Damage detection method of protection plate, vehicle, storage medium and program product

Abstract

The invention relates to a damage detection method of a protection plate, a vehicle, a storage medium and a program product, and relates to the technical field of automobile safety, and the method comprises the steps: collecting an acceleration signal of the protection plate based on a plurality of piezoelectric ceramic wafers integrated on the protection plate; when it is determined that the acceleration signal meets a preset condition, an actuator and a sensor are determined in the piezoelectric ceramic wafers, and the actuator and the sensor belong to a target area; applying an excitation signal to the actuator, and collecting a response signal generated by the excitation signal by using the sensor; and obtaining a damage detection result of the protection plate according to the excitation signal and the response signal. According to the invention, by using the piezoelectric ceramic wafer, not only can the acceleration signal be collected, but also the excitation signal can be applied, and the accuracy of damage detection can be improved by combining active and passive detection.

Description

Technical Field

[0001] The present disclosure relates to the field of automobile safety technology, and in particular, to a damage detection method for a protective plate, a vehicle, a storage medium, and a program product. Background Art

[0002] With the continuous development of new energy vehicle technology, more and more cars are equipped with high-energy-density battery packs. During the driving process, the bottom of the battery pack is prone to stone impact, scraping, and bottoming, which may cause accidents such as fire and explosion of the battery pack.

[0003] In order to ensure the safety of the battery pack, a protective plate is usually designed at the bottom of the battery pack to reduce the impact damage of external foreign objects on the bottom of the battery pack. However, the current protective plate does not have an early warning detection function, that is, it is impossible to achieve safety detection and early warning of the bottom of the battery pack through the protective plate. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a damage detection method for a protective plate, a vehicle, a storage medium and a program product.

[0005] A first aspect of the present disclosure provides a method for detecting damage to a protective plate, the method comprising: Collecting acceleration signals of the protective plate based on a plurality of piezoelectric ceramic chips integrated on the protective plate; When it is determined that the acceleration signal meets a preset condition, an actuator and a sensor are determined in the plurality of piezoelectric ceramic wafers, and the actuator and the sensor belong to a target area; Applying an excitation signal to the actuator, and using the sensor to collect a response signal generated by the excitation signal; A damage detection result of the protective plate is obtained according to the excitation signal and the response signal.

[0006] Optionally, the target area includes a plurality of transmission paths, each transmission path includes one actuator and one sensor, and the damage detection result includes a damage location; The obtaining of the damage detection result of the protective plate according to the excitation signal and the response signal comprises: The damage existence probabilities corresponding to different positions are determined according to the excitation signal and the response signal corresponding to each transmission path, and the damage position is determined based on the damage existence probabilities.

[0007] Optionally, determining the damage existence probabilities corresponding to different positions according to the excitation signal and the response signal output and received by the sensor in the target area includes: Determine a damage index of each of the transmission paths, wherein the damage index is used to characterize the degree of change of the signal of the same transmission path before and after damage; Determining a weight function value of each of the transmission paths, wherein the weight function value is used to characterize the relationship between the transmission path and the damage location, and the smaller the distance between the damage location and the transmission path, the larger the weight function value; The damage existence probability is determined according to the damage index and the weight function value.

[0008] Optionally, the damage detection result further includes a damage degree, and the method further includes: When it is determined that the damage position is on a certain transmission path among the multiple transmission paths, the damage index corresponding to the transmission path is used as the damage degree.

[0009] Optionally, the method further comprises: When it is determined that the damage location is not on any of the transmission paths, a target transmission path closest to the damage location is selected from the plurality of transmission paths, and the damage index of the target transmission path is used as the damage degree.

[0010] Optionally, the method further comprises: Determine whether the damage degree exceeds the damage threshold, and if it is determined that the damage degree exceeds the damage threshold, output an alarm prompt message.

[0011] Optionally, the method further comprises: If it is determined that the damage level does not exceed the damage threshold, the excitation signal is applied to the actuator at a fixed time until the damage level exceeds the damage threshold.

[0012] Optionally, determining the damage location based on the damage existence probability comprises: The probability of exceeding a preset threshold is determined from the multiple damage existence probabilities, and the position corresponding to the probability is used as the damage position.

[0013] Optionally, determining actuators and sensors in the plurality of piezoelectric ceramic wafers comprises: Obtain candidate impact areas based on triangulation positioning algorithm; determining the target area corresponding to the candidate impact area on the protective plate; Each of the piezoelectric ceramic wafers on the target area is traversed, and the piezoelectric ceramic wafer that transmits the excitation signal is used as the actuator, and the piezoelectric ceramic wafer that receives the response signal is used as the sensor.

[0014] Optionally, the method further comprises: The maximum amplitude of the acceleration signal is obtained, and when the maximum amplitude exceeds a specified threshold, it is determined that the acceleration signal meets a preset condition.

[0015] In a second aspect, the present disclosure provides a vehicle, comprising: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the method described in the first aspect when calling the executable instructions stored in the memory.

[0016] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the first aspect.

[0017] In a fourth aspect, the present disclosure provides a computer program product, including a computer program, which implements the method described in the first aspect when executed by a processor.

