Vehicle air suite control method and device and vehicle

Abstract

The invention provides a vehicle air suite control method and device and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that in response to a first instruction for driving an air suite of a vehicle to move, obstacle detection is carried out in a preset movement range of the air suite; if the obstacle exists in the preset motion range, generating first prompt information about obstacle prompt and first instruction confirmation; and in response to a second instruction for confirming the first prompt information, driving the air suite according to the second instruction. Before the air suite is driven, the obstacles in the preset movement range are detected, if the obstacles exist, a user is prompted and requested for secondary confirmation, it is ensured that the user executes after knowing and authorizing, active prevention is achieved through obstacle detection and risk prompting before pinching occurs, the pinching risk is effectively prevented, and the user experience is improved. And the probability that the air suite makes contact with an obstacle in the moving process is obviously reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle air kit control method and device and a vehicle. BACKGROUND

[0002] With the increasing demand for optimization of automobile aerodynamics, more and more vehicle models are equipped with active air dams, diffusers and other air kits at the front and rear parts of the vehicle to automatically adjust the airflow distribution around the vehicle body under different working conditions, thereby reducing wind resistance, improving fuel economy or enhancing vehicle stability.

[0003] Among them, the active air dam and the diffuser are usually driven by a motor to realize position adjustment (such as opening or closing). During the movement of the air kit, if there are persons or foreign matters in the movement range thereof, it may cause a pinching risk. To reduce the risk, in the related art, a motor stall, motor overload current and other methods are usually used to determine the anti-pinch triggering logic, however, these methods are all activated after the pinching action occurs, which are lagging prevention measures, although they can reduce the pinching damage, but cannot prevent the pinching event from occurring. SUMMARY

[0004] The problem solved by the present application is: how to prevent the pinching risk.

[0005] To solve the above problems, the present application provides a vehicle air kit control method and device and a vehicle.

[0006] In a first aspect, the present application provides a vehicle air kit control method, comprising: in response to a first instruction for driving the movement of an air kit of a vehicle, performing obstacle detection within a preset movement range of the air kit; if there is an obstacle within the preset movement range, generating first prompt information for prompting the obstacle and confirming the first instruction; in response to a second instruction for confirming the first prompt information, driving the air kit according to the second instruction.

[0007] Optionally, the obstacle detection within the preset movement range of the air kit comprises: performing obstacle detection according to the acquired environmental information about the preset movement range of the air kit; wherein the environmental information is collected by an environmental perception device of the vehicle.

[0008] Optionally, the obstacle detection within the preset movement range of the air kit in response to the first instruction for driving the movement of the air kit of the vehicle comprises: In response to the first instruction, it is determined, according to the acquired running information of the vehicle, whether the running information satisfies a preset obstacle detection condition. If yes, obstacle detection is performed within the preset movement range of the air kit.

[0009] Optionally, the running information includes vehicle speed; and the preset obstacle detection condition includes that the vehicle speed is less than or equal to a preset speed. And / or, the running information includes gear information, and the preset obstacle detection condition includes that a vehicle speed corresponding to the gear information is less than or equal to a preset speed.

[0010] Optionally, after the determination of whether the running information satisfies the preset obstacle detection condition, the vehicle air kit control method further includes: If the running information does not satisfy the preset obstacle detection condition, the air kit is driven to move according to the first instruction. And / or, after the obstacle detection within the preset movement range of the air kit, the vehicle air kit control method further includes: If the obstacle does not exist within the preset movement range, the air kit is driven to move according to the first instruction.

[0011] Optionally, in response to a second instruction about confirming the first prompt information, the air kit is driven according to the second instruction, including: In response to the second instruction, vehicle external warning information is generated, and after a first preset time period, the air kit is driven to move according to the preset action corresponding to the first instruction according to the second instruction; Or, in response to the second instruction, vehicle external warning information is generated; when the vehicle external warning information is generated for a first preset time period, if the obstacle within the preset movement range disappears, the air kit is driven to move according to the preset action corresponding to the first instruction according to the second instruction.

[0012] Optionally, in response to a second instruction about confirming the first prompt information, the air kit is driven according to the second instruction, further including: In response to the second instruction, a panoramic image acquisition system of the vehicle is called to acquire and display panoramic image information about the vehicle.

[0013] Optionally, the preset movement range includes an actual movement range of the air kit and a preset range around the actual movement range.

[0014] Optionally, in response to a first instruction about driving the air kit of the vehicle to move, the obstacle detection within the preset movement range of the air kit includes: in response to the first instruction about driving the plurality of target air kits of the vehicle to move, performing obstacle detection within a preset movement range of each of the target air kits respectively; after the obstacle detection within the preset movement range of each of the target air kits respectively, the vehicle air kit control method further comprises: if the obstacle exists within the preset movement range of at least one of the target air kits, generating the first prompt information; and / or, if the obstacle does not exist within the preset movement range of at least one of the target air kits, driving all of the target air kits within the preset movement range where the obstacle does not exist to move according to the first instruction.

[0015] Optionally, after the obstacle detection within the preset movement range of the air kit, the vehicle air kit control method further comprises: if the obstacle exists within the preset movement range, performing position tracking on the obstacle within the preset movement range, and generating second prompt information about the real-time position of the obstacle.

[0016] In a second aspect, the present application provides a vehicle air kit control device, comprising: a detection module configured to perform obstacle detection within a preset movement range of an air kit of a vehicle in response to a first instruction about driving the air kit to move; a prompt module configured to generate first prompt information about obstacle prompt and confirmation of the first instruction if the obstacle exists within the preset movement range; an execution module configured to drive the air kit according to a second instruction in response to a second instruction about confirming the first prompt information.

[0017] In a third aspect, the present application provides a vehicle comprising a memory and a processor; the memory is configured to store a computer program; the processor is configured to implement the vehicle air kit control method as described in the first aspect when executing the computer program.

[0018] In a fourth aspect, the present application provides a computer readable storage medium storing a computer program, which is read and run by a processor to implement the vehicle air kit control method as described in the first aspect.

