Vehicle sensor detachment detection method and vehicle

Abstract

The present disclosure relates to a vehicle sensor falling detection method, device and vehicle. The method comprises: when a target component on a vehicle body is subjected to a preset operation, collecting a sensor signal of a target sensor installed at the target component; calculating a signal characteristic parameter of the sensor signal; determining whether the signal characteristic parameter is less than a preset signal characteristic parameter, and if so, determining that the target sensor has fallen off. The present disclosure fills the gap in the field of vehicle sensor falling self-detection, can quickly and accurately identify whether the sensors on different components of the vehicle have fallen off, and thus improves driving safety.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle detection technology, and more particularly to a method for detecting vehicle sensor detachment and a vehicle. Background Technology

[0002] As vehicles become increasingly intelligent, the number of sensors used in vehicles is also growing. For example, elastic wave sensors are typically glued to relevant parts of the vehicle body, such as doors and bumpers. Prolonged use in extreme environments or after collisions can cause these sensors to detach from the vehicle body, affecting driving safety. Currently, existing technologies lack effective solutions for detecting whether vehicle sensors, such as elastic wave sensors, have detached. Summary of the Invention

[0003] To solve the above-mentioned technical problems, or at least partially solve them, this disclosure provides a vehicle sensor detachment detection method and a vehicle.

[0004] In a first aspect, embodiments of this disclosure provide a method for detecting the detachment of a vehicle sensor, the method comprising:

[0005] When a preset operation is applied to a target component on the vehicle body, the sensor signal of the target sensor installed at the target component is collected;

[0006] Calculate the signal characteristic parameters of the sensor signal;

[0007] Determine whether the signal characteristic parameter is less than the preset signal characteristic parameter; if so, determine that the target sensor has detached.

[0008] In one embodiment, the method further includes:

[0009] After determining that the signal characteristic parameter is less than the preset signal characteristic parameter, the state signal of the target component is obtained;

[0010] Determine whether the status signal changes after the preset operation is applied to the target component;

[0011] If so, then it is determined that the target sensor has detached;

[0012] If not, wait for a preset time. If the status signal of the target component does not change after the preset time, it is determined that the target sensor has not detached. If the status signal of the target component changes within the preset time, it is determined that the target sensor has detached.

[0013] In one embodiment, there are multiple target sensors, and at least one target sensor is installed at a target component at a different location on the vehicle body. The sensor signal of each target sensor carries a signal identifier.

[0014] Before calculating the signal characteristic parameters of the sensor signal, the method further includes:

[0015] Based on the signal identifier carried by the sensor signal of each target sensor, the vehicle body position corresponding to each sensor signal is determined;

[0016] The calculation of the signal characteristic parameters of the sensor signal includes:

[0017] Based on the vehicle body position corresponding to each sensor signal, the signal characteristic parameters corresponding to each sensor signal are calculated; wherein, the signal characteristic parameters are different for different vehicle body positions.

[0018] In one embodiment, calculating the signal characteristic parameters corresponding to each sensor signal based on the vehicle body position corresponding to each sensor signal includes:

[0019] If the vehicle body position is a first preset position, then calculate the maximum amplitude of the sensor signal;

[0020] If the vehicle body position is the second preset position, the maximum amplitude of the sensor signal is calculated, and the sensor signal is subjected to Fourier transform processing to obtain the signal spectrum. Based on the signal spectrum, the spectral characteristic parameters of the sensor signal are calculated.

[0021] In one embodiment, the first preset position includes the door position, and the second preset position includes the front bumper position and the rear bumper position of the vehicle.

[0022] If the vehicle body position is the front bumper position, then the spectral characteristic parameters include the proportion of the low-frequency part in the signal spectrum and the number of protrusion points of the abnormal protrusion.

[0023] If the vehicle body position is the rear bumper position, then the spectral characteristic parameters include the number of protrusion points of the abnormal protrusion portion in the signal spectrum.

[0024] In one embodiment, the proportion of the low-frequency portion is determined by dividing a first value by a second value; wherein the first value is the sum of the amplitudes corresponding to each frequency in the partial spectrum, the second value is the sum of the amplitudes corresponding to each frequency in the signal spectrum, and the partial spectrum is a part of the signal spectrum and each frequency in the partial spectrum is less than a preset frequency.