[0018] The present invention can realize active and passive detection of a protective plate based on multiple piezoelectric ceramic chips, thereby improving the accuracy of detection. Specifically, the acceleration signal of the protective plate is collected according to the multiple piezoelectric ceramic chips integrated on the protective plate. When it is determined that the acceleration signal meets a preset condition, an actuator and a sensor are determined in the multiple piezoelectric ceramic chips, wherein the actuator and the sensor belong to a target area. On this basis, an excitation signal is applied to the actuator, and a response signal generated by the excitation signal is collected by the sensor. Thereafter, the damage detection result of the protective plate is obtained according to the excitation signal and the response signal, and the damage can be located in real time by processing and analyzing the collected signals.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 This is an example diagram of the bottom structure of a power battery in the related art.

[0021] Figure 2 The figure is a flow chart of a method for detecting damage of a protective plate according to an exemplary embodiment.

[0022] Figure 3 It is a structural example diagram of a battery pack and an intelligent protective plate in a method for detecting damage to a protective plate according to an exemplary embodiment.

[0023] Figure 4 This is an example diagram of regional distribution of intelligent protective plates in a damage detection method for protective plates according to an exemplary embodiment.

[0024] Figure 5 The figure is an example diagram of the arrangement of piezoelectric ceramic chips in a damage detection method for a protective plate according to an exemplary embodiment.

[0025] Figure 6 The figure is another example diagram of the arrangement of piezoelectric ceramic chips in a method for detecting damage of a protective plate according to an exemplary embodiment.

[0026] Figure 7 The figure is a flow chart of another method for detecting damage of a protective plate according to an exemplary embodiment.

[0027] Figure 8 It is an example diagram of multiple transfer paths in a target area in another damage detection method for a protective plate according to an exemplary embodiment.

[0028] Fig. 9 It is an example diagram of a process for damage location and damage assessment in another damage detection method for a protective plate according to an exemplary embodiment.

[0029] Fig.10 The figure is a block diagram of a device for detecting damage of a protective plate according to an exemplary embodiment.

[0030] Fig.11 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0032] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0033] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0034] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0035] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0036] From the above introduction, we know that since the protective plate does not have the detection and warning function, there are certain safety hazards in the vehicle during driving. Although there are similar detection schemes in the relevant technology, they mainly arrange force sensors on the protective plate to achieve detection and warning. Figure 1 As shown, in the related art, the bottom of the power battery includes a pressure strain gauge, an adhesive, a metal base plate and a PVC (Polyvinyl Chloride) anti-stone impact coating.

[0037] It can be seen that the relevant technology mainly monitors and warns based on the pressure signal value, but due to the limited number and fixed position of force sensors, the scope of warning detection is limited, and it is impossible to accurately determine the collision area and damage degree of the guard plate. In addition, the force sensor can only perform passive detection and warning, and cannot actively detect the working status of the guard plate and evaluate the degree of damage.

[0038] In order to solve the above problems, the embodiment of the present disclosure proposes a damage detection method for a protective plate, which can not only realize active and passive early warning detection, but also realize the location of damage and the judgment of the degree of damage by integrating a certain number of piezoelectric ceramic chips. Specifically, by applying an excitation signal to the actuator and using the sensor to collect the corresponding response signal, the damage detection of the protective plate can be simply and accurately realized by combining the excitation signal and the response signal.

[0039] Figure 2 is a flow chart of a method for detecting damage to a protective plate according to an exemplary embodiment. Figure 2 The damage detection method of the protective plate may include the following steps: In step S110 , an acceleration signal of the protection plate is collected based on a plurality of piezoelectric ceramic chips integrated on the protection plate.

[0040] In the embodiment of the present disclosure, the protective plate can also be referred to as a bottom protective plate, which can be installed at the bottom of the battery pack. The installation position of the protective plate can be as follows: Figure 3 Based on Figure 3 It is known that a plurality of piezoelectric ceramic chips can be integrated on the protection plate, and these piezoelectric ceramic chips can be evenly distributed in various areas of the protection plate. Here, the piezoelectric ceramic chip can be both an actuator and a sensor.

[0041] Since piezoelectric materials have reverse and forward piezoelectric effects, and are small in size, light in weight, and easy to integrate and install, in order to achieve active and passive detection functions, the present disclosure can install multiple piezoelectric ceramic chips in different areas of the protective plate. These piezoelectric ceramic chips can have both signal acquisition and excitation functions, that is, whether used as a sensor or as an exciter, the piezoelectric ceramic chips have the advantages of stable performance, good repeatability, wide bandwidth and good linearity. In addition, piezoelectric ceramic chips can work reliably under harsh working conditions and can ensure the accuracy of damage detection to a certain extent. For example, harsh weather can include high temperature environment, high pressure environment, low temperature environment and radiation environment.

[0042] Here, the positive and negative piezoelectric effects refer to the situation that when pressure is applied to a piezoelectric material, a potential difference (positive piezoelectric effect) is generated, and conversely, when voltage is applied, mechanical stress is generated.

[0043] In order to better illustrate the installation position of the piezoelectric ceramic wafer on the protective plate, the present disclosure provides the following embodiments: Figure 4 The example diagram shown is based on Figure 4 It is known that the protection plate may include a plurality of regions, and the number of piezoelectric ceramic chips integrated in these regions may be the same or different.