[0019] The beneficial effects of the vehicle aerodynamic kit control method and device of the present invention, and the vehicle are as follows: Before executing the aerodynamic kit driving operation, the present invention first performs obstacle detection within its preset movement range to determine whether there are obstacles that may affect the normal movement of the aerodynamic kit or cause the risk of pinching injury; if an obstacle is detected, a prompt message is generated to inform the user about the obstacle and confirm the first instruction, so as to ensure that the user is aware of the risk in time and makes a judgment; when a second instruction is received (as a second confirmation of the first instruction) confirming the execution of the first instruction, it is confirmed that the user is aware of the potential risks of the current aerodynamic kit movement and has made a clear authorization to continue execution, thereby driving the aerodynamic kit to perform the corresponding movement according to the first instruction under the premise of ensuring that the risk is controllable, so as to meet the user's needs, and achieve the corresponding aerodynamic effect and / or cooling effect while taking into account safety protection. Thus, this invention can proactively prevent pinching injuries by detecting obstacles and providing risk warnings before they occur, effectively reducing the risk of pinching injuries and significantly lowering the probability of the air kit coming into contact with obstacles during its movement. At the same time, it can avoid unnecessary air kit drive interruption caused by false detection or misjudgment during obstacle detection, thereby balancing the performance of the air kit with the overall safety performance of the vehicle, and improving the intelligence, controllability, and user experience of the air kit control process. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a vehicle air kit control method in one embodiment of the present invention; Figure 2 This is a schematic diagram of a sub-process of step 100 in an embodiment of the present invention; Figure 3 This is a flowchart illustrating a vehicle air kit control method in another embodiment of the present invention; Figure 4 This is a structural block diagram of the vehicle air kit control device in an embodiment of the present invention; Figure 5 This is a schematic diagram of the communication connection between the vehicle's memory and processor in an embodiment of the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0023] In combination Figure 1 As shown in the embodiments of the present application, a vehicle air kit control method is provided, comprising: Step 100, in response to a first instruction for driving the air kit of the vehicle to move, obstacle detection is performed within a preset movement range of the air kit.

[0024] Specifically, considering that the reason why the vehicle air kit causes the risk of pinching is that there are obstacles (such as pedestrians, animals, other vehicles or other moving or stationary objects, etc.) within the movement range of the air kit (or air power kit, air force kit; which includes active air dam, diffuser, tail wing, etc.), therefore, in step 100, when receiving a control instruction (denoted as the first instruction) for driving the air kit of the vehicle to move, obstacle detection is performed within the preset movement range of the air kit, that is, whether there is a corresponding obstacle within the preset movement range of the air kit is detected, to determine whether there is an obstacle affecting the movement of the air kit, and also to determine whether the movement of the air kit will cause the risk of pinching (that is, whether it is possible to contact the obstacle located within the preset movement range of the air kit). Wherein, the preset movement range includes the actual movement range of the air kit, and the actual movement range is a three-dimensional envelope region formed by all spatial positions that the structural components of the air kit can reach during the execution of the corresponding driving action. In some embodiments, the preset movement range also includes a safety buffer area extending around the actual movement range, for detecting potential obstacles approaching the movement path of the air kit in advance, so as to make protective decisions before the obstacles enter the pinching risk area. The size of the preset movement range can be determined according to the structural size, movement stroke, driving speed and vehicle shape characteristics of the air kit, etc.

[0025] Wherein, the air kit of the vehicle is driven by a corresponding driving mechanism to realize corresponding movement, such as position and angle adjustment, so as to obtain the required aerodynamic effect and / or cooling effect (such as taking away the heat of a specific component of the vehicle through air flow).

[0026] Exemplarily, for obstacle detection within the preset movement range of the air kit, the environmental information about the preset movement range of the air kit can be obtained through the vehicle-mounted environmental perception device (such as vehicle-mounted radar, ultrasonic sensor or image acquisition mechanism, etc.), and then the obstacle detection is performed based on the environmental information to determine whether there is an obstacle within the preset movement range of the air kit.

[0027] Therefore, before driving the air kit to move, the obstacle in the preset movement range of the air kit is detected in advance, so as to provide a basis for subsequent decision of the method, and avoid directly driving the air kit when there is an obstacle in the preset movement range of the air kit, so as to avoid damaging the obstacle by clamping or collision, and improve the safety of air kit control and user experience.

[0028] In step 210, if there is an obstacle in the preset movement range, first prompt information about obstacle prompt and first instruction confirmation is generated.

[0029] Specifically, in step 210, based on the obstacle detection result of step 100, if there is an obstacle in the preset movement range, prompt information about obstacle prompt and first instruction confirmation (denoted as first prompt information) is generated, which is interactive information for prompting the user that there is an obstacle in the preset movement range of the air kit and requesting the user to confirm whether to continue to execute the first instruction. Therefore, when there is an obstacle in the preset movement range of the air kit, the user is explicitly prompted of the risk and requested to confirm, so as to avoid directly driving the air kit without the user's awareness or authorization, thereby reducing the probability of contact between the air kit and the obstacle during movement, effectively reducing the risk of injury (such as the risk of injuring a person or damaging a corresponding object); at the same time, the user can judge the relevant information of the obstacle in combination with the first prompt information, and improve the safety and controllability of the air kit control process.

[0030] The first prompt information about obstacle prompt and first instruction confirmation can be output in the form of sound, light, etc., such as through a vehicle display screen (pop-up display reminder), voice broadcast, light change, etc., so as to effectively enhance the perceptibility and intuitiveness of the prompt, ensure that the user can obtain the first prompt information in time, and reduce the security risks caused by the user's failure to pay attention to the prompt in time.

[0031] In step 300, in response to the second instruction about confirming the first prompt information, the air kit is driven according to the second instruction.

[0032] Specifically, in step 300, when receiving the second instruction for confirming the first prompt information, as the user confirms that the currently detected obstacle (such as flexible or light foreign matter such as plastic bags, paper sheets, leaves, etc., or obstacles located in the away area of the air kit movement direction, etc.) will not affect the normal movement of the air kit or cause the risk of pinching, or the user manually removes the corresponding obstacle according to the first prompt information, and then issues the second instruction for confirming the first prompt information, the air kit is driven according to the second instruction, that is, the second instruction is responded to, and the air kit is driven to perform (or carry out) the corresponding movement with the preset action corresponding to the first instruction. In this way, it is ensured that the driving operation of the air kit is carried out under the premise that the user is aware of and acknowledges that the risk is controllable, reducing potential safety hazards; at the same time, unnecessary interruption caused by obstacle misjudgment or misdetection is avoided, thereby ensuring the safety of the air kit control process and maintaining the normal function of the air kit and the stability of the vehicle aerodynamic performance.