[0025] In one embodiment, the number of protrusion points of the abnormal protrusion portion is determined by: determining the starting point of the waveform corresponding to the signal spectrum; if the number of starting points is determined to be two or more, then the two or more starting points are determined as the abnormal protrusion portion and the number of protrusion points is determined.

[0026] In one embodiment, the target components include a door, a front bumper, and a rear bumper, and a target sensor is installed at each of the door, the front bumper, and the rear bumper. The target sensor includes at least an elastic wave sensor. The preset operation corresponding to the door includes opening and closing the door, the preset operation corresponding to the front bumper includes opening and closing the hood or honking the horn, and the preset operation corresponding to the rear bumper includes closing the trunk.

[0027] Secondly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle sensor detachment detection method described in any of the above embodiments.

[0028] Thirdly, embodiments of this disclosure provide a vehicle, including:

[0029] Processor; and

[0030] Memory, used to store computer programs;

[0031] The processor is configured to execute the vehicle sensor detachment detection method described in any of the above embodiments by executing the computer program.

[0032] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0033] The vehicle sensor detachment detection method, apparatus, and vehicle provided in this disclosure, when a preset operation is applied to a target component on the vehicle body, acquire the sensor signal of the target sensor installed at the target component; calculate the signal characteristic parameters of the sensor signal; and determine whether the signal characteristic parameters are less than preset signal characteristic parameters. If so, it is determined that the target sensor has detached. The solution in this disclosure fills a gap in the field of vehicle sensor detachment self-testing, and can quickly and accurately identify whether sensors on different vehicle components have detached, thereby improving driving safety. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0035] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a flowchart of a vehicle sensor detachment detection method according to an embodiment of this disclosure;

[0037] Figure 2 This is a flowchart of a vehicle sensor detachment detection method according to another embodiment of this disclosure;

[0038] Figure 3 This is a flowchart of a vehicle sensor detachment detection method according to another embodiment of this disclosure;

[0039] Figure 4 This is a schematic diagram of a vehicle sensor detachment detection device according to an embodiment of this disclosure. Detailed Implementation

[0040] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0041] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0042] It should be understood that in the following text, "at least one item" refers to one or more items, and "more than one item" refers to two or more items. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0043] Figure 1 This is a flowchart of a vehicle sensor detachment detection method according to an embodiment of the present disclosure. The method includes the following steps:

[0044] Step S101: When a preset operation is applied to the target component on the vehicle body, the sensor signal of the target sensor installed at the target component is collected.

[0045] For example, the target component may include, but is not limited to, the door, the front bumper, and the rear bumper. Target sensors may be installed at the door, the front bumper, and the rear bumper. The target sensor may include, but is not limited to, an elastic wave sensor. This embodiment uses an elastic wave sensor as an example.

[0046] In one embodiment, the preset operation corresponding to the door includes opening and closing the door, the preset operation corresponding to the front bumper includes opening and closing the hood or honking the horn, and the preset operation corresponding to the rear bumper includes closing the trunk.

[0047] Normally, user actions on vehicle body parts constitute interference signals that should be filtered out. In this example embodiment, the self-test scheme for elastic wave sensor detachment uses signals generated by actions on vehicle body parts as excitation sources to detect whether the sensor has detached. Different operations are used for different locations, such as the door and front / rear bumper. Sensor detachment detection at the door can be achieved by detecting signals generated by opening and closing the door. Similarly, operations such as opening and closing the hood or honking the horn are used at the front bumper, and closing the trunk is used at the rear bumper. Signals generated by preset operations on different vehicle body parts are used as excitation sources for the sensor. The signal generated after the sensor actually detaches differs from the signal generated when it is not detached. Signal processing methods can be used to find the corresponding signal characteristics. Specifically, during data acquisition, signal acquisition begins when the sensor signal exceeds a set trigger threshold. After one frame of signal is acquired, subsequent calculations and judgments are performed.

[0048] Step S102: Calculate the signal characteristic parameters of the sensor signal.

[0049] For example, signal characteristic parameters may include, but are not limited to, amplitude characteristic parameters, spectral characteristic parameters, etc.

[0050] Step S103: Determine whether the signal characteristic parameter is less than the preset signal characteristic parameter; if so, determine that the target sensor has detached.

