the tail operation request, this manual does not directly perform the corresponding tail operation, but first uses the environment sensing device on the car to collect environment perception data; based on the environment perception data, the preset range of the position of the rear wing of the car Obstacle detection is performed internally; further, the tail opening and closing control is performed according to the results of the obstacle detection, avoiding the safety problems such as people trapping and impacting foreign objects caused by directly opening and closing the tail, greatly improving the safety of the tail operation.
  • FIG. 1 is a schematic diagram of the appearance of an automobile provided by an embodiment of this specification
  • Figure 2 is a schematic diagram of the structure of an automobile provided by an embodiment of the present specification
  • FIG. 3 is a schematic flowchart of a method for controlling an automobile rear wing provided by an embodiment of this specification
  • FIG. 4 is a schematic flowchart of another method for controlling a tail wing of an automobile according to an embodiment of the present specification
  • FIG. 5 is a schematic flowchart of another method for controlling a tail wing of an automobile according to an embodiment of the present specification
  • Fig. 6 is a schematic structural diagram of an automobile tail control device provided by an embodiment of this specification.
  • FIG. 7 is a schematic structural diagram of another automobile tail control device provided by an embodiment of this specification.
  • Fig. 8 is a schematic structural diagram of another automobile tail control device provided by an embodiment of this specification.
  • the automobile tail control method provided by the embodiment of this specification can be applied to an automobile. Specifically, in conjunction with FIG. 1 and FIG. 2, an exemplary structure of an automobile provided by the embodiment of this specification is introduced.
  • the car 100 has a car body 101, the interior of the car body 101 is a car room 102, a dashboard 103 is arranged in front of the car room 102, and a display panel 104 is disposed on the dashboard 103.
  • a rear wing 105 is arranged at the outer tail of the automobile body 101. Specifically, the rear wing 105 and the automobile body 101 are connected by a lifting structure.
  • an environment sensing device 106 is also arranged on the outside of the automobile body 101.
  • the environment sensing device 106 is an inherent or self-contained sensing device of the automobile.
  • the environment sensing device 106 may be an ultrasonic radar sensor installed on the main body 101 of the automobile (for example, installed on the rear bumper).
  • the ultrasonic radar sensor in the car reversing radar it can also be a camera device installed around the car body 101 (for example, a camera device in a car panoramic view system), or it can be a camera device installed on the outside and rear of the car body 101 (For example, the camera equipment in the car reversing imaging system), etc.
  • the environment sensing device 106 may be an additional installed environment sensing device.
  • the display panel 104 can function as an input panel that accepts a touch operation by an occupant. That is, the display panel 104 doubles as an input device.
  • the input device may also be a display (such as a touch panel) provided separately from the display panel 104 for inputting operation signals, or may be provided as various switches (press buttons, sliding switches, etc.) for inputting operation signals.
  • the triggering of the opening and closing operation command of the tail wing can be realized through the input device.
  • the tail wing 105 can also be integrated with a tail wing controller 107, and the tail wing controller 107 can be used to control the opening and closing (lifting) of the tail wing.
  • the opening and closing control of the tail wing is not limited to being executed by the tail wing controller 107, and may also be executed by other controllers, for example, a vehicle controller or the like.
  • the dashboard 103 may also include a speaker, so that prompt information and the like can be played through the speaker.
  • Figure 3 is a schematic flow diagram of an automobile tail control method provided in an embodiment of this specification.
  • This specification provides the method operation steps as described in the embodiment or flowchart, but based on conventional Or uncreative work can include more or fewer operating steps.
  • the sequence of steps listed in the embodiment is only one way of the execution order of the steps, and does not represent the only execution order.
  • the method may include:
  • S301 Receive a tail wing operation request.
  • step S301 may be performed by the request receiving module 610.
  • the request receiving module 610 may refer to the embodiment corresponding to FIG. 6 of this specification.
  • cars often provide manual and automatic tail operation modes. Specifically, this can be achieved by setting corresponding mode switching buttons. Accordingly, the driver or other occupants can switch according to actual needs.
  • the tail operation request may include a tail opening operation request and a tail closing operation request.
  • the driver or other occupants can trigger the tail operation request through the input device (such as buttons, touch screen) manually operated by the tail; specifically, for example, the tail opening operation can be triggered by clicking the designated area of the touch screen Request or tail closing operation request.
  • the input device such as buttons, touch screen
  • the corresponding tail operation request when the input device is a push-type input device (for example, a button), the corresponding tail operation request can be triggered by a single press, for example, a press once to trigger the tail closing operation request; another press Trigger the tail opening operation request.
  • the pressing state of the input device can be monitored.
  • the corresponding tail operation request can be directly triggered; in addition, the tail operation request can also be triggered by continuous pressing, for example, for the need to pass
  • the pressing stops the tail stops moving.
  • the pressing duration may also be acquired when the input device is monitored to be pressed, and when the duration is greater than or equal to a preset time threshold, a corresponding tail operation request is triggered.
  • the lifting (opening and closing) of the tail wing can have multiple gears.
  • multiple input devices corresponding to different gears can be set, or one input device can be set according to the pressing time, the number of pressings, etc. Switch to a different place.
  • P 0 gear position corresponds to the closing of the tail wing
  • P 1 , P 2 , and P 3 correspond to the different gear positions with the tail open in turn.
  • the different gear positions P 1 , P 2 , and P 3 with the tail open have increasing amplitudes in turn.
  • the input devices corresponding to the four gear positions P 0 , P 1 , P 2 , and P 3 are multiple gear keys set on the touch screen: P 0 key, P 1 key, P 2 key , P 3 button, you can click the corresponding gear button on the touch screen to trigger the operation of different gear positions of the tail; for example, when you need to set the P1 gear, directly click the P1 button on the touch screen.