[0033] Exemplarily, the first prompt information for confirming the first instruction and the obstacle prompt can be presented in the form of a pop-up window through the vehicle-mounted display screen, such as providing an interactive control (such as a confirmation button or a corresponding touch area) for confirming the first instruction for continuing execution through the pop-up window interface while the obstacle prompt is being performed, so that the user can operate accordingly to issue the second instruction for confirming the first prompt information, that is, to confirm the execution of the first instruction. Alternatively, the first prompt information can also be presented through the vehicle-mounted voice interaction device, for example, the prompt content is played by the vehicle-mounted voice interaction device, and after the prompt, the user is waited for confirmation in the form of voice. In some embodiments, when the first prompt information for confirming the first instruction and the obstacle prompt is generated, the user can be provided with an interactive option to cancel the execution of the first instruction, so that the user can suspend the driving execution of the air kit when necessary.

[0034] In summary, the method of the embodiment, by performing obstacle detection in the preset movement range of the air kit before performing the air kit driving operation, it is determined whether there is an obstacle that may affect the normal movement of the air kit or cause a risk of pinching; if an obstacle is detected, first prompt information for prompting the user about the obstacle prompt and the first instruction confirmation is generated to ensure that the user learns about the risk in time and makes a judgment; when the second instruction (which serves as a secondary confirmation of the first instruction) confirming the execution of the first prompt information is received (by the user), it is confirmed that the user has been aware of the risk of the current movement of the air kit and has made an explicit authorization to continue the execution, so that the air kit is driven to perform the corresponding movement according to the first instruction under the premise of ensuring the controllability of the risk, to meet the user's needs, while taking into account the safety protection, to achieve the corresponding aerodynamic effect and / or cooling effect. In this way, the method of the embodiment can actively prevent the risk by obstacle detection and risk prompt before the pinching occurs, effectively prevent the pinching risk, and significantly reduce the probability of contact with the obstacle during the movement of the air kit; at the same time, it can avoid unnecessary air kit driving block caused by false detection or misjudgment in the obstacle detection process, so as to balance the performance of the air kit and the overall safety performance of the vehicle, and improve the intelligence, controllability and user experience of the air kit control process.

[0035] Optionally, the preset movement range includes an actual movement range of the air kit and a preset range around the actual movement range.

[0036] Specifically, the preset motion range includes an actual motion range of the air kit, and by performing obstacle detection within the actual motion range of the air kit, it is convenient to judge in real time whether there is an obstacle on the motion path of the air kit when the air kit performs a corresponding driving operation, thereby directly evaluating whether the motion of the air kit will cause a pinch or collision risk, which helps to avoid blind motion of the air kit in the presence of potential risks, thereby improving the safety and controllability of the air kit action process. On this basis, the preset motion range also includes a preset range around the actual motion range, that is, a region (range) extending a certain distance around the actual motion range of the air kit; the preset range as a safety buffer area can be used to detect potential obstacles approaching the motion path of the air kit from around the actual motion range of the air kit in advance, so as to make a protection decision before the obstacle enters the pinch risk area, for example, performing obstacle detection within the preset motion range of the air kit, regarding the obstacles detected within the preset motion range as objects with potential pinch or collision risks, realizing the pre-judgment of the obstacles, so as to trigger the protection decision (such as triggering the generation of the first prompt information about the obstacle prompt and the first instruction confirmation) in advance before the obstacle really enters the actual motion path of the air kit, reducing the probability of pinch or scratch during the motion of the air kit. In this way, on the one hand, the real-time and advance of protection are improved, and the safety risk caused by detection lag is avoided; on the other hand, compared with detection only on the actual motion path of the air kit, the present embodiment method realizes advanced perception by adding a preset range around the actual motion range, has stronger predictability and protection redundancy, and significantly improves the initiative and reliability of the air kit (anti-pinch) control. The setting size (i.e. the extension distance) of the preset range can be set according to the structural size, motion speed, action frequency of the air kit, and the shape characteristics of the vehicle and other factors. In some embodiments, the setting size of the preset range corresponding to different air kits can be the same, so as to facilitate unified detection strategy and simplify the calibration process; or it can be set to different sizes according to the differences in the specific structural size, motion speed, motion direction and use scene of each air kit, so as to improve the applicability and protection accuracy of obstacle detection for each air kit.

[0037] Optionally, when multiple air kits are provided on the vehicle, considering the difference in the positions of different air kits, the vehicle air kit control method can be respectively implemented for each air kit to improve the flexibility, reliability and safety of the control of each air kit, and realize the anti-pinch control of each air kit.

[0038] Optionally, for the first instruction about driving the air kit of the vehicle to move, it is an instruction for driving the air kit to move correspondingly, such as for driving the air kit to move from a first pose to a second pose, wherein the first pose and the second pose correspond to any pose (position and attitude / angle) between the closed pose and the fully open pose of the air kit. In some embodiments, the first instruction content includes target pose parameters (such as target position coordinates, target angle values), motion mode parameters (such as linear motion, rotation, lifting, stretching or a combination thereof), motion speed and acceleration parameters, motion trajectory planning information, and safety control parameters (such as maximum allowable force / torque, position deviation threshold, obstacle detection response strategy, etc.); wherein the target pose parameters are used to specify the position and attitude that the air kit needs to reach finally, the motion mode parameters and the speed and acceleration parameters are used to determine the specific motion mode and dynamic characteristics of the air kit, the motion trajectory planning information is used to ensure smooth operation of the air kit along the preset path, and the safety control parameters are used to monitor and limit abnormal states during the motion process, so as to improve the safety and controllability of the air kit driving execution. In this way, the reliability, stability and safety of the air kit driving can be realized.

[0039] Optionally, the obstacle detection in the preset motion range of the air kit includes: According to the acquired environmental information about the preset motion range of the air kit, the obstacle detection is performed; wherein the environmental information is collected by the environmental perception device of the vehicle.