[0044] As an example, the protective plate may include Figure 4 The A area, B area, C area, D area and E area shown, where A area represents the left front area of ​​the guard plate; B area represents the right front area of ​​the guard plate; C area represents the middle area of ​​the guard plate; D area represents the left rear area of ​​the guard plate; and E area represents the right rear area of ​​the guard plate. Here, the front and rear positions may correspond to the position of the vehicle, and each area corresponding to the front and rear positions may be a square area.

[0045] See also Figure 5 In the embodiment of the present disclosure, a preset number of piezoelectric ceramic wafers can be installed around each square area of ​​the protective plate, such as Figure 5 As shown, these piezoelectric ceramic wafers can be distributed at equal intervals. In addition, the number of sensors on the long side of the protection plate can be more than the number of sensors on the short side, so that the accuracy of damage detection can be guaranteed, that is, the accuracy of detection can be improved.

[0046] As an example, each of the A area, B area, D area and E area of ​​the protective plate can be integrated with 3 sensors respectively, and these 3 sensors can be evenly distributed around the corresponding area. In addition, each side of the C area can be integrated with 5 sensors. In particular, Figure 5 The first piezoelectric ceramic chip 501, the second piezoelectric ceramic chip 502, the third piezoelectric ceramic chip 503 and the fourth piezoelectric ceramic chip 504 can be arranged at the midpoint of the long side and the short side of the protective plate. These four piezoelectric ceramic chips can be called key sensors / designated piezoelectric ceramic chips.

[0047] As an optional method, the embodiment of the present disclosure can count the areas on the protective plate that are prone to collision, and use the areas as key areas. The number of piezoelectric ceramic chips integrated in the key areas can be greater than the number of piezoelectric ceramic chips in other areas. Specifically, the embodiment of the present disclosure can determine the locations on the protective plate that are prone to collision based on aftermarket damage statistics, and use the areas where the locations are located as key areas.

[0048] For example, it is determined through statistics that the positions where the guard plate is prone to collision are mostly concentrated in the front and middle parts. In this case, the front and middle parts can be used as key areas, that is, area A (front left), area B (front right) and area C (middle area) are used as key areas, and area D (rear left) and area E (rear right) are used as secondary areas. The number of piezoelectric ceramic chips in the key areas can be greater than the number of piezoelectric ceramic chips in the secondary areas. Figure 6 As shown, the number of piezoelectric ceramic wafers in the D region and the E region can be relatively small, so that the damage detection accuracy can be ensured while saving the cost of damage detection.

[0049] It should be noted that the more piezoelectric ceramic chips there are, the higher the accuracy of damage positioning. For example, at least three piezoelectric ceramic chips can be integrated on each edge corresponding to each area of ​​the protective plate. There is no clear restriction on the specific number of piezoelectric ceramic chips integrated on the protective plate, which can be selected according to actual needs.

[0050] In some embodiments, multiple piezoelectric ceramic chips on the protective plate can collect acceleration signals of the protective plate in real time. Specifically, the embodiment of the present disclosure can collect acceleration signals of the protective plate through each piezoelectric ceramic chip on the protective plate. That is to say, before the bottom of the battery pack is impacted by a collision, the embodiment of the present disclosure can use the piezoelectric ceramic chip as a sensor to collect the impact acceleration signal of the vehicle in real time during driving.

[0051] Optionally, the embodiment of the present disclosure can also collect the acceleration signal of the protective plate through the piezoelectric ceramic chip specified on the protective plate. The specified piezoelectric ceramic chip can be integrated at the midpoint of the long side and the short side of the protective plate. For example, the specified piezoelectric ceramic chip can be the first piezoelectric ceramic chip 501, the second piezoelectric ceramic chip 502, the third piezoelectric ceramic chip 503 and the fourth piezoelectric ceramic chip 504. That is to say, the embodiment of the present disclosure can collect the acceleration signal of the protective plate in real time through the first piezoelectric ceramic chip 501, the second piezoelectric ceramic chip 502, the third piezoelectric ceramic chip 503 and the fourth piezoelectric ceramic chip 504.

[0052] In addition, when multiple acceleration signals are acquired, the embodiment of the present disclosure can perform weighted averaging on these acceleration signals to obtain a target signal, and on this basis, determine whether the target signal meets a preset condition.

[0053] Optionally, the embodiment of the present disclosure may also select an acceleration signal with the largest amplitude from multiple acceleration signals and use the acceleration signal as the target signal. On this basis, it is determined whether the selected acceleration signal meets a preset condition.

[0054] In addition, the acceleration signal collected by the embodiment of the present disclosure may be acceleration information of the surface of the protective plate.

[0055] In step S120 , when it is determined that the acceleration signal meets a preset condition, actuators and sensors are determined in a plurality of piezoelectric ceramic wafers.

[0056] As an optional method, after collecting the acceleration signal of the protective plate, the embodiment of the present disclosure can determine whether the acceleration signal meets the preset condition. If it is determined that the acceleration signal meets the preset condition, the embodiment of the present disclosure can determine the actuator and the sensor in the plurality of piezoelectric ceramic wafers, where the actuator and the sensor can belong to the target area.

[0057] Specifically, the embodiment of the present disclosure can obtain the maximum amplitude of the acceleration signal and determine whether the maximum amplitude exceeds a specified threshold. If it is determined that the maximum amplitude of the acceleration signal exceeds the specified threshold, it can be determined that the acceleration signal meets the preset condition, which means that the protective plate is impacted.