  • the speed of the car can be monitored, and when it is detected that the speed of the car is greater than or equal to the first speed Threshold, trigger the tail opening operation request;
  • the tail when the tail is in the open state, when the automatic mode of the tail is turned on, and the driving mode is sports mode, the speed of the car can be monitored.
  • the speed of the car is less than or equal to the second speed threshold, a tail closing operation request is triggered.
  • the first speed threshold is greater than the second speed threshold.
  • the above-mentioned first speed threshold and/or second speed threshold may be a default setting value of the automobile, or may be adjusted by the user according to requirements.
  • the specific numerical values of the first speed threshold and the second speed threshold can be set in conjunction with the driving mode, car performance, etc., for example, the first speed threshold is 120km/h, and the second speed threshold is 90km/h.
  • the first speed threshold is 120km/h.
  • the first speed threshold is 110km/h
  • the second speed threshold is 80km/h.
  • S303 Start the environment perception device of the car, and collect environment perception data.
  • step S303 may be performed by the environment perception module 620.
  • the environment perception module 620 may refer to the embodiment corresponding to FIG. 6 of this specification.
  • the environment sensing device of the car after receiving the tail wing operation request, the environment sensing device of the car can be activated, and the environment sensing device can be used to collect the environment sensing data within the preset range of the position of the tail wing of the car.
  • the environment sensing device may be an existing device of the automobile that can sense the environment within a preset range of the position of the tail wing.
  • the environment sensing device may include, but is not limited to, at least one of an ultrasonic radar sensor in a car reversing radar system, a camera device in a car reversing imaging system, and a camera device in a car panoramic surround view system.
  • the preset range of the position of the tail can be a range that can ensure the safe operation of the tail (hereinafter referred to as the safety range of the tail). Specifically, it can be set according to actual conditions. Generally, no one, no one is within the safety range of the tail. Other foreign objects can prevent people and foreign objects from being caught in or colliding with the tail wing during opening and closing. In a specific embodiment, the preset range of the position of the tail wing may be within 1 meter behind the tail wing, etc. Generally, the range of environmental sensing data collected by the environmental sensing device is larger than the above-mentioned safety range of the tail wing.
  • the existing environment sensing device on the car is used to sense the environment near the rear wing, and there is no need to install an additional environment sensing device on the rear wing, which avoids additional cost increase and also avoids the additional cost to the rear wing itself. Its own weight causes the burden of opening and closing the tail.
  • the environment sensing device may also be an additional installed environment sensing device.
  • a suitable location can be selected for installation in combination with the safety range of the tail wing.
  • S305 Perform obstacle detection within a preset range of the position of the tail wing of the automobile based on the environmental perception data.
  • step S305 may be performed by the obstacle detection module 630.
  • the obstacle detection module 630 may refer to the embodiment corresponding to FIG. 6 of this specification.
  • the environment perception data collected by the environment perception device may include, but is not limited to, image data, distance data, and the like.
  • the environment sensing device when the environment sensing device is a camera device in a car reversing imaging system, a camera device in a car panoramic view system, etc., the environment perception data can be image data; accordingly, the image data can be Data recognition, detecting whether there are obstacles within the preset range of the position of the tail.
  • the environmental sensing data may be distance data; specifically, the distance data may be detected by the ultrasonic radar sensor Correspondingly, by judging whether the distance data exceeds the preset range of the position of the tail, the detection of whether there is an obstacle within the preset range of the position of the tail can be realized.
  • S307 Perform operation control on the tail wing of the automobile according to the result of the obstacle detection.
  • step S307 may be executed by the tail operation control module 640.
  • the tail operation control module 640 please refer to the embodiment corresponding to FIG. 6 of this specification.
  • the operation control of the tail wing of the automobile can be performed according to the result of the obstacle detection.
  • the operation control of the tail wing of the automobile can include:
  • the method may further include: feeding back prompt information that the obstacle exists, so as to remind the driver or other occupants to improve the user experience.
  • the embodiments of this specification do not directly perform the corresponding tail operation, but first use the environment sensing device on the car to collect environment perception data; Based on the environmental perception data, obstacle detection is carried out within the preset range of the position of the rear wing of the car; then the tail opening and closing control is carried out according to the result of the obstacle detection, to avoid the safety of people trapping and hitting foreign objects caused by directly opening and closing the tail.
  • This problem greatly improves the safety of the tail wing operation, and combines the existing environment sensing equipment of the car to detect obstacles. There is no need to install additional environment sensing devices on the tail wing, avoiding additional cost increases, and avoiding the need to wear the tail wing itself. The extra self-weight will cause the burden of opening and closing the tail.
  • FIG. 5 is this specification.
  • the embodiment provides a schematic flow diagram of another method for controlling the tail wing of an automobile.
  • This specification provides the method operation steps as described in the embodiment or flowchart, but based on conventional or uninvented labor, more or less operation steps may be included. .
  • the sequence of steps listed in the embodiment is only one way of the execution order of the steps, and does not represent the only execution order.
  • the method may include:
  • S501 Receive a tail wing operation request.
  • step S501 may be performed by the request receiving module 710.
  • the request receiving module 710 may refer to the embodiment corresponding to FIG. 7 of this specification.
  • step S503 may be performed by the speed acquisition module 720.
  • the speed acquisition module 720 refer to the embodiment corresponding to FIG. 7 of this specification.
  • S505 Determine whether the speed of the car is greater than or equal to a preset threshold.
  • step S505 may be executed by the speed judgment module 730.
  • the speed judgment module 730 may refer to the embodiment corresponding to FIG. 7 of this specification.