[0051] For example, the preset signal characteristic parameters are, for instance, the characteristic parameters of the signal generated by a sensor, such as an elastic wave sensor, when it is properly installed and not detached. Since the signal generated after the sensor is actually detached differs from the signal generated when it is not detached, the sensor detachment can be accurately determined by comparing the calculated signal characteristic parameters of the sensor signal with the preset signal characteristic parameters.

[0052] The above-described solution of this disclosure fills the gap in the field of self-testing for vehicle sensor detachment. By stimulating the corresponding operations of different components, the signal characteristic parameters of the collected sensor signals are calculated and compared with preset signal characteristic parameters, which can quickly and accurately identify whether sensors on different parts of the vehicle have detached, thereby improving driving safety.

[0053] Based on the above embodiments, in one embodiment, such as Figure 2 As shown, the method may further include the following steps:

[0054] Step S201: After determining that the signal characteristic parameter is less than the preset signal characteristic parameter, obtain the status signal of the target component.

[0055] In other words, after determining in step S103 that the signal characteristic parameter is less than the preset signal characteristic parameter, the status signal of the target component, such as the door, or the status signal of a switch, is then acquired. For example, this status signal can be the switch status signal of a corresponding component, such as a door, on a vehicle, such as the CAN bus.

[0056] Step S202: Determine whether the status signal changes after the target component is subjected to the preset operation.

[0057] Step S203: If yes, then it is determined that the target sensor has detached;

[0058] Step S204: If not, wait for a preset time. If the status signal of the target component does not change after the preset time, it is determined that the target sensor has not detached. If the status signal of the target component changes within the preset time, it is determined that the target sensor has detached.

[0059] For example, the system determines whether the status signal of the corresponding component on the CAN bus, such as a door, changes after an opening or closing operation. Typically, the CAN bus signal change will not precede the signal from the elastic wave sensor. If the status signal changes accordingly, it is directly determined that the sensor at the corresponding location, such as the door, has detached. If no change occurs, the result is saved, and the system waits for an update on the CAN bus signal. The maximum waiting time is, for example, the time required to collect 5 frames of signal data. If the status signal still does not change after the waiting time, it is determined that the sensor has not detached. If a status change occurs within the waiting time, it is determined that the sensor has detached, and the determination ends. By using the status signals of vehicle components to confirm whether the corresponding component, such as a door, has been used (e.g., opening or closing), and comprehensively judging whether the sensor has detached, the accuracy of sensor detachment detection results can be increased, avoiding or reducing false judgments.

[0060] In one embodiment, there are multiple target sensors, and at least one target sensor is installed at a target component at different locations on the vehicle body. Each target sensor's sensor signal carries a signal identifier, such as a different signal channel code. Accordingly, before calculating the signal characteristic parameters of the sensor signal in step S102, the method may further include the following steps:

[0061] Step i): Determine the vehicle body position corresponding to each sensor signal based on the signal identifier carried by the sensor signal of each target sensor;

[0062] Accordingly, step S102 calculates the signal characteristic parameters of the sensor signals, specifically including: calculating the signal characteristic parameters corresponding to each sensor signal based on the vehicle body position corresponding to each sensor signal; wherein, the signal characteristic parameters corresponding to different vehicle body positions are different.

[0063] Since the preset operations correspond to different vehicle body positions, this embodiment calculates the signal characteristic parameters of the sensor signals at different vehicle body positions based on the different impacts of different operations on the sensors at different vehicle body positions. Then, based on the different signal characteristic parameters, detachment detection can be performed, which can improve the accuracy of sensor detachment detection results.

[0064] Specifically, in one embodiment, step S102 calculates the signal characteristic parameters corresponding to each sensor signal based on the vehicle body position corresponding to each sensor signal, including: if the vehicle body position is a first preset position, then calculate the maximum amplitude of the sensor signal; if the vehicle body position is a second preset position, then calculate the maximum amplitude of the sensor signal, and perform Fourier transform processing on the sensor signal to obtain the signal spectrum, and calculate the spectral characteristic parameters of the sensor signal based on the signal spectrum.