[0058] The disclosed embodiment can process and analyze the acceleration signal collected by the piezoelectric ceramic chip through the BMS (Battery Management System) to extract the maximum amplitude of the acceleration signal. On this basis, the maximum amplitude of the acceleration signal is compared with the specified threshold. If it is determined that the maximum amplitude of the acceleration signal exceeds the specified threshold, it is determined that the acceleration signal meets the preset condition. At this time, the piezoelectric ceramic chip can be used to excite the guard plate to generate a waveguide signal.

[0059] In addition, when it is determined that the acceleration signal meets the preset conditions, the embodiment of the present disclosure can also output impact prompt information through the BMS to prompt the vehicle owner that the bottom of the battery pack of the vehicle has been subjected to a collision impact through the impact prompt information.

[0060] In some implementations, when it is determined that the acceleration signal meets a preset condition, the embodiment of the present disclosure may determine the actuator and the sensor from the plurality of piezoelectric ceramic wafers. Here, the actuator and the sensor may belong to the target area.

[0061] That is to say, after determining that the acceleration signal meets the preset conditions, the embodiment of the present disclosure can first estimate the approximate area of ​​the impact and use the approximate area as the target area. On this basis, the actuator and sensor are determined according to the target area. It can be seen that when an impact occurs, the piezoelectric ceramic chips integrated on the protective plate do not need to work in full, only part of the piezoelectric ceramic chips need to work, and the part of the piezoelectric ceramic chips can be determined according to the target area.

[0062] In a specific embodiment, the present disclosure may obtain a candidate impact area based on a triangulated positioning algorithm, and the candidate impact area may be an approximate impact area obtained by the BMS through a preliminary evaluation operation performed by an integrated triangulated impact positioning algorithm (triangulated positioning algorithm).

[0063] From the above introduction, it is known that multiple piezoelectric ceramic chips may include key sensors, and the key sensors may be arranged at the midpoints of the long and short sides of the protective plate. In the process of preliminarily identifying the impact area using the triangulation positioning algorithm, the disclosed embodiment may combine these key sensors, and each combination may determine a position coordinate. On this basis, candidate impact areas may be generated using these position coordinates.

[0064] As an example, the first piezoelectric ceramic chip 501, the second piezoelectric ceramic chip 502 and the third piezoelectric ceramic chip 503 can form a first triangle, and a first position can be obtained based on the three points of the first triangle; the first piezoelectric ceramic chip 501, the second piezoelectric ceramic chip 502 and the fourth piezoelectric ceramic chip 504 can form a second triangle, and a second position can be obtained based on the three points of the second triangle; the first piezoelectric ceramic chip 501, the third piezoelectric ceramic chip 503 and the fourth piezoelectric ceramic chip 504 can form a third triangle, and a third position can be obtained based on the three points of the third triangle; the second piezoelectric ceramic chip 502, the third piezoelectric ceramic chip 503 and the fourth piezoelectric ceramic chip 504 can form a fourth triangle, and a fourth position can be obtained based on the three points of the fourth triangle.

[0065] On this basis, a candidate impact area can be obtained according to the first position, the second position, the third position and the fourth position, and the candidate impact area can be an elliptical area.

[0066] After obtaining the candidate impact area, the embodiment of the present disclosure can determine the target area corresponding to the candidate impact area on the protective plate, wherein the target area can include multiple piezoelectric ceramic chips, and the damage detection result can be obtained by traversing these piezoelectric ceramic chips. During the traversal process, the piezoelectric ceramic chip that transmits the excitation signal can be used as an actuator, and the piezoelectric ceramic chip that receives the response signal can be used as a sensor.

[0067] In the disclosed embodiment, the candidate impact area may be located in a certain area on the protective plate, or may be located in multiple areas on the protective plate. For example, when the candidate impact area is located in area A of the protective plate, the area A may be used as the target area. For another example, when the candidate impact area is located in area A and area B of the protective plate, the area A and area B may be used as the target areas, and the piezoelectric ceramic wafers in the multiple target areas may be traversed separately.

[0068] In the process of traversing each piezoelectric ceramic wafer in the target area, the embodiment of the present disclosure can use the piezoelectric ceramic wafer that needs to be traversed as an actuator, and the remaining piezoelectric ceramic wafers can be used as sensors. For example, when area A is used as the target area, it is necessary to traverse each piezoelectric ceramic wafer in area A. In the process of traversing the P1 piezoelectric ceramic wafer, the P1 can be used as an actuator, and the other piezoelectric ceramic wafers can be used as sensors. Here, the sensor and the actuator can belong to different sides of the target area.

[0069] In summary, when the bottom of the battery pack is detected to be impacted by a collision through the acceleration signal, the disclosed embodiment can use the key sensor (specified piezoelectric ceramic crystal) to collect the impact signal and combine the triangulation positioning algorithm to preliminarily identify the impact area to obtain the candidate impact area. On this basis, according to the identified candidate impact area, it is determined which area of ​​the bottom guard plate AE the impact position is roughly located, that is, the target area is determined.

[0070] It should be noted that the actuator in the embodiment of the present disclosure may also be referred to as an exciter, which is used to actively apply an excitation signal to the protective plate. Specifically, the battery management system BMS can input a voltage signal to the piezoelectric ceramic chip to drive the piezoelectric ceramic chip to achieve active early warning detection.