  • the preset threshold may be a speed threshold set in combination with actual applications.
  • step S507 may be executed by the environment perception module 740.
  • the environment perception module 740 may refer to the embodiment corresponding to FIG. 7 of this specification.
  • the environment sensing device of the car can be activated to collect environment sensing data for obstacle detection.
  • S509 Perform obstacle detection within a preset range of the position of the tail wing of the car based on the environmental perception data.
  • step S509 may be performed by the obstacle detection module 750.
  • the obstacle detection module 750 please refer to the embodiment corresponding to FIG. 7 of this specification.
  • S511 Perform operation control on the tail wing of the car according to the result of the obstacle detection.
  • step S511 may be executed by the tail operation control module 760.
  • the tail operation control module 760 please refer to the embodiment corresponding to FIG. 7 of this specification.
  • the method may further include:
  • step S513 may be executed by the tail operation execution module 770.
  • the tail operation execution module 770 may refer to the embodiment corresponding to FIG. 7 of this specification.
  • the current speed of the car is greater than or equal to the preset threshold, that is, the car itself is running at a high speed.
  • the probability of an obstacle in the preset range of the position of the tail is low, correspondingly , You can directly perform the tail operation corresponding to the tail operation request.
  • the corresponding tail operation is not directly executed, but the probability of obstacles in the current environment is first predicted based on the vehicle speed.
  • the probability of obstacles in the current environment is low
  • the tail operation directly corresponds to the tail operation request;
  • the environment sensing device on the car is used to collect environment perception data;
  • the environment Perception data detects obstacles within the preset range of the position of the rear wing of the car; then controls the opening and closing of the rear wing according to the results of the obstacle detection, avoiding the safety problems such as people trapping and impacting foreign objects caused by the direct opening and closing of the rear wing, which greatly improves
  • the safety of the tail operation is improved, and the existing environment sensing equipment of the car is used for obstacle detection.
  • the embodiment of this specification also provides an automobile tail control device, as shown in Fig. 6, the device includes:
  • the request receiving module 610 may be used to receive a tail wing operation request
  • the environment perception module 620 can be used to start the environment perception device of the car and collect environment perception data
  • the obstacle detection module 630 may be used to detect obstacles within a preset range of the position of the tail wing of the car based on the environmental perception data;
  • the tail operation control module 640 can be used to control the operation of the tail wing of the automobile according to the result of obstacle detection.
  • the environment sensing device includes at least one of the following: an ultrasonic radar sensor in a car reversing radar system, a camera device in a car reversing imaging system, and a camera device in a car panoramic view system.
  • the tail operation control module includes:
  • the tail operation function closing unit is used to close the tail operation function when the result of obstacle detection is that there is an obstacle
  • the tail operation execution module is used to execute the tail operation corresponding to the tail operation request when the result of obstacle detection is that there is no obstacle.
  • the device further includes:
  • the prompt feedback module is used to feed back the prompt information that the obstacle exists when the result of the obstacle detection is that there is an obstacle.
  • the device and method embodiments in the device embodiments are based on the same application concept.
  • the embodiment of this specification also provides another automobile tail control device, as shown in Fig. 7, the device includes:
  • the request receiving module 710 can be used to receive a tail wing operation request
  • the speed obtaining module 720 may be used to obtain the speed of the car before starting the environment sensing device of the car;
  • the speed judgment module 730 can be used to judge whether the speed of the car is greater than or equal to a preset threshold
  • the environment perception module 740 can be used to activate the environment perception device of the car to collect environment perception data when the result of the judgment is no;
  • the obstacle detection module 750 can be used to detect obstacles within a preset range of the position of the tail wing of the car based on the environmental perception data;
  • the tail operation control module 760 can be used to control the operation of the tail wing of the automobile according to the result of obstacle detection.
  • the device may further include:
  • the tail operation execution module 770 can be used to execute the tail operation corresponding to the tail operation request when the judgment result is yes.
  • the tail operation control module includes:
  • the tail operation function closing unit is used to close the tail operation function when the result of obstacle detection is that there is an obstacle
  • the tail operation execution module is used to execute the tail operation corresponding to the tail operation request when the result of obstacle detection is that there is no obstacle.
  • the device further includes:
  • the prompt feedback module is used to feed back the prompt information that the obstacle exists when the result of the obstacle detection is that there is an obstacle.
  • the device and method embodiments in the device embodiments are based on the same application concept.
  • the embodiment of this specification provides an automobile tail wing control device.
  • the automobile tail wing control device may include a processor and a memory.
  • the memory stores at least one instruction or at least one program.
  • the at least one instruction or the at least one program is The processor is loaded and executed to implement the vehicle tail control method provided in the above method embodiment.
  • the memory can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory.
  • the memory may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, application programs required by functions, etc.; the data storage area may store data created according to the use of the device, etc.
  • the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the memory may also include a memory controller to provide the processor with access to the memory.
  • the embodiment of this specification also provides a storage medium, the storage medium can be set in the car to store at least one instruction or at least one program related to the method for implementing a tail wing control method in the method embodiment. At least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle tail control method provided by the foregoing method embodiment.
  • the above-mentioned storage medium may be located in at least one network server among multiple network servers in the computer network.
  • the foregoing storage medium may include, but is not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes, such as discs or optical discs.
  • this manual does not directly perform the corresponding tail operation, but first combines the vehicle speed with the current environment
  • the probability of obstacles is predicted.
  • the tail operation directly corresponds to the tail operation request;
  • the environment sensing device on the car is used to collect Environmental perception data;
  • obstacle detection is performed within the preset range of the position of the rear wing of the car; then the rear wing opening and closing control is performed according to the result of the obstacle detection, so as to avoid the trapping of people caused by the direct opening and closing of the tail wing.