[0065] In one embodiment, the first preset position includes the door position, and the second preset position includes the front bumper position and the rear bumper position. If the vehicle body position is the front bumper position, the spectral feature parameters include the proportion of the low-frequency portion in the signal spectrum and the number of protrusion points of the abnormal protrusion portion; if the vehicle body position is the rear bumper position, the spectral feature parameters include the number of protrusion points of the abnormal protrusion portion in the signal spectrum.

[0066] In one embodiment, the proportion p of the low-frequency portion is determined by dividing a first value X by a second value Y, i.e., p = X / Y. Here, the first value X is the sum of the amplitudes corresponding to each frequency in the partial spectrum, and the second value Y is the sum of the amplitudes corresponding to each frequency in the signal spectrum. The partial spectrum is a portion of the signal spectrum, and each frequency in the partial spectrum is less than or equal to a preset frequency.

[0067] For example, the preset frequency can be customized, such as 2000 Hz. That is, each frequency in the range of 0-2000 Hz below 2000 Hz is the low-frequency part, and the proportion p of the low-frequency part is the ratio of the sum of the amplitudes of each frequency in the low-frequency part to the sum of the amplitudes of each frequency in the entire spectrum.

[0068] In one embodiment, the number n of the abnormal protrusions is determined by: determining the starting point of the waveform corresponding to the signal spectrum; if the number of starting points is two or more, then the two or more starting points are determined as the abnormal protrusions and the number n of the protrusions is determined.

[0069] For example, the abnormal bulge is the abnormal starting point of the waveform corresponding to the signal spectrum. Usually, there is only one waveform starting point in a frame of sensor signal. When two or more starting points are detected in a frame of sensor signal, these points are considered abnormal bulges. The specific calculation of the waveform starting point can refer to existing technologies such as the first-order difference method. The number of bulge points n can be determined by subtracting one from the number of waveform starting points.

[0070] In one example embodiment, combined with Figure 3 As shown, sensor signals with different signal identifiers correspond to different locations on the vehicle body, i.e. different components. Based on the different signal channel codes carried by the sensor signals, they are mapped to the front bumper, door, and rear bumper positions of the vehicle. Different signal characteristic parameters are calculated for different vehicle body positions.

[0071] As a specific example, regarding the front bumper location, the sensor signal generated by the horn operation will have its maximum amplitude V calculated, and a Fourier transform will be performed on the signal to obtain its spectrum. The ratio p (i.e., the proportion of the low-frequency part) of the sum of amplitudes corresponding to each frequency in the 0-2000 Hz portion of the spectrum to the sum of amplitudes corresponding to each frequency in the entire spectrum will be calculated. If the sensor is detached, the amplitude of the horn signal received by the sensor will be smaller compared to when it is not detached, and the proportion p of the low-frequency part will also be smaller. For the hood closing operation, the vibration will cause the detached sensor to swing and collide with the front bumper. Therefore, some frequency points in the signal spectrum will have local abnormal protrusions. In this embodiment, the number n of these protrusions can be calculated.

[0072] For the car door location, the vibration signal generated when the door is opened is used to determine whether the sensor has become detached. For a normal, detached sensor, the maximum signal amplitude V will be greater than the set threshold. However, for a detached sensor, since it is not in contact with the door components, it will not generate a significant signal, and the maximum signal amplitude will be less than the set threshold.

[0073] For the rear bumper location, the vibration signal generated when closing the trunk is used to determine whether the sensor has detached. For a normally intact sensor, the maximum signal amplitude V will be greater than the set threshold. However, for a detached sensor, since it is not in contact with the rear bumper component and is in a suspended state, the maximum signal amplitude will be less than the set threshold. Additionally, closing the trunk may cause a detached sensor to swing and collide with the rear bumper, resulting in localized abnormal protrusions at certain frequency points in the signal spectrum. The number n of these protrusions is calculated.

[0074] For each different location, the calculated V, p, and n are compared with a set threshold. If they are less than the set threshold, the sensor is determined to have detached. In other embodiments, V, p, and n are compared with a set threshold. If they are less than the set threshold, the process jumps to step S201, which involves obtaining the state signal of the target component, to perform a detachment detection judgment.