[0071] Specifically, the battery management system can generate a voltage signal when it determines that the acceleration meets the preset conditions. The voltage signal can be a narrowband signal generated by adding a single-frequency sine wave to a window. On this basis, the battery management system can transmit the generated voltage signal to the piezoelectric ceramic chip through the electrical system. According to the applied sinusoidal voltage signal, the piezoelectric ceramic chip can generate corresponding back-and-forth sinusoidal vibrations, thereby realizing the driving of the piezoelectric ceramic chip.

[0072] Optionally, the battery management system can also generate the required voltage signal through a control unit connected thereto and send it to the piezoelectric ceramic chip.

[0073] In other words, the battery management system can transmit a voltage signal to the piezoelectric ceramic chip to stimulate the surface of the protective plate to generate a waveguide signal. Here, the waveguide can be a mechanical wave that propagates along a solid or liquid medium. The voltage signal applied by the battery management system can cause the mechanical vibration of the piezoelectric ceramic chip, which can then drive the corresponding position of the bottom protective plate to vibrate to form a waveguide, which propagates in all directions along the medium.

[0074] In the embodiment of the present disclosure, the waveguide mode can be Lamb wave S0 symmetric mode + A0 antisymmetric mode. In order to facilitate data signal analysis, the embodiment of the present disclosure can obtain a Lamb wave signal of an approximate single mode through mode modulation and other methods, so that the protection plate can be detected more accurately.

[0075] Exemplarily, the disclosed embodiments can obtain a Lamb wave signal approximately in a single mode by at least one method such as frequency selection, sensor arrangement, mode filtering and phased array technology. Lamb waves are a type of guided wave, which refers to elastic waves propagating in thin plate materials. Lamb waves are multi-mode guided waves propagating in plates, and the waves can be divided into symmetric modes (S modes) and antisymmetric modes (A modes).

[0076] In step S130 , an excitation signal is applied to the actuator, and a response signal generated by the excitation signal is collected by a sensor.

[0077] As an optional method, after determining the actuator and the sensor, the embodiment of the present disclosure can apply an excitation signal to the actuator and use the sensor to collect a response signal generated by the excitation signal, wherein the response signal can also be called a waveguide signal or a receiving signal.

[0078] Specifically, the battery management system can apply a voltage signal to each piezoelectric ceramic chip in the target area of ​​the protective plate to drive the piezoelectric ceramic chip, and the remaining piezoelectric ceramic chips can serve as sensors to receive response signals.

[0079] Here, the piezoelectric ceramic chip that applies the excitation signal can be called an actuator, and the piezoelectric ceramic chip that receives the response signal can be called a sensor. The actuator and the sensor can be arranged relative to each other. In the process of traversing the piezoelectric ceramic chips in the target area, the piezoelectric ceramic chip being traversed can be called an actuator, and the piezoelectric ceramic chip that is not on the same side as the actuator can be called a sensor, that is, the sensor is neither located at the horizontal position of the actuator nor at the vertical position of the actuator.

[0080] The disclosed embodiment integrates a number of piezoelectric ceramic chips at the bottom of the battery pack shield. On the one hand, the piezoelectric ceramic chips can collect collision impact signals in real time as sensors, and transmit the collected signals to the battery management system for signal processing and analysis. On the other hand, the battery management system can also realize active early warning detection by driving the piezoelectric ceramic chip input voltage signal.

[0081] In step S140, a damage detection result of the protective plate is obtained according to the excitation signal and the response signal.

[0082] As an optional method, after the response signal is collected, the embodiment of the present disclosure can combine the excitation signal and the response signal to comprehensively obtain the damage detection result of the protective plate. The damage detection result can include the damage location and damage degree.

[0083] Specifically, the embodiment of the present disclosure can compare the difference between the healthy signal and the damage signal before and after the impact, and determine the specific damage location and damage degree based on the difference to obtain a damage detection result. On this basis, the embodiment of the present disclosure can determine whether the protective plate needs to be repaired according to the damage degree, and output a prompt message if it is detected that the protective plate needs to be repaired, so as to inform the user to replace the protective plate as soon as possible through the prompt message.

[0084] For example, the disclosed embodiment can determine whether the damage degree is lower than the damage threshold. If the damage degree is lower than the damage threshold, it means that the fender does not need to be repaired, that is, the fender does not need to be replaced. On the contrary, if it is determined that the damage degree is higher than the damage threshold, a system alarm message is output to prompt the owner to replace the fender as soon as possible.

[0085] It should be noted that when it is determined that the degree of damage is lower than the damage threshold, there is no need to replace the protective plate. At the same time, the embodiment of the present disclosure can automatically trigger the regular input operation of the excitation signal, that is, if it is determined that the degree of damage does not exceed the damage threshold, the embodiment of the present disclosure can apply the excitation signal to the actuator at a regular interval until the degree of damage exceeds the damage threshold.

[0086] In other words, the battery management system can periodically input excitation signals to the piezoelectric ceramic chip to achieve active detection of the degree of damage. At the same time, the embodiment of the present disclosure can track the expansion state of the damage. Until the degree of damage exceeds the damage threshold, the battery management system can output an alarm to promptly prompt the owner to replace the guard plate as soon as possible.

[0087] Here, the expansion state of the damage degree can be obtained by applying the excitation signal multiple times. If the damage degree shows an increasing trend after applying the excitation signal multiple times, the embodiment of the present disclosure outputs a prompt of the increasing damage degree while outputting the alarm information. This can further improve the intensity of the reminder and cause the user to pay attention to the damage degree of the guard plate.