[0040] Specifically, for the obstacle detection in the preset motion range of the air kit, it is realized based on the environmental perception device (such as vehicle-mounted radar, ultrasonic sensor or image acquisition mechanism, etc.) of the vehicle, that is, when the first instruction about driving the air kit of the vehicle to move is received, according to the environmental information about the preset motion range of the air kit acquired by the environmental perception device in real time, it is detected whether there is a corresponding obstacle in the motion range of the air kit, so as to determine whether there is an obstacle affecting the motion of the air kit, and also to determine whether the driving of the air kit will cause a pinching risk (i.e. whether it is possible to contact the obstacle located in the motion range of the air kit). In some embodiments, when the obstacle detection is performed, the type of the obstacle can also be identified and classified while detecting whether there is an obstacle in the motion range of the air kit, for example, to distinguish as a person, a fixed facility, a temporary object (such as luggage, tools, etc.) or an environmental factor (such as snow, water, etc.), so as to provide more accurate and targeted risk information for subsequent obstacle prompt, which can be used as the basis for the user to confirm the first instruction again.

[0041] In some embodiments, if the setting position of the aerodynamic kit corresponds to the setting position of the environmental perception device of the vehicle, for example, multiple vehicle radars are arranged on the side of the vehicle body, the active air dam is arranged at the front end of the vehicle body and corresponds to the vehicle radar at the position, and the diffuser is arranged at the rear end of the vehicle body and corresponds to the vehicle radar at the position, the detection data (surrounding environment information) obtained by the vehicle radar at the corresponding position of the vehicle can be directly reused, and additional perception hardware needs to be configured for the aerodynamic kit, thereby reducing the hardware cost required for implementing the method of the embodiments and improving the application range of the method of the embodiments. In other embodiments, the environmental perception device for detecting obstacles within the movement range of the aerodynamic kit can be arranged to realize real-time and accurate monitoring of obstacles, further improving the pertinence and reliability of detection.

[0042] For example, for the above-mentioned obstacle detection based on environmental information, considering that the types of original environmental information collected by the environmental perception device can include image information, distance information, three-dimensional point cloud information, or a combination of the above information, the original environmental information can be preprocessed and feature extracted to realize obstacle detection. Specifically, a preset obstacle detection algorithm (such as an obstacle detection algorithm based on image recognition, distance threshold judgment, or point cloud clustering analysis) can be used to analyze and process the original environmental information to accurately determine whether there is an obstacle that can affect the normal movement of the aerodynamic kit or cause a pinching risk within the preset movement range. Through the above processing, the accuracy and real-time performance of obstacle detection can be improved, thereby providing a reliable basis for subsequent anti-pinch and safe driving of the aerodynamic kit.

[0043] Optionally, the actual movement range of the aerodynamic kit is contained in the preset movement range, and the preset movement range is contained in the perception range of the environmental perception device, so as to ensure that the environmental perception device has detection capability for the preset movement range of the aerodynamic kit, so as to realize the integrity and continuity of obstacle detection and avoid detection blind area. The perception range of the environmental perception device is the detection area that can be covered by the environmental perception device in the normal working state, for example, the detection sector range of a radar, the detection radius of an ultrasonic sensor, the imaging field angle of a camera, or the three-dimensional point cloud coverage range of a point cloud sensor. The perception range can be a detection area corresponding to a single environmental perception device, or a comprehensive coverage area formed by superimposing the detection areas of multiple environmental perception devices.

[0044] Optionally, in combination with the embodiments shown in Figure 1 , Figure 2 , step 100 comprises: Step 110, in response to a first instruction for driving the aerodynamic kit to move, determining whether the running information meets the preset obstacle detection condition according to the obtained running information of the vehicle.

[0045] Specifically, in step 110, considering the influence of the vehicle operating state on the air kit movement safety, when receiving the first instruction for driving the air kit of the vehicle, the current operating information (such as the vehicle speed) of the vehicle is acquired and analyzed to determine whether it meets the preset obstacle detection condition (denoted as the preset obstacle detection condition). The setting of the preset obstacle detection condition is used to determine whether to trigger obstacle detection before performing the air kit driving operation. On the one hand, it avoids directly performing obstacle detection in a risk-free or low-risk operating scenario, thereby reducing the frequent calling of the corresponding environmental perception device and reducing the vehicle system resource occupation and power consumption. On the other hand, it ensures that in an operating scenario with potential safety risks (or higher risks), obstacle detection can be triggered to identify and avoid factors that may affect the normal movement of the air kit or cause injury in advance, thereby balancing detection efficiency and safety.

[0046] In step 121, if yes, obstacle detection is performed within the preset movement range of the air kit.

[0047] Specifically, in step 120, according to the judgment result of step 110, if the judgment result is yes, that is, it is determined that the current operating information of the vehicle meets the preset obstacle detection condition, obstacle detection is performed within the preset movement range of the air kit to determine whether there is an obstacle in the range that may affect the normal movement of the air kit or cause injury risk.

[0048] In this way, the method of the embodiment performs obstacle detection only when the specific operating condition (i.e., the preset obstacle detection condition) is met, which not only ensures the safety of the air kit driving, but also avoids unnecessary detection of the vehicle in some scenarios, reduces unnecessary calculation and energy consumption, etc.

[0049] Optionally, the operating information includes a vehicle speed; and the preset obstacle detection condition includes that the vehicle speed is less than or equal to a preset speed.

[0050] Specifically, considering that the vehicle driving at a high speed is usually driving on an open road section, at this time the air kit is less likely to contact with external objects during movement, and therefore such a scenario can be regarded as a risk-free or low-risk running scenario for driving the air kit; in such a scenario, upon receiving the first instruction for driving the air kit of the vehicle, there is no need to perform obstacle detection within the preset movement range of the air kit, and the air kit can be directly driven to move according to the first instruction, thereby reducing unnecessary detection and calculation resource consumption and improving the response speed of the air kit and the instantaneity of the aerodynamic performance of the vehicle in the high-speed driving working condition of the vehicle. On the contrary, in the low-speed driving or stationary state of the vehicle, it is more likely to have personnel, temporarily placed objects, curbs, fences and other obstacles around the vehicle, at this time the movement of the air kit is more likely to cause pinching or scratching risks, and therefore such a scenario can be regarded as a running scenario for driving the air kit with potential safety risks (or higher risks). In such a scenario, upon receiving the first instruction for driving the air kit of the vehicle, obstacle detection should be triggered to ensure the safety and controllability of the movement of the air kit.