  • the program can be stored in a computer-readable storage medium.
  • the storage medium mentioned can be a read-only memory, a magnetic disk or an optical disk, etc.

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Abstract

一种汽车尾翼控制方法，包括：接收尾翼（105）操作请求；启动汽车（100）的环境感知装置（106），采集环境感知数据；基于环境感知数据对汽车（100）的尾翼（105）所在位置预设范围内进行障碍物检测；根据障碍物检测的结果，对汽车（100）的尾翼（105）进行操作控制。利用该汽车尾翼控制方法能够提高尾翼（105）操作的安全性。还提供了一种应用该汽车尾翼控制方法的装置及汽车（100）。

Description

一种汽车尾翼控制方法、装置及汽车 技术领域
本申请涉及汽车控制技术领域，尤其涉及一种汽车尾翼控制方法、装置及汽车。
背景技术
汽车尾翼属于汽车空气动力套件中的一部分，一般安装在汽车尾部，主要功能是在汽车行驶过程中使得空气阻力形成一个向下的压力，减少汽车尾部的升力，有效控制气流下压力，使风阻系数相应减小，提高车辆高速行驶时的稳定性。随着汽车尾翼在车辆上的推广应用，汽车尾翼开闭过程中出现的安全问题也亟待解决。
目前常见的安全问题，主要是在汽车尾翼开闭过程中，可能出现夹人、撞击异物等情况，造成人员伤害，或汽车尾翼自身的故障等。现有技术中，为了解决汽车尾翼使用过程中的上述安全问题，主要采用以下两种方案：一、在驾驶室的中控上设置一个尾翼开关按键，用于控制尾翼的运动，例如，长按该按键可以关闭尾翼，手指离开按键尾翼就停止运动。当发生夹人等危险事件且被操作者注意到时，该设计可以使操作者通过该按键停止尾翼的操作(例如，关闭)。二、在尾翼操作(例如，关闭)过程中，通过检测电机堵转电流判断尾翼是否夹住异物，如果在尾翼操作过程中检测到电机堵转，尾翼就自动回到上一位置。
在一些情况下，通过长按按键控制尾翼操作的方案并不能有效避免安全风险，只是将风险转移给了操作者，是否能够避免风险完全依赖于操作者是否注意到有异物塞入尾翼，无法实现自动防夹。上述通过检测电机堵转电流的方案，虽然可以实现自动防夹，但是电机堵转时机构夹紧力较大，依然会存在被夹伤 的情况。因此，需要提供更可靠或更有效的方案，以解决汽车尾翼使用过程中的安全问题。
发明内容
本说明书提供了一种汽车尾翼控制方法、装置及汽车，可以大大提高了尾翼操作的安全性。
一方面，本说明书提供了一种汽车尾翼控制方法，所述方法包括：
接收尾翼操作请求；
启动汽车的环境感知装置，采集环境感知数据；
基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测；
根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
另一方面提供了一种汽车尾翼控制装置，所述装置包括：
请求接收模块，用于接收尾翼操作请求；
环境感知模块，用于启动汽车的环境感知装置，采集环境感知数据；
障碍物检测模块，用于基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测；
尾翼操作控制模块，用于根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
另一方面提供了一种汽车，所述汽车包括：环境感知装置、汽车尾翼和控制器；
所述环境感知装置，用于采集所述汽车尾翼所在位置的预设范围内进行障碍物检测；
所述控制器用于基于上述任一汽车尾翼控制方法对所述汽车尾翼进行控制。
另一方面提供了一种一种汽车尾翼控制装置，该汽车尾翼控制装置可以包括处理器和存储器，该存储器中存储有至少一条指令、或至少一段程序，该至 少一条指令、或该至少一段程序由该处理器加载并执行以实现如上述方法实施例所提供的汽车尾翼控制方法。
本说明书提供的汽车尾翼控制方法、装置及汽车，具有如下技术效果：
本说明书在接收到尾翼操作请求之后，并未直接执行相应的尾翼操作，而是先利用汽车上的环境感知装置，采集环境感知数据；以基于该环境感知数据对汽车的尾翼所在位置预设范围内进行障碍物检测；进而根据障碍物检测的结果进行尾翼开闭控制，避免直接进行尾翼开闭带来的夹人、撞击异物等安全问题，大大提高了尾翼操作的安全性。
附图说明
为了更清楚地说明本说明书实施例或现有技术中的技术方案和优点，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅是本说明书的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是本说明书实施例提供的一种汽车的外观示意图；
图2是本说明书实施例提供的一种汽车的结构示意图；
图3是本说明书实施例提供的一种汽车尾翼控制方法的流程示意图；
图4是本说明书实施例提供的另一种汽车尾翼控制方法的流程示意图；
图5是本说明书实施例提供另一种汽车尾翼控制方法的流程示意图；
图6是本说明书实施例提供的一种汽车尾翼控制装置的结构示意图；
图7是本说明书实施例提供的另一种汽车尾翼控制装置的结构示意图；
图8是本说明书实施例提供的另一种汽车尾翼控制装置的结构示意图。
具体实施方式
下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有 做出创造性劳动的前提下所获得的所有其他实施例，都属于本说明书保护的范围。