[0088] Furthermore, when it is determined that the degree of damage is increasing, the embodiment of the present disclosure can not only output a prompt message through the central control display screen, but also send a prompt message to an electronic device connected to the vehicle. After the preset time of outputting the prompt message, if the protective plate has not been replaced, the output frequency of the prompt message can be increased.

[0089] The protective plate in the embodiment of the present disclosure can be an intelligent protective plate, which can integrate active and passive early warning detection functions, and only needs to integrate a certain number of piezoelectric ceramic chips to achieve damage location and damage degree judgment. When the protective plate (bottom protective plate) is impacted, the piezoelectric ceramic chip can measure the structural acceleration response signal as a sensor, and compare the extracted peak information with the set threshold to determine whether the protective plate is impacted by external force. In addition, the embodiment of the present disclosure can use piezoelectric ceramics as an actuator to actively apply an excitation signal to the protective plate, and use a sensor to collect the response signal generated by the excitation signal. By processing and analyzing the collected signal, real-time damage location and damage degree assessment can be achieved.

[0090] Figure 7 is a flow chart of a method for detecting damage to a protective plate according to an exemplary embodiment. Figure 7 The damage detection method of the protective plate may include the following steps: In step S210, an acceleration signal of the protection plate is collected based on a plurality of piezoelectric ceramic chips integrated on the protection plate.

[0091] The specific implementation of step S210 has been described in detail in the above embodiment and will not be repeated here.

[0092] In step S220 , when it is determined that the acceleration signal meets a preset condition, actuators and sensors are determined in the plurality of piezoelectric ceramic wafers.

[0093] From the above introduction, we know that the actuator and the sensor can belong to the target area, and the target area can be obtained by the triangulation positioning algorithm. Among them, the target area can include multiple transmission paths, and each transmission path can include an actuator and a sensor. By traversing each piezoelectric ceramic wafer in the target area, the protection plate can be detected, and each piezoelectric ceramic crystal in the target area can be used as an exciter during the traversal process.

[0094] Specifically, when it is determined that the acceleration signal meets the preset conditions, the embodiment of the present disclosure can first obtain the candidate impact area based on the triangulation positioning algorithm, and then determine the target area corresponding to the candidate impact area on the protective plate. On this basis, each piezoelectric ceramic wafer on the target area is traversed, and the piezoelectric ceramic wafer that transmits the excitation signal is used as an actuator, and the piezoelectric ceramic wafer that receives the response signal is used as a sensor.

[0095] As an example, it is determined by estimation that the impact is located in the A region of the protective plate, that is, the A region can be the target region, and the piezoelectric ceramic wafers in the A region can be composed as follows: Figure 8 The sensor network diagram shown. Based on Figure 8 It is known that region A includes 8 piezoelectric ceramic chips. In the process of traversing these 8 piezoelectric ceramic chips respectively, the embodiment of the present disclosure can first determine the sensor corresponding to each piezoelectric ceramic chip to form different transmission paths.

[0096] As an example, when the piezoelectric ceramic chip P1 is used as an actuator, the piezoelectric ceramic chips P5, P7, and P8 can be used as sensors to form three transmission paths; when the piezoelectric ceramic chip P2 is used as an actuator, the piezoelectric ceramic chips P4, P5, P6, P7, and P8 can be used as sensors to form five transmission paths; when the piezoelectric ceramic chip P3 is used as an actuator, the piezoelectric ceramic chips P4, P6, and P7 can be used as sensors to form three transmission paths; when the piezoelectric ceramic chip P4 is used as an actuator, the piezoelectric ceramic chips P2, P3, P5, P7, and P8 can be used as sensors to form five transmission paths. transfer paths; when the piezoelectric ceramic chip P5 is used as an actuator, the piezoelectric ceramic chips P1, P2, P4, P6, and P7 can be used as sensors to form five transfer paths; when the piezoelectric ceramic chip P6 is used as an actuator, the piezoelectric ceramic chips P2, P3, and P5 can be used as sensors to form three transfer paths; when the piezoelectric ceramic chip P7 is used as an actuator, the piezoelectric ceramic chips P1, P2, P3, P4, and P5 can be used as sensors to form five transfer paths; when the piezoelectric ceramic chip P8 is used as an actuator, the piezoelectric ceramic chips P1, P2, and P4 can be used as sensors to form three transfer paths.

[0097] In summary, the target area may include multiple transmission paths, and each piezoelectric ceramic chip may correspond to multiple transmission paths when used as an actuator. The sensors and actuators corresponding to these transmission paths may be on different sides of the piezoelectric ceramic chip. In the process of traversing each piezoelectric ceramic chip in the target area, an excitation signal may be applied to the actuator, and the sensor corresponding to the current piezoelectric ceramic chip may receive a response signal.

[0098] In step S230, an excitation signal is applied to the actuator, and a response signal generated by the excitation signal is collected by a sensor.

[0099] The specific implementation of step S230 has been described in detail in the above embodiment, and will not be repeated here.

[0100] In step S240, the damage existence probabilities corresponding to different positions are determined according to the excitation signal and the response signal corresponding to each transmission path, and the damage positions are determined based on the damage existence probabilities.