[0051] Based on the above, the running information includes the vehicle speed, and the preset obstacle detection condition can be set as the vehicle speed being less than or equal to a preset speed, which is used as the basis for determining whether to trigger the obstacle detection. When the vehicle speed is greater than the preset speed, the preset obstacle detection condition is not met, and the obstacle detection does not need to be triggered. When the vehicle speed is less than or equal to the preset speed (such as when the vehicle is driving at a speed less than or equal to the preset speed, or when the vehicle is in a parking state / stationary state with a speed of 0), the preset obstacle detection condition is met, and the obstacle detection is triggered before the air kit driving operation is performed, so as to ensure that the safety of the movement of the air kit is evaluated and protected in real time in a potentially high-risk scenario. The preset speed can be set according to actual needs.

[0052] Optionally, the running information includes gear information, and the preset obstacle detection condition includes that the vehicle speed corresponding to the gear information is less than or equal to a preset speed.

[0053] Specifically, based on the above, the preset obstacle detection condition includes that the vehicle speed corresponding to the gear information is less than or equal to a preset speed, which can be determined by directly obtaining the driving speed of the vehicle or according to the current gear information of the vehicle. Based on this, the preset obstacle detection condition can be set as the vehicle speed corresponding to the gear information being less than or equal to a preset speed. The gear information includes the gear information selected and fed back by the current physical control mechanism of the vehicle (such as a mechanical shift lever, an electronic shift knob, a button type shift switch, etc.), or the gear state detected and output by the transmission of the vehicle (including an automatic transmission, a dual clutch transmission or an electronically controlled transmission, etc.).

[0054] Based on the gear information, the running state of the vehicle can be inferred without real-time collection of the vehicle speed. For example, when the vehicle is in the parking gear (such as P gear) or the neutral gear (such as N gear), it can be considered that the vehicle speed is less than or equal to the preset speed, or the vehicle speed is 0, at this time, it is easier to appear pedestrians or static obstacles close to the vehicle body, and the obstacle detection should be triggered; when the vehicle is in the reverse gear (such as R gear), corresponding to the low-speed driving condition, it is considered that the vehicle speed is less than or equal to the preset speed, and the obstacle detection needs to be triggered to prevent the air kit from colliding with the obstacle during low-speed reversing; when the vehicle is in the forward gear (D gear), the actual driving speed collected can be further combined to confirm the vehicle speed, if the vehicle speed is greater than the preset speed, it can be determined that the obstacle detection does not need to be triggered, to ensure the immediacy and performance of the air kit, if the vehicle speed is less than or equal to the preset speed, it is determined that there is a potential risk of the running scene, and the obstacle detection should be triggered.

[0055] In this way, by introducing the gear information, the vehicle speed can be quickly inferred based on the gear state when the vehicle speed sensor data is unavailable or delayed, to ensure the reliability of the obstacle detection logic.

[0056] Alternatively, the vehicle speed can also be comprehensively judged based on the vehicle speed data obtained by the vehicle speed sensor and the gear information of the vehicle, to improve the accuracy and robustness of the vehicle speed judgment. Specifically, when the vehicle speed sensor can normally obtain the vehicle speed data, the data can be directly collected as the basis for vehicle speed judgment; at the same time, the vehicle speed is logically verified in combination with the gear information, for example: when the gear is P gear or N gear, if the vehicle speed collected by the sensor is not 0, it can be determined that the sensor is abnormal; when the gear is R gear, if the vehicle speed collected by the sensor exceeds the preset reverse speed threshold, an abnormal alarm can be triggered; when the gear is D gear, the vehicle speed collected by the sensor can be compared with the preset speed, and used as the basis for whether to trigger the obstacle detection. In the case that the vehicle speed sensor collection is abnormal or invalid, the vehicle speed can be inferred according to the gear information, so as to ensure the continuity and safety of the obstacle detection logic.

[0057] Alternatively, in combination with Figure 1 , Figure 2 As shown, after judging whether the running information meets the preset obstacle detection condition, the vehicle air kit control method further includes: Step 125, if the running information does not meet the preset obstacle detection condition, driving the air kit to move according to the first instruction.

[0058] Specifically, in step 125, according to the judgment result of step 110, if the judgment result is no, that is, it is determined that the current running information of the vehicle does not meet the preset obstacle detection condition, it means that the vehicle is currently in a risk-free or low-risk running scene. At this time, in response to the received first instruction for driving the air kit of the vehicle to move, the air kit is driven to perform corresponding movement according to the first instruction without obstacle detection, which can ensure the safety of the air kit control process and improve the response speed and execution efficiency of the air kit.

[0059] Optionally, in combination with the above-mentioned embodiments, the vehicle air kit control method further comprises: Figure 1 、 Figure 3 after step 100, the vehicle air kit control method further comprises: In step 250, if there is no obstacle in the preset movement range, the air kit is driven to move according to the first instruction.

[0060] Specifically, in step 250, based on the obstacle detection result of step 100, if there is no obstacle in the preset movement range, the air kit can be directly driven to perform corresponding movement operation according to the received first instruction. In this way, by directly driving the air kit in the case of no obstacle in the obstacle detection result, the movement safety of the air kit can be ensured.

[0061] Optionally, in response to the second instruction for confirming the first prompt information, the air kit is driven according to the second instruction, which comprises: In response to the second instruction for confirming the first prompt information, the out-of-vehicle warning information is generated, and after the first preset time, the air kit is driven according to the second instruction to move with the preset action corresponding to the first instruction.

[0062] Specifically, when the second instruction for confirming the first prompt information is received, it is confirmed that the user has known the possible risk of the current air kit movement and has made an explicit authorization to continue to execute. At this time, in response to the second instruction, warning information (marked as out-of-vehicle warning information) for prompting out-of-vehicle personnel or animals and the like is generated, which can be presented in the form of out-of-vehicle sound and light alarm, such as out-of-vehicle warning light flashing, external buzzer or loudspeaker sounding, external display screen popping up prompt content, etc., to remind the surrounding personnel or animals and the like to pay attention to the air kit about to move, so as to avoid safety incidents such as pinching, collision, and frightening due to approaching or contacting the movement path of the air kit. After a delay of a first preset time (for example, 2 seconds, 3 seconds or other set time), it is considered that the out-of-vehicle personnel or animals and the like (obstacle) have received the out-of-vehicle warning information and have sufficient reaction time (for example, leaving the movement path of the air kit or keeping a safe distance). At this time, the air kit is driven to perform the preset action corresponding to the first instruction according to the second instruction, so as to realize the safe response to the previously received first instruction.