需要说明的是，本说明书的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本说明书的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或服务器不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
本说明书实施例提供的汽车尾翼控制方法可以应用于汽车，具体的，结合图1和图2所示，介绍本说明书实施例提供的一种汽车的示例性结构。
具体的，所述汽车100具有汽车主体101，汽车主体101的内部为车室102，车室102的前方配置有仪表盘103，仪表盘103配置有显示面板104。汽车主体101外侧的尾部配置有尾翼105，具体的，所述尾翼105与所述汽车主体101通过升降结构连接。
进一步的，汽车主体101外侧还配置有环境感知装置106。在一些实施例中，环境感知装置106是汽车固有或自带的感知装置，具体的，所述环境感知装置106可以为安装在汽车主体101上的超声波雷达传感器(例如，安装在后保险杠上的汽车倒车雷达中的超声波雷达传感器)、也可以为安装在汽车主体101周围的摄像设备(例如，汽车全景环视系统中的摄像设备)、也可以为安装在汽车主体101外侧后部的摄像设备(例如，汽车倒车影像系统中的摄像设备)，等。在一些实施例中，环境感知装置106可以是另外安装的环境感知装置。
在本说明书实施例中，显示面板104可以作为接受基于乘员的接触操作的输入面板发挥功能。即，显示面板104兼作输入装置。此外，输入装置，也可以为与显示面板104分开设置的，用于输入操作信号的显示器(例如触摸面板)， 或者可以设置为用于输入操作信号的各种开关(按压按钮、滑动开关等)。在一个具体的实施例中，通过所述输入装置可以实现尾翼的开闭操作指令的触发。
本说明书实施例中，所述尾翼105上还可以集成有尾翼控制器107，所述尾翼控制器107可以用于进行尾翼的开闭(升降)控制。此外，尾翼的开闭控制并不局限于由尾翼控制器107执行，也可以由其它控制器，例如可以由整车控制器等来执行。
进一步的，仪表盘103还可以包括扬声器，以便通过该扬声器对提示信息等进行播放。
以下介绍本说明书一种汽车尾翼控制方法，图3是本说明书实施例提供的一种汽车尾翼控制方法的流程示意图，本说明书提供了如实施例或流程图所述的方法操作步骤，但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中的一种方式，不代表唯一的执行顺序。在实际中的系统或汽车产品执行时，可以按照实施例或者附图所示的方法顺序执行或者并行执行(例如并行处理器或者多线程处理的环境)。具体的如图3所示，所述方法可以包括：
S301：接收尾翼操作请求。
在一些实施例中，步骤S301可以由请求接收模块610执行，具体的，该请求接收模块610可参见本说明书图6对应的实施例。
在实际应用中，汽车上往往会提供手动和自动两种尾翼操作的模式，具体的，可以通过设置相应的模式切换按键等实现，相应的，驾驶员或者其他乘员可以结合实际需求进行切换。
本说明书实施例中，尾翼操作请求可以包括尾翼打开操作请求和尾翼关闭操作请求。
在实际应用中，在手动模式下，驾驶员或者其他乘员可以通过尾翼手动操作的输入装置(例如按钮、触摸屏)来触发尾翼操作请求；具体的，例如可以通过点击触摸屏的指定区域触发尾翼打开操作请求或尾翼关闭操作请求。
在一个具体的实施例中，当输入装置为按压式的输入装置(例如，按钮)时，可以为通过单次按压触发相应的尾翼操作请求，例如，按压一次触发尾翼关闭操作请求；再按压一次触发尾翼打开操作请求。具体的，可以通过监测输入装置的按压状态，当监测到输入装置被按压时，可以直接触发相应的尾翼操作请求；另外，也可以为通过持续按压的方式触发尾翼操作请求，例如，对于需要通过持续按压触发尾翼操作的情况，当检测到输入装置被持续按压时，触发尾翼操作请求，尾翼持续运动，当停止按压后，尾翼停止运动。在另一些实施例中，对于按压式的输入装置，也可以在监测到输入装置被按压时，获取按压的持续时间，当该持续时间大于等于预设时间阈值时，触发相应的尾翼操作请求。
在另一些实施例中，尾翼的升降(开闭)可以有多个档位，相应的，可以设置多个对应不同档位的输入装置，也可以设置一个输入装置，根据按压时间、按压次数等切换到不同的到位。在一个具体的实施例中，以设置多个对应不同档位的输入装置为例，假设包括P 0、P 1、P 2、P 3四个档位，其中，P 0档位对应尾翼的关闭状态，P 1、P 2、P 3依次对应着尾翼打开的不同档位，具体的，尾翼打开的不同档位P 1、P 2、P 3对应的升起幅度依次越来越大。在某一具体实施例中，假设P 0、P 1、P 2、P 3四个档位对应的输入装置为触摸屏上设置的多个档位键：P 0键、P 1键、P 2键、P 3键时，可以通过点击触摸屏上相应的档位键来触发尾翼不同档位的操作；例如，当需要设置为P1档位时，直接点击触摸屏上的P1键。
在实际应用中，在自动模式下，可以结合汽车的驾驶模式和速度进行尾翼开闭的控制。在一个具体的实施例中，在尾翼处于关闭状态下，当尾翼的自动模式开启后，且驾驶模式为运动模式时，可以监测汽车的速度，当监测到所述汽车的速度大于等于第一速度阈值时，触发尾翼打开操作请求；在另一个具体的实施例中，在尾翼处于打开状态下，当尾翼的自动模式开启后，且驾驶模式为运动模式时，可以监测汽车的速度，当监测到所述汽车的速度小于等于第二速度阈值时，触发尾翼关闭操作请求。
本说明书实施例中，所述第一速度阈值大于所述第二速度阈值。应当理解， 上述第一速度阈值和/或第二速度阈值可以是汽车的默认设置值，也可以由用户根据需求进行调整。具体地，第一速度阈值和第二速度阈值的具体数值大小可以结合驾驶模式、汽车性能等进行设置，例如第一速度阈值为120km/h，第二速度阈值为90km/h，再例如，第一速度阈值为110km/h，第二速度阈值为80km/h。
在另一些实施例中，尾翼的升降(开闭)可以有多个档位，相应的，可以设置多个对应不同档位的速度阈值，以结合不同的速度阈值控制尾翼的不同幅度的升降。