[0075] As mentioned above, since the preset operations are different for different vehicle body positions, this embodiment specifically calculates the signal characteristic parameters (V, p, n) corresponding to the sensor signals at different vehicle body positions to address the differences in the impact of different operations on the sensors at different vehicle body positions. Then, based on the different signal characteristic parameters, detachment detection can be performed, which can further improve the accuracy of sensor detachment detection results.

[0076] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps. Furthermore, it is readily understood that these steps may be executed synchronously or asynchronously, for example, in multiple modules / processes / threads.

[0077] like Figure 4 As shown, this disclosure provides a vehicle sensor detachment detection device, including:

[0078] The acquisition module 401 is used to acquire the sensor signal of the target sensor installed at the target component when a preset operation is applied to the target component on the vehicle body;

[0079] Calculation module 402 is used to calculate the signal characteristic parameters of the sensor signal;

[0080] The judgment module 403 is used to determine whether the signal characteristic parameter is less than the preset signal characteristic parameter, and if so, to determine that the target sensor has detached.

[0081] The above-described solution of this disclosure fills the gap in the field of self-testing for vehicle sensor detachment. By stimulating the corresponding operations of different components, the signal characteristic parameters of the collected sensor signals are calculated and compared with preset signal characteristic parameters, which can quickly and accurately identify whether sensors on different parts of the vehicle have detached, thereby improving driving safety.

[0082] In one embodiment, the device further includes an acquisition module, configured to acquire the state signal of the target component after the determination module 403 determines that the signal characteristic parameter is less than the preset signal characteristic parameter; the determination module 403 is further configured to determine whether the state signal changes after the target component is subjected to the preset operation; if yes, it is determined that the target sensor has detached; if no, it waits for a preset time period, and if the state signal of the target component still does not change after the preset time period, it is determined that the target sensor has not detached; if the state signal of the target component changes within the preset time period, it is determined that the target sensor has detached.

[0083] In one embodiment, the device may further include a position determination module. Before the calculation module 402 calculates the signal characteristic parameters of the sensor signals, the position determination module is used to determine the vehicle body position corresponding to each sensor signal based on the signal identifier carried by the sensor signal of each target sensor. The calculation module 402 is used to calculate the signal characteristic parameters corresponding to each sensor signal based on the vehicle body position corresponding to each sensor signal. The signal characteristic parameters corresponding to different vehicle body positions are different.

[0084] In one embodiment, the calculation module 402 calculates the signal characteristic parameters corresponding to each sensor signal based on the vehicle body position corresponding to each sensor signal, including: if the vehicle body position is a first preset position, calculating the maximum amplitude of the sensor signal; if the vehicle body position is a second preset position, calculating the maximum amplitude of the sensor signal, and performing Fourier transform processing on the sensor signal to obtain the signal spectrum, and calculating the spectral characteristic parameters of the sensor signal based on the signal spectrum.

[0085] In one embodiment, the first preset position includes the door position, and the second preset position includes the front bumper position and the rear bumper position of the vehicle; if the vehicle body position is the front bumper position, the spectral feature parameters include the proportion of the low-frequency part in the signal spectrum and the number of protrusion points of the abnormal protrusion part; if the vehicle body position is the rear bumper position, the spectral feature parameters include the number of protrusion points of the abnormal protrusion part in the signal spectrum.

[0086] In one embodiment, the proportion of the low-frequency portion is determined by dividing a first value by a second value; wherein the first value is the sum of the amplitudes corresponding to each frequency in the partial spectrum, the second value is the sum of the amplitudes corresponding to each frequency in the signal spectrum, and the partial spectrum is a part of the signal spectrum and each frequency in the partial spectrum is less than a preset frequency.

[0087] In one embodiment, the number of protrusion points of the abnormal protrusion portion is determined by: determining the starting point of the waveform corresponding to the signal spectrum; if the number of starting points is determined to be two or more, then the two or more starting points are determined as the abnormal protrusion portion and the number of protrusion points is determined.

[0088] In one embodiment, the target components include a door, a front bumper, and a rear bumper, and a target sensor is installed at each of the door, the front bumper, and the rear bumper. The target sensor includes at least an elastic wave sensor. The preset operation corresponding to the door includes opening and closing the door, the preset operation corresponding to the front bumper includes opening and closing the hood or honking the horn, and the preset operation corresponding to the rear bumper includes closing the trunk.