[0063] Thus, by introducing the combined control strategy of user confirmation, off-vehicle warning and delayed execution before executing the air kit driving, the method of the embodiment can improve the attention of the surrounding environment through off-vehicle sound and light warning means under the premise of ensuring the informed consent of the operator (or user, vehicle driver), reduce damage caused by negligence or accidental contact, and provide a time window for surrounding people, animals, etc. to react to off-vehicle warnings, thereby significantly reducing the risk of pinching, scratching and other safety accidents. At the same time, the strategy can avoid triggering the rapid movement of the air kit immediately when the operator does not fully confirm the obstacle, thereby reducing the corresponding risk caused by sudden action. In addition, the operator can be provided with a time window to observe the surrounding environment again and interrupt the execution if necessary, thereby improving the controllability and intervenability of the air kit driving process. Thus, the running safety and user reliability of the vehicle air kit control are improved.

[0064] Alternatively, in response to the second instruction, off-vehicle warning information is generated; when the off-vehicle warning information is generated for a first preset time length, if the obstacle in the preset movement range disappears, the air kit is driven according to the second instruction to move with the preset action corresponding to the first instruction.

[0065] Unlike the above, in response to the second instruction about confirming the first prompt information, off-vehicle warning information is generated, and after the first preset time length, the air kit is driven according to the second instruction to move with the preset action corresponding to the first instruction, in the embodiment, when the off-vehicle warning information is generated in response to the second instruction for a first preset time length, according to the monitoring of the obstacle in the preset movement range (such as continuously tracking the position of the obstacle, or re-calling the environmental perception device to monitor the preset movement range of the air kit when the second instruction is received), if the obstacle in the preset movement range disappears (such as the previously detected obstacle has disappeared, or no obstacle is currently detected in the preset movement range), the air kit is driven according to the second instruction to move with the preset action corresponding to the first instruction, thereby meeting the user's use requirements and ensuring that the movement process of the air kit is in a safe environment; and if the monitoring result shows that the obstacle still exists, the air kit remains at the current position without performing any driving operation, thereby avoiding potential pinching or collision risks.

[0066] Thus, the safety and intelligence of the air kit driving are significantly improved, unnecessary blocking caused by obstacle mis-detection or temporary obstruction is avoided, blind action when the risk has not been removed is prevented, safety protection and aerodynamic performance are taken into account, and the user's reliability and controllability in the air kit control process are improved.

[0067] Optionally, after step 100, the vehicle air kit control method further comprises: If there is an obstacle in the preset motion range, and no second instruction for confirming the first prompt information is received within a second preset time period after receiving the first instruction, it is determined that the first instruction is invalid, and the execution request of the instruction is ignored. Correspondingly, the air kit remains at the current position. The second preset time period can be set according to actual needs.

[0068] Optionally, in response to the second instruction for confirming the first prompt information, driving the air kit according to the second instruction further includes: In response to the second instruction for confirming the first prompt information, the panoramic image acquisition system of the vehicle is called to obtain and display panoramic image information about the vehicle.

[0069] Specifically, when the second instruction for confirming the first prompt information is received, the panoramic image acquisition system of the vehicle is called to obtain and display panoramic image information about the vehicle while generating the out-of-vehicle warning information, so as to intuitively provide the operator (or user, vehicle driver) with panoramic image information of the current surrounding environment of the vehicle, so that the operator can intuitively judge whether there is an obstacle that may affect the motion of the air kit before the air kit is actually driven, thereby avoiding safety accidents such as collision, pinching or scratching during the motion of the air kit due to the corresponding obstacle being in a motion state (such as pedestrians, animals or other moving vehicles, etc.). With the help of panoramic image, the operator can identify the motion direction and speed of these dynamic obstacles in advance, and stop the driving execution of the air kit if necessary, thereby significantly reducing the risk caused by the sudden entry of the target into the motion range of the air kit and improving the safety and controllability of the driving process of the air kit. If the operator does not stop the driving operation of the air kit, the air kit is driven according to the second instruction to move in the preset motion of the first instruction after a first preset time period of delay, or if the obstacle in the preset motion range disappears, the air kit is driven according to the second instruction to move in the preset motion of the first instruction after a first preset time period of delay.

[0070] Optionally, step 100 includes: In response to the first instruction for driving the plurality of target air kits of the vehicle to move, obstacles are detected in the preset motion range of each target air kit.

[0071] In consideration of the fact that the vehicle is provided with multiple air kits, in order to facilitate the adjustment of the pose of the air kit, the coordinated adjustment between multiple air kits can be realized through a linkage control strategy, thereby improving the convenience of the operator in adjusting the pose of the air kit. Based on this, the first instruction can be an instruction for driving the coordinated (synchronous) adjustment of multiple air kits. When the first instruction for driving the movement of multiple air kits (all of which are denoted as target air kits) of the vehicle is received, obstacle detection is performed within the preset movement range of each target air kit, so as to respectively detect (judge) whether each target air kit has a pinching or collision risk before performing the corresponding movement according to the first instruction, thereby improving the safety and user experience of air kit control.

[0072] Similarly, if the first instruction is an instruction for driving the movement of a single target air kit of the vehicle, only obstacle detection needs to be performed within the preset movement range of the target air kit, so as to detect (judge) whether the target air kit has a pinching or collision risk before performing the corresponding movement.

[0073] After the obstacle detection within the preset movement range of each target air kit, the vehicle air kit control method further includes: If there is an obstacle within the preset movement range of at least one target air kit, a first prompt information is generated; and / or, if there is no obstacle within the preset movement range of at least one target air kit, all target air kits within the preset movement range without obstacles are driven to move according to the first instruction.