S303：启动汽车的环境感知装置，采集环境感知数据。
在一些实施例中，步骤S303可以由环境感知模块620执行，具体的，该环境感知模块620可参见本说明书图6对应的实施例。
本说明书实施例中，在接收到尾翼操作请求之后，可以启动汽车的环境感知装置，利用该环境感知装置采集所述汽车的尾翼所在位置预设范围内的环境感知数据。
具体的，本说明书实施例中，环境感知装置可以为汽车已有的可进行尾翼所在位置预设范围内的环境感知的设备。具体的，所述环境感知装置可以包括但不限于汽车倒车雷达系统中的超声波雷达传感器、汽车倒车影像系统中的摄像设备，汽车全景环视系统中的摄像设备中的至少一种。
本说明书实施例中，尾翼所在位置预设范围可以为能保证尾翼安全操作的范围(以下简称尾翼安全范围)，具体的，可以结合实际情况进行设置，一般的，该尾翼安全范围内无人、其他异物，进而可以避免尾翼开闭过程中夹入或碰撞到人、异物等。在一个具体的实施例中，尾翼所在位置预设范围可以为尾翼后方1米内等。一般的，环境感知装置采集的环境感知数据的范围大于上述尾翼安全范围。
本说明书实施例中，利用汽车上已有的环境感知装置进行尾翼附近的环境感知，无需在尾翼上安装额外的环境感知装置，避免了额外的成本增加，也避免了对尾翼本身带来额外的自重，造成尾翼开闭的负担。
当然，在一些实施例中，环境感知装置也可以为另外安装的环境感知装置。具体的，在环境感知装置另外安装时，可以结合尾翼安全范围选取合适的位置进行安装。
S305：基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测。
在一些实施例中，步骤S305可以由障碍物检测模块630执行，具体的，该障碍物检测模块630可参见本说明书图6对应的实施例。
本说明书实施例中，环境感知装置采集的环境感知数据可以包括但不限于影像数据、距离数据等。
在一个具体的实施例中，当环境感知装置为汽车倒车影像系统中的摄像设备、汽车全景环视系统中的摄像设备等摄像设备时，环境感知数据可以为影像数据；相应的，可以通过对影像数据的识别，检测尾翼所在位置预设范围内是否存在障碍物。
在另一个具体的实施例中，当环境感知装置为汽车倒车雷达系统中的超声波雷达传感器等超声波雷达传感器时，环境感知数据可以为距离数据；具体的，该距离数据可以为超声波雷达传感器探测到的障碍物距离，相应的，可以通过判断该距离数据是否超出尾翼所在位置预设范围，来实现对尾翼所在位置预设范围内是否存在障碍物的检测。
S307：根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
在一些实施例中，步骤S307可以由尾翼操作控制模块640执行，具体的，该尾翼操作控制模块640可参见本说明书图6对应的实施例。
本说明书实施例中，在进行障碍物检测之后，可以根据障碍物检测的结果，对所述汽车的尾翼进行操作控制，具体的，结合图4所示，可以包括：
S3071：当障碍物检测的结果为存在障碍物时，关闭尾翼操作功能；
S3073：当障碍物检测的结果为未存在障碍物时，执行与所述尾翼操作请求 对应的尾翼操作。
本说明书实施例中，在关闭尾翼操作功能后，不管是自动模式还是手动模式下，均不会执行尾翼操作。具体的实施例中，假设当前处于手动模式，相应的，手动模式的对应的输入装置将无法操作。相应的，当处于自动模式，即使满足尾翼操作的触发条件，也不会执行尾翼操作。
在另一些实施例中，当障碍物检测的结果为存在障碍物时，所述方法还可以包括：反馈存在障碍物的提示信息，以便提醒驾驶员或其他乘员，改善用户体验。
由以上本说明书实施例提供的技术方案可见，本说明书实施例中在接收到尾翼操作请求之后，并未直接执行相应的尾翼操作，而是先利用汽车上的环境感知装置，采集环境感知数据；以基于该环境感知数据对汽车的尾翼所在位置预设范围内进行障碍物检测；进而根据障碍物检测的结果进行尾翼开闭控制，避免直接进行尾翼开闭带来的夹人、撞击异物等安全问题，大大提高了尾翼操作的安全性，且结合汽车已有环境感知设备进行障碍物检测，无需在尾翼上安装额外的环境感知装置，避免了额外的成本增加，且也避免了对尾翼本身带来额外的自重，造成尾翼开闭的负担。
在实际应用中，当汽车在高速运行状态下，夹人撞击异物的概率大大降低，为了提高尾翼开闭控制的效率，本说明书实施例还提供另一种汽车尾翼控制方法，图5是本说明书实施例提供的另一种汽车尾翼控制方法的流程示意图，本说明书提供了如实施例或流程图所述的方法操作步骤，但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中的一种方式，不代表唯一的执行顺序。在实际中的系统或汽车产品执行时，可以按照实施例或者附图所示的方法顺序执行或者并行执行(例如并行处理器或者多线程处理的环境)。具体的如图5所示，所述方法可以包括：
S501：接收尾翼操作请求。
在一些实施例中，步骤S501可以由请求接收模块710执行，具体的，该请求接收模块710可参见本说明书图7对应的实施例。
S503：获取汽车的速度。
在一些实施例中，步骤S503可以由速度获取模块720执行，具体的，该速度获取模块720可参见本说明书图7对应的实施例。
S505：判断所述汽车的速度是否大于等于预设阈值。
在一些实施例中，步骤S505可以由速度判断模块730执行，具体的，该速度判断模块730可参见本说明书图7对应的实施例。
本说明书实施例中，预设阈值可以结合实际应用进行设置的速度阈值。
S507：当判断的结果为否时，启动汽车的环境感知装置，采集环境感知数据。
在一些实施例中，步骤S507可以由环境感知模块740执行，具体的，该环境感知模块740可参见本说明书图7对应的实施例。
本说明书实施例中，当汽车当前的速度小于预设阈值时，即汽车本身处于低速运行或静止状态下，一般的，汽车本身处于低速运行或静止状态下，尾翼所在位置预设范围内存在障碍物的概率较高，相应的，可以启动汽车的环境感知装置，采集环境感知数据，以进行障碍物检测。