[0101] As an optional method, after collecting the response signal generated by the excitation signal, the embodiment of the present disclosure can determine the damage existence probability corresponding to different paths according to the excitation signal and the response signal corresponding to each path. On this basis, the specific location of the damage is determined according to the damage existence probability function determined by the damage existence probability.

[0102] From the above introduction, it can be known that the damage detection result may include the damage location. In order to make the acquired damage location more accurate, the embodiment of the present disclosure can determine the damage index of each transmission path and the weight function value of each transmission path. On this basis, the damage existence probability function is obtained based on the damage index and the weight function value, and a more accurate damage location can be obtained based on the damage existence probability function.

[0103] In some embodiments, the damage index can be the degree of change of the signal of the same transmission path before and after the damage, that is, the damage index is used to characterize the degree of change of the signal received on the same transmission path before and after the damage. The embodiment of the present disclosure can reflect the similarity of two groups of signals in a quantitative form. The specific calculation formula of the damage index is as follows: n=|D1-D2| / D1; Among them, D1 can be the energy spectrum correlation coefficient of the excitation signal and the receiving signal when the protective plate is in a healthy state. The energy spectrum correlation coefficient can measure the similarity between the excitation signal and the receiving signal. The closer the energy spectrum correlation coefficient is to 1, the higher the similarity between the two signals. D2 can be the energy spectrum correlation coefficient of the protective plate in a damaged state.

[0104] Here, the calculation formula of the energy spectrum correlation coefficient of D1 is as follows: ; in, It can be the similarity between the excitation signal and the receiving signal in a healthy state. X(ω) and Y(ω) can be the Fourier transform of signal x(t) and signal y(t) respectively. Signal x(t) can be the excitation acceleration signal in a healthy state, y(t) can be the receiving acceleration signal in a healthy state, t is time, and ω is frequency.

[0105] The calculation formula of D2's energy spectrum correlation coefficient is as follows: ; in, It can be the similarity between the excitation signal and the receiving signal in the damaged state. X(ω) and Y(ω) can be the Fourier transform of signal x(t) and signal y(t) respectively. Signal x(t) can be the excitation acceleration signal in the damaged state, y(t) can be the receiving acceleration signal in the damaged state, t is time, and ω is frequency.

[0106] It can be seen that D1 and D2 are the energy spectrum correlation coefficients between the excitation signal emitted by the exciter and the response signal received by the sensor in the same transmission path in the healthy and damaged states. If it is determined that D1 and D2 tend to be consistent, it means that the material properties in the path are continuous and there is no damage. Otherwise, it means that the material properties in the path are discontinuous and there is damage.

[0107] As an example, it is determined that the acceleration signal meets the preset conditions, and when traversing the piezoelectric ceramic chip P1, the excitation signal E1 is input to P1, and the sensor P7 related to P1 collects the response signal R1. At this time, the similarity D2 between the excitation signal E1 and the response signal R1 can be obtained through the energy spectrum correlation coefficient calculation formula. In addition, the similarity D1 between P1 and P7 in a healthy state can be obtained in advance. At this time, the damage index corresponding to the transmission path including P1 and P7 can be obtained based on D1 and D2.

[0108] It should be noted that the energy spectrum correlation coefficient of the excitation signal and the receiving signal in a healthy state may be pre-stored in the device, and the energy spectrum correlation coefficients corresponding to different piezoelectric ceramic chips in a healthy state may be the same or different. Whether they are the same is determined by the properties of the material in the transmission path and is not clearly defined here.

[0109] In other embodiments, the weight function value is used to characterize the relationship between the transmission path and the damage position, and the smaller the distance between the damage position and the transmission path, the larger the weight function value. When the damage is just on the transmission path, the signal is most seriously affected, the signal change is the largest, and the weight function value is the largest. Conversely, when the damage is farther from the transmission path, the weight function value is smaller.

[0110] As a specific implementation, the weight function value may be acquired comprehensively based on a first distance between the random position and the actuator, a second distance between the random position and the sensor, and a third distance between the actuator and the sensor.

[0111] Exemplarily, the first distance is l1, the second distance is l2, and the third distance is l3. At this time, the weight function value W=2-(l1+l2) / l3, where l1 and l2 are the distances from the actuator (exciter) and the sensor at the corresponding position (x, y), and l3 is the distance from the actuator to the sensor. Here, the position (x, y) can be a randomly determined point on the protective plate.

[0112] It should be noted that, when it is determined that (l1+l2) / l3>2, the embodiment of the present disclosure may set the weight function value W to 0.

[0113] In other implementations, after obtaining the damage index and weight function value of each path, the embodiment of the present disclosure can obtain a damage existence probability function based on these two values. The calculation formula of the damage existence probability function is as follows: ; Wherein, i may be the path number, N may be the number of transmission paths corresponding to each piezoelectric ceramic chip, for example, the number of transmission paths corresponding to the piezoelectric ceramic chip P1 may be 3; (x, y) may be position information; n i refers to the damage index under the i-th path; w i Refers to the weight function value under the i-th path.

[0114] The probability of damage existence corresponding to each piezoelectric ceramic wafer can be calculated by traversing. In addition, N can also be the number of all transmission paths in the target area, such as the number of transmission paths corresponding to area A is 32.

[0115] It should be noted that P(x, y) can be a function, based on which the values ​​of x and y at which the probability of damage existence is the highest can be determined, that is, the damage location can be determined, that is, a maximum damage probability point that can be obtained through P(x, y).