[0074] Specifically, based on the obstacle detection result in the preset motion range corresponding to each target air kit, if there is an obstacle in the preset motion range of at least one target air kit, it indicates that there is a potential pinching or collision risk affecting the normal motion of the corresponding target air kit at present. At this time, the corresponding first prompt information is generated through step 210 to prompt (or inform) the operator that there is an obstacle-related risk at the corresponding target air kit, and to request the operator to confirm. In this way, on the one hand, the operator's participation and informed right in the air kit control process can be improved, so that the operator can make autonomous decisions whether to continue operation on the premise of clear risks, thereby reducing the possibility of false detection (or misjudgment) and accidents. On the other hand, by introducing the user confirmation as a human-computer interaction link, the function block caused by false detection or misjudgment of obstacles can be effectively avoided, unnecessary operation interruption is reduced, the balance between safety and functionality of the air kit is ensured, and the operator experience and the intelligent level of vehicle aerodynamics control are improved. Subsequently, when receiving a second instruction for confirming the first prompt information, the air kit can be driven according to the second instruction through step 300, that is, the air kit is driven to move according to the first instruction, that is, the air kit is driven to move according to the first instruction. The preset action corresponding to the first instruction. Conversely, if there is no obstacle in the preset motion range of all target air kits, at this time, all target air kits can be directly driven to execute corresponding motion according to the first instruction through step 250, to ensure the timeliness and consistency of aerodynamic adjustment effect.

[0075] Alternatively, based on the obstacle detection result in the preset motion range corresponding to each target air kit, if there is no obstacle in the preset motion range of at least one target air kit, all target air kits in the preset motion range without obstacles can be driven to move according to the first instruction; and all target air kits with obstacles in the preset motion range do not perform driving operation, and remain at the current position until the obstacles are removed or the user confirms explicitly. In this way, it can be avoided that the overall operation of all air kits is completely blocked due to the existence of obstacles in a single (or a small number) air kit, and it is ensured that part of the air kits can still execute actions in time, so as to realize flexible control of each air kit in the multi-air kit scene while taking into account safety and vehicle aerodynamic performance, thereby effectively improving the adaptability, delicacy and user experience of the method of the embodiment.

[0076] Alternatively, based on the obstacle detection result within the preset motion range of each target air kit, if there is an obstacle within the preset motion range of at least one target air kit, and there is no obstacle within the preset motion range of at least one target air kit, the first prompt information corresponding to the obstacle detection result within the preset motion range of each target air kit is generated, and according to the first instruction, all target air kits without obstacles within the preset motion range are driven to move, while all target air kits with obstacles within the preset motion range do not perform the driving operation. Thereafter, if a second instruction about confirming the first prompt information is received, the target air kits that do not perform the driving operation due to the detection of obstacles are driven according to the first instruction, realizing complete control of all target air kits corresponding to the first instruction, so as to achieve the aerodynamic effect corresponding to the first instruction. In this way, while taking into account the safety and the performance of the vehicle aerodynamics, the participation and the right to know of the operator in the air kit control process are improved, so that the operator can fully judge the risk of obstacles based on the prompt information and intervene when necessary, thereby further improving the safety, flexibility and intelligent level of the air kit driving process.

[0077] Optionally, after step 100, the vehicle air kit control method further comprises: If there is an obstacle within the preset motion range, the position of the obstacle within the preset motion range is tracked to generate second prompt information about the real-time position of the obstacle.

[0078] Specifically, based on the obstacle detection result of step 100, if there is an obstacle within the preset motion range, the real-time position of the obstacle within the preset motion range is tracked (e.g., based on image recognition and detection), and the second prompt information about the real-time position of the obstacle is generated at the same time as the first prompt information about the obstacle and the confirmation of the first instruction, for indicating the current position, moving direction and speed of the obstacle within the preset motion range, and can be intuitively presented in the form of graphical annotation, digital parameters or dynamic trajectory through the vehicle display screen, or can be informed to the operator in real time through voice broadcast.

[0079] In this way, the operator not only knows the fact that there is an obstacle within the preset motion range of the air kit, but also clearly understands the dynamic position and possible motion trend of the obstacle, so as to make more accurate risk judgment and decision before the air kit is driven (or before the second instruction about confirming the first prompt information is issued), improve the real-time and forward-looking of protection, and effectively ensure the safety and reliability of the air kit movement process.

[0080] In combination with Figure 4 As shown in the figure, another embodiment of the present application provides a vehicle air kit control device, which comprises: The detection module is configured to perform obstacle detection within a preset movement range of the air kit in response to a first instruction for driving movement of the air kit of the vehicle. The prompt module is configured to generate first prompt information for prompting the obstacle and confirming the first instruction if the obstacle exists within the preset movement range. The execution module is configured to drive the air kit according to the second instruction in response to a second instruction for confirming the first prompt information.

[0081] The vehicle air kit control device of the embodiment is used to implement the vehicle air kit control method described above, and has the same advantages as the vehicle air kit control method described above compared with the prior art, which will not be described here again.

[0082] Optionally, the detection module is specifically configured to perform obstacle detection according to the acquired environmental information about the preset movement range of the air kit, wherein the environmental information is collected by an environmental perception device of the vehicle.

[0083] Optionally, the detection module is specifically configured to determine whether the running information meets a preset obstacle detection condition according to the acquired running information of the vehicle in response to the first instruction for driving movement of the air kit of the vehicle, and perform obstacle detection within the preset movement range of the air kit if yes.

[0084] Optionally, the detection module is specifically configured to determine whether the running information meets a preset obstacle detection condition according to the acquired running information of the vehicle in response to the first instruction for driving movement of the air kit of the vehicle, and drive movement of the air kit according to the first instruction if no.

[0085] Optionally, the prompt module is further configured to drive movement of the air kit according to the first instruction if the obstacle does not exist within the preset movement range.

[0086] Optionally, the execution module is specifically configured to generate off-vehicle warning information in response to the second instruction for confirming the first prompt information, and drive the air kit to move with a preset action corresponding to the first instruction after a first preset time length; or, to generate the off-vehicle warning information in response to the second instruction, and drive the air kit to move with the preset action corresponding to the first instruction according to the second instruction if the obstacle within the preset movement range disappears when the off-vehicle warning information is generated for the first preset time length.

[0087] Optionally, the execution module is specifically configured to call a panoramic image acquisition system of the vehicle to acquire and display panoramic image information of the vehicle in response to the second instruction for confirming the first prompt information.

[0088] Optionally, the detection module is specifically configured to detect obstacles within a preset range of motion for each target aerodynamic kit in response to a first command regarding the movement of multiple target aerodynamic kits driving the vehicle.

[0089] Optionally, the prompting module is specifically used to generate a first prompt message if there is an obstacle within the preset movement range of at least one target air kit; and / or, to drive all target air kits without obstacles within the preset movement range to move according to a first instruction if there is no obstacle within the preset movement range of at least one target air kit.