S509：基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测。
在一些实施例中，步骤S509可以由障碍物检测模块750执行，具体的，该障碍物检测模块750可参见本说明书图7对应的实施例。
S511：根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
在一些实施例中，步骤S511可以由尾翼操作控制模块760执行，具体的，该尾翼操作控制模块760可参见本说明书图7对应的实施例。
在另一些实施例中，如图5所示，所述方法还可以包括：
S513：当判断的结果为是时，执行与所述尾翼操作请求对应的尾翼操作。
在一些实施例中，步骤S513可以由尾翼操作执行模块770执行，具体的， 该尾翼操作执行模块770可参见本说明书图7对应的实施例。
本说明书实施例中，当汽车当前的速度大于等于预设阈值时，即汽车本身处于高速运行下，一般的，高速运行下，尾翼所在位置预设范围内存在障碍物的概率较低，相应的，可以直接执行与所述尾翼操作请求对应的尾翼操作。
上述步骤S501、以及S507-S509的具体细化可以参见上述相关步骤的细化，在此不再赘述。
由以上本说明书实施例提供的技术方案可见，本说明书实施例中在接收到尾翼操作请求之后，并未直接执行相应的尾翼操作，而是先结合车速对当前环境存在障碍物概率进行预测，当当前环境存在障碍物概率较低时，直接与所述尾翼操作请求对应的尾翼操作；当当前环境存在障碍物概率较高时，利用汽车上的环境感知装置，采集环境感知数据；以基于该环境感知数据对汽车的尾翼所在位置预设范围内进行障碍物检测；进而根据障碍物检测的结果进行尾翼开闭控制，避免直接进行尾翼开闭带来的夹人、撞击异物等安全问题，大大提高了尾翼操作的安全性，且结合汽车已有环境感知设备进行障碍物检测，无需在尾翼上安装额外的环境感知装置，避免了额外的成本增加，且也避免了对尾翼本身带来额外的自重，造成尾翼开闭的负担。同时结合车速的预判，也可以实现结合场景进行障碍物检测，大大提高了尾翼控制的处理效率和应对不同场景的灵活性。
本说明书实施例还提供了一种汽车尾翼控制装置，如图6所示，所述装置包括：
请求接收模块610，可以用于接收尾翼操作请求；
环境感知模块620，可以用于启动汽车的环境感知装置，采集环境感知数据；
障碍物检测模块630，可以用于基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测；
尾翼操作控制模块640，可以用于根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
在一些实施例中，所述环境感知装置至少包括下述之一：汽车倒车雷达系统中的超声波雷达传感器、汽车倒车影像系统中的摄像设备和汽车全景环视系统中的摄像设备。
在一些实施例中，所述尾翼操作控制模块包括：
尾翼操作功能关闭单元，用于当障碍物检测的结果为存在障碍物时，关闭尾翼操作功能；
尾翼操作执行模块，用于当障碍物检测的结果为未存在障碍物时，执行与所述尾翼操作请求对应的尾翼操作。
在一些实施例中，所述装置还包括：
提示反馈模块，用于当障碍物检测的结果为存在障碍物时，反馈存在障碍物的提示信息。
所述的装置实施例中的装置与方法实施例基于同样的申请构思。
本说明书实施例还提供了另一种汽车尾翼控制装置，如图7所示，所述装置包括：
请求接收模块710，可以用于接收尾翼操作请求；
速度获取模块720，可以用于在启动汽车的环境感知装置之前，获取所述汽车的速度；
速度判断模块730，可以用于判断所述汽车的速度是否大于等于预设阈值；
环境感知模块740，可以用于当判断的结果为否时，启动汽车的环境感知装置，采集环境感知数据；
障碍物检测模块750，可以用于基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测；
尾翼操作控制模块760，可以用于根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
在另一些实施例中，如图8所示，所述装置还可以包括：
尾翼操作执行模块770，可以用于当判断的结果为是时，执行与所述尾翼操 作请求对应的尾翼操作。
在一些实施例中，所述尾翼操作控制模块包括：
尾翼操作功能关闭单元，用于当障碍物检测的结果为存在障碍物时，关闭尾翼操作功能；
尾翼操作执行模块，用于当障碍物检测的结果为未存在障碍物时，执行与所述尾翼操作请求对应的尾翼操作。
在一些实施例中，所述装置还包括：
提示反馈模块，用于当障碍物检测的结果为存在障碍物时，反馈存在障碍物的提示信息。
所述的装置实施例中的装置与方法实施例基于同样的申请构思。
本说明书实施例提供了一种汽车尾翼控制装置，该汽车尾翼控制装置可以包括处理器和存储器，该存储器中存储有至少一条指令、或至少一段程序，该至少一条指令、或该至少一段程序由该处理器加载并执行以实现如上述方法实施例所提供的汽车尾翼控制方法。
存储器可用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、功能所需的应用程序等；存储数据区可存储根据所述设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供处理器对存储器的访问。
本说明书的实施例还提供了一种存储介质，所述存储介质可设置于汽车之中以保存用于实现方法实施例中一种汽车尾翼控制方法相关的至少一条指令、或至少一段程序，该至少一条指令或该至少一段程序由该处理器加载并执行以实现上述方法实施例提供的汽车尾翼控制方法。
可选地，在本实施例中，上述存储介质可以位于计算机网络的多个网络服 务器中的至少一个网络服务器。可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