[0089] Regarding the apparatus in the above embodiments, the specific methods by which each module performs operations and the corresponding technical effects have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0090] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units. Components shown as modules or units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the disclosed solution according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0091] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle sensor detachment detection method described in any of the above embodiments.

[0092] For example, the readable storage medium may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0093] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0094] This disclosure also provides a vehicle, including a processor and a memory for storing a computer program. The processor is configured to execute the vehicle sensor detachment detection method of any of the above embodiments by executing the computer program. Exemplarily, the processor may be a vehicle controller, but is not limited thereto.

[0095] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the method steps of the above embodiments according to the present disclosure.

[0096] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0097] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting vehicle sensor detachment, characterized in that, The method includes: When a preset operation is applied to a target component on the vehicle body, the sensor signal of the target sensor installed at the target component is collected; Calculate the signal characteristic parameters of the sensor signal; Determine whether the signal characteristic parameter is less than the preset signal characteristic parameter; if so, determine that the target sensor has detached. The target components include the door, front bumper, and rear bumper; The calculation of the signal characteristic parameters of the sensor signal includes: If the target component corresponds to the door position, then calculate the maximum amplitude of the sensor signal; If the target component corresponds to the front bumper position and the rear bumper position, then the maximum amplitude of the sensor signal is calculated, and the sensor signal is subjected to Fourier transform processing to obtain the signal spectrum. Based on the signal spectrum, the spectral characteristic parameters of the sensor signal are calculated.

2. The method according to claim 1, characterized in that, The method also includes: After determining that the signal characteristic parameter is less than the preset signal characteristic parameter, the state signal of the target component is obtained; Determine whether the status signal changes after the preset operation is applied to the target component; If so, then it is determined that the target sensor has detached; If not, wait for a preset time. If the status signal of the target component does not change after the preset time, it is determined that the target sensor has not detached. If the status signal of the target component changes within the preset time, it is determined that the target sensor has detached.

3. The method according to claim 1, characterized in that, There are multiple target sensors, and at least one target sensor is installed at a target component at a different location on the vehicle body. The sensor signal of each target sensor carries a signal identifier. Before calculating the signal characteristic parameters of the sensor signal, the method further includes: Based on the signal identifier carried by the sensor signal of each target sensor, the vehicle body position corresponding to each sensor signal is determined; The calculation of the signal characteristic parameters of the sensor signal includes: Based on the vehicle body position corresponding to each sensor signal, the signal characteristic parameters corresponding to each sensor signal are calculated; wherein, the signal characteristic parameters are different for different vehicle body positions.

4. The method according to claim 3, characterized in that, If the vehicle body position is the front bumper position, then the spectral characteristic parameters include the proportion of the low-frequency part in the signal spectrum and the number of protrusion points of the abnormal protrusion. If the vehicle body position is the rear bumper position, then the spectral characteristic parameters include the number of protrusion points of the abnormal protrusion portion in the signal spectrum.

5. The method according to claim 4, characterized in that, The proportion of the low-frequency portion is determined by dividing a first value by a second value; wherein the first value is the sum of the amplitudes corresponding to each frequency in the partial spectrum, the second value is the sum of the amplitudes corresponding to each frequency in the signal spectrum, and the partial spectrum is a part of the signal spectrum and each frequency in the partial spectrum is less than a preset frequency.

6. The method according to claim 4, characterized in that, The number of protrusions in the abnormal protrusion portion is determined in the following way: Determine the starting point of the waveform corresponding to the signal spectrum; If the number of starting points is determined to be two or more, then the two or more starting points are determined as the abnormal protrusions and the number of protrusion points is determined.

7. The method according to any one of claims 3 to 6, characterized in that, Target sensors are installed at the doors, front bumper, and rear bumper, and the target sensors include at least elastic wave sensors; the preset operations corresponding to the doors include opening and closing the doors, the preset operations corresponding to the front bumper include opening and closing the hood or honking the horn, and the preset operations corresponding to the rear bumper include closing the trunk.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle sensor detachment detection method according to any one of claims 1 to 7.

9. A vehicle, characterized in that, include: processor; as well as, Memory, used to store computer programs; The processor is configured to execute the vehicle sensor detachment detection method according to any one of claims 1 to 7 by executing the computer program.

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