[0090] Optionally, the prompting module is also used to track the position of an obstacle within a preset movement range if such an obstacle exists, and generate a second prompting message about the real-time position of the obstacle.

[0091] Combination Figure 5 As shown, another embodiment of the present invention provides a vehicle, including a memory 501 and a processor 502; Memory 501 is used to store computer programs; Processor 502 is used to implement the above-described vehicle air suite control method when executing a computer program.

[0092] Alternatively, a vehicle includes a memory 501 and a processor 502 coupled to the memory 501; the memory 501 is configured to store a computer program; the processor 502 is configured to perform the following operations when the computer program is executed: In response to a first command regarding the movement of the aerodynamic kit that drives the vehicle, obstacle detection is performed within a preset range of motion of the aerodynamic kit; If there are obstacles within the preset movement range, generate a first prompt message regarding the obstacle and confirmation of the first command; In response to a second instruction regarding confirmation of the first prompt information, the air kit is activated according to the second instruction.

[0093] The vehicle in this embodiment can be used to implement the above-described vehicle air kit control method. Its advantages over the prior art are the same as those of the above-described vehicle air kit control method over the prior art, and will not be repeated here.

[0094] Another embodiment of the present invention provides a computer-readable storage medium storing a computer program, which is read and executed by a processor to implement the above-described vehicle air suite control method.

[0095] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: In response to a first instruction about driving the air kit of the vehicle, obstacle detection is performed within a preset motion range of the air kit; If there is an obstacle within the preset motion range, first prompt information about obstacle prompting and first instruction confirmation is generated; In response to a second instruction about confirming the first prompt information, the air kit is driven according to the second instruction.

[0096] The technical solution of the embodiment of the present application or the part that essentially contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, a server, or a network device) or a processor to execute all or part of the steps of the embodiment of the present application. The aforementioned storage medium includes various storage media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0097] The computer-readable storage medium of the embodiment can be used to implement the vehicle air kit control method described above, and has the same advantages as the vehicle air kit control method described above compared with the prior art, which will not be described here.

[0098] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. A method for controlling a vehicle's aerodynamic components, characterized in that, include: In response to a first command regarding the movement of the aerodynamic kit driving the vehicle, obstacle detection is performed within a preset range of motion of the aerodynamic kit; If there is an obstacle within the preset movement range, a first prompt message is generated regarding the obstacle warning and confirmation of the first instruction. In response to a second instruction regarding confirmation of the first prompt information, the air kit is activated according to the second instruction.

2. The vehicle air kit control method as described in claim 1, characterized in that, The obstacle detection within the preset range of motion of the air kit includes: Obstacle detection is performed based on the environmental information obtained about the preset range of motion of the air kit; wherein the environmental information is collected by the vehicle's environmental sensing device.

3. The vehicle air system control method as described in claim 1, characterized in that, The obstacle detection within a preset range of motion of the air kit, in response to a first command regarding the movement of the aerodynamic kit driving the vehicle, includes: In response to the first instruction, based on the acquired vehicle operation information, it is determined whether the operation information meets the preset obstacle detection conditions; If so, obstacle detection is performed within the preset range of motion of the air kit.

4. The vehicle air kit control method as described in claim 3, characterized in that, The operational information includes vehicle speed; the preset obstacle detection conditions include the vehicle speed being less than or equal to a preset speed. And / or, the operating information includes gear information, and the preset obstacle detection condition includes the vehicle speed corresponding to the gear information being less than or equal to a preset speed.

5. The vehicle air system control method as described in claim 3, characterized in that, After determining whether the operating information meets the preset obstacle detection conditions, the vehicle air suite control method further includes: If the operating information does not meet the preset obstacle detection conditions, the air kit is driven to move according to the first instruction; And / or, after obstacle detection is performed within a preset range of motion of the air kit, the vehicle air kit control method further includes: If there are no obstacles within the preset movement range, the air kit is driven to move according to the first instruction.

6. The vehicle air kit control method as described in any one of claims 1-5, characterized in that, The step of driving the air kit in response to a second instruction regarding confirmation of the first prompt information includes: In response to the second command, an external warning message is generated, and after a first preset time, the air kit is driven to move in a preset action corresponding to the first command according to the second command. Alternatively, in response to the second instruction, an external warning message is generated; when the external warning message has been generated for a first preset duration, if the obstacle within the preset movement range disappears, the air kit is driven to move in a preset action corresponding to the first instruction according to the second instruction.

7. The vehicle air kit control method as described in claim 6, characterized in that, The second instruction in response to confirming the first prompt information, and the driving of the air kit according to the second instruction, further includes: In response to the second instruction, the vehicle's panoramic image acquisition system is invoked to acquire and display panoramic image information about the vehicle.

8. The vehicle air kit control method as described in any one of claims 1-5, characterized in that, The preset range of motion includes the actual range of motion of the air kit and the preset range surrounding the actual range of motion.

9. The vehicle air kit control method as described in any one of claims 1-5, characterized in that, The obstacle detection within a preset range of motion of the air kit, in response to a first command regarding the movement of the aerodynamic kit driving the vehicle, includes: In response to the first command regarding the movement of a plurality of target aerodynamic components driving the vehicle, obstacle detection is performed within the preset range of motion of each of the target aerodynamic components; After performing obstacle detection within the preset range of motion for each target aerodynamic kit, the vehicle aerodynamic kit control method further includes: If an obstacle exists within the preset movement range of at least one of the target air kits, the first prompt message is generated; and / or, if an obstacle does not exist within the preset movement range of at least one of the target air kits, all target air kits without obstacles within the preset movement range are driven to move according to the first instruction.

10. The vehicle air kit control method according to any one of claims 1-5, characterized in that, After obstacle detection is performed within the preset range of motion of the air kit, the vehicle air kit control method further includes: If there is an obstacle within the preset movement range, the obstacle's position is tracked within the preset movement range, and a second prompt message about the obstacle's real-time position is generated.

11. A vehicle air kit control device, characterized in that, include: The detection module is used to detect obstacles within a preset range of motion of the air kit in response to a first command regarding the movement of the air kit driving the vehicle; The prompting module is used to generate a first prompt message regarding the obstacle and confirmation of the first instruction if there is an obstacle within the preset movement range; An execution module is configured to drive the air kit in response to a second instruction confirming the first prompt information.

12. A vehicle, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the vehicle air suite control method as described in any one of claims 1-10 when executing the computer program.

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