由上述本说明书提供的汽车尾翼控制方法、装置、汽车、设备存储介质的实施例可见，本说明书在接收到尾翼操作请求之后，并未直接执行相应的尾翼操作，而是先结合车速对当前环境存在障碍物概率进行预测，当当前环境存在障碍物概率较低时，直接与所述尾翼操作请求对应的尾翼操作；当当前环境存在障碍物概率较高时，利用汽车上的环境感知装置，采集环境感知数据；以基于该环境感知数据对汽车的尾翼所在位置预设范围内进行障碍物检测；进而根据障碍物检测的结果进行尾翼开闭控制，避免直接进行尾翼开闭带来的夹人、撞击异物等安全问题，大大提高了尾翼操作的安全性，且结合汽车已有环境感知设备进行障碍物检测，无需在尾翼上安装额外的环境感知装置，避免了额外的成本增加，且也避免了对尾翼本身带来额外的自重，造成尾翼开闭的负担。同时集合车速的预判，也可以实现结合场景进行障碍物检测，大大提高了尾翼控制的处理效率和应对不同场景的灵活性。
需要说明的是：上述本说明书实施例先后顺序仅仅为了描述，不代表实施例的优劣。且上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置、汽车、设备和存储介质实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过 硬件来完成，也可以通过程序来指示相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述仅为本说明书的较佳实施例，并不用以限制本说明书，凡在本说明书的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本说明书的保护范围之内。

Claims (14)

  1. 一种汽车尾翼控制方法，其特征在于，所述方法包括：
    接收尾翼操作请求；
    启动汽车的环境感知装置，采集环境感知数据；
    基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测；
    根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
  2. 根据权利要求1所述的方法，其特征在于，所述环境感知装置至少包括下述之一：汽车倒车雷达系统中的超声波雷达传感器、汽车倒车影像系统中的摄像设备和汽车全景环视系统中的摄像设备。
  3. 根据权利要求1所述的方法，其特征在于，所述根据障碍物检测的结果，对所述汽车的尾翼进行操作控制包括：
    当障碍物检测的结果为存在障碍物时，关闭尾翼操作功能；
    当障碍物检测的结果为未存在障碍物时，执行与所述尾翼操作请求对应的尾翼操作。
  4. 根据权利要求3所述的方法，其特征在于，当障碍物检测的结果为存在障碍物时，所述方法还包括：
    反馈存在障碍物的提示信息。
  5. 根据权利要求1所述的方法，其特征在于，在启动汽车的环境感知装置之前，所述方法还包括：
    获取所述汽车的速度；
    判断所述汽车的速度是否大于等于预设阈值；
    当判断的结果为否时，执行启动汽车的环境感知装置，采集环境感知数据 的步骤。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    当判断的结果为是时，执行与所述尾翼操作请求对应的尾翼操作。
  7. 一种汽车尾翼控制装置，其特征在于，所述装置包括：
    请求接收模块，用于接收尾翼操作请求；
    环境感知模块，用于启动汽车的环境感知装置，采集环境感知数据；
    障碍物检测模块，用于基于所述环境感知数据对所述汽车的尾翼所在位置预设范围内进行障碍物检测；
    尾翼操作控制模块，用于根据障碍物检测的结果，对所述汽车的尾翼进行操作控制。
  8. 根据权利要求7所述的装置，其特征在于，所述环境感知装置至少包括下述之一：汽车倒车雷达系统中的超声波雷达传感器、汽车倒车影像系统中的摄像设备和汽车全景环视系统中的摄像设备。
  9. 根据权利要求7所述的装置，其特征在于，所述尾翼操作控制模块包括：
    尾翼操作功能关闭单元，用于当障碍物检测的结果为存在障碍物时，关闭尾翼操作功能；
    尾翼操作执行模块，用于当障碍物检测的结果为未存在障碍物时，执行与所述尾翼操作请求对应的尾翼操作。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括：
    提示反馈模块，用于当障碍物检测的结果为存在障碍物时，反馈存在障碍物的提示信息。
  11. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    速度获取模块，用于在启动汽车的环境感知装置之前，获取所述汽车的速度；
    速度判断模块，用于判断所述汽车的速度是否大于等于预设阈值；
    相应的，所述环境感知模块还用于当判断的结果为否时，执行启动汽车的环境感知装置，采集环境感知数据的步骤。
  12. 根据权利要求11所述的装置，其特征在于，所述装置还包括：
    尾翼操作执行模块，用于当判断的结果为是时，执行与所述尾翼操作请求对应的尾翼操作。
  13. 一种汽车，其特征在于，所述汽车包括：环境感知装置、汽车尾翼和控制器；
    所述环境感知装置，用于采集所述汽车尾翼所在位置的预设范围内进行障碍物检测；
    所述控制器用于基于权利要求1至6任一所述的方法对所述汽车尾翼进行控制。
  14. 一种汽车尾翼控制装置，其特征在于，所述汽车尾翼控制装置包括处理器和存储器，所述存储器中存储有至少一条指令、或至少一段程序，所述至少一条指令、或所述至少一段程序由该处理器加载并执行以实现如权利要求1至6任一所述汽车尾翼控制方法。
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