[0116] The battery management system can calculate the probability of damage at different positions of the protective plate based on the RAPID algorithm (Reconstruction Algorithm for Probabilistic Inspection of Damage), and obtain the specific damage location and corresponding damage degree based on the calculation results.

[0117] Among them, the RAPID algorithm can be a probability-based damage detection and reconstruction algorithm, which uses probability to locate damage in the structure. It mainly predicts the damage location by calculating the probability value of damage at each point in the target area.

[0118] As an optional method, after obtaining the probability of damage existence, the embodiment of the present disclosure can screen a group of exciters and sensors whose transmission paths are closest to the damage location based on the probability of damage existence, and extract the damage index n of the signal on the transmission path. The damage index n can approximately quantify the degree of damage.

[0119] Specifically, the embodiment of the present disclosure may use the position with the highest probability of damage as the damage position / target position, and on this basis, determine whether the damage position is on a certain transmission path among multiple transmission paths in the target area. If it is determined that the damage position is on a certain transmission path among multiple transmission paths, the embodiment of the present disclosure may use the damage index corresponding to the transmission path as the damage degree of the protective plate.

[0120] In other words, the embodiment of the present disclosure can determine the probability exceeding a preset threshold from multiple damage existence probabilities, and use the position corresponding to the probability as the damage position, that is, the damage existence probability exceeding the preset threshold can be the maximum value among the multiple damage existence probabilities.

[0121] As an example, it is determined through detection that the damage position (x1, y1) is located on the transmission path P1-P8. At this time, the damage index of the transmission path P1-P8 can be used as the damage degree.

[0122] Optionally, when it is determined that the damage location is not on any transmission path, the embodiment of the present disclosure may select a target transmission path closest to the damage location from multiple transmission paths, and use the damage index of the target transmission path as the degree of damage.

[0123] As an example, it is determined through detection that the damage position (x2, y2) is not on any transmission path in the target area. At this time, the distance between the damage position (x2, y2) and each transmission path can be calculated. It is determined through calculation that the transmission path P2-P7 is closest to the damage position (x2, y2). At this time, the transmission path P2-P7 can be used as the target transmission path, and the damage index of the target transmission path can be used as the degree of damage.

[0124] From the above introduction, it can be known that after obtaining the degree of damage, the embodiment of the present disclosure can determine whether the degree of damage exceeds the damage threshold. If it is determined that the degree of damage exceeds the damage threshold, the embodiment of the present disclosure can apply an excitation signal to the actuator at a regular interval until it is detected that the degree of damage exceeds the damage threshold, and then stop outputting the excitation signal.

[0125] As a specific implementation method, the piezoelectric ceramic sensor can collect impact acceleration signals in real time during vehicle driving, and by comparing with the set threshold (specified threshold), it can be determined whether the guard plate is impacted by the collision. If it is determined that the guard plate is impacted, the triangulation positioning principle can be used to identify the approximate impact area, and the piezoelectric ceramic chip in the impact area can be further used to excite the guard plate to generate a waveguide signal. On this basis, the specific damage location and degree of damage are determined by comparing the healthy and damaged signals before and after the impact to obtain the damage detection results. Finally, if the degree of damage does not exceed the guard plate maintenance threshold, the excitation signal is automatically and regularly applied to the piezoelectric ceramic chip to actively detect and evaluate the damage expansion status until the damage threshold is exceeded, and the owner is promptly reminded to replace the guard plate as soon as possible.

[0126] In order to better illustrate the process of obtaining the damage degree, the present disclosure embodiment provides the following Fig. 9 The example diagram shown is based on Fig. 9 It can be seen that after determining that the protective plate is impacted, the embodiment of the present disclosure can use the piezoelectric ceramic chips at the center of the long side and the short side as sensors, adopt the triangulation positioning principle to identify the approximate impact area, and determine the specific area of ​​the protective plate AE where the impact area is distributed, so as to obtain the target area.

[0127] On this basis, the disclosed embodiment can form a set of sensor paths for every two piezoelectric ceramic chips in the target area. The sensor path can include an exciter and a sensor, which are used to transmit excitation signals and receive structural response signals under the damaged state, respectively. Then, the probability of damage at different positions of the guard plate is calculated, and the position with the highest probability is found, which is the damaged position of the guard plate.

[0128] In addition, the embodiment of the present disclosure can screen a group of exciters and sensors whose transmission paths are closest to the damage location based on the damage location of the protective plate, and calculate the damage index of the signal on the transmission path. The damage index can quantify the degree of damage, that is, the damage index can be used as the degree of damage.

[0129] The disclosed embodiments can realize active and passive detection of the protective plate based on multiple piezoelectric ceramic chips, thereby improving the detection accuracy. Specifically, the acceleration signal of the protective plate is collected according to the multiple piezoelectric ceramic chips integrated on the protective plate. When it is determined that the acceleration signal meets the preset conditions, the actuator and the sensor are determined in the multiple piezoelectric ceramic chips, wherein the actuator and the sensor belong to the target area. On this basis, an excitation signal is applied to the actuator, and the response signal generated by the excitation signal is collected by the sensor. Thereafter, the damage detection result of the protective plate is obtained according to the excitation signal and the response signal, and the damage can be located in real time by processing and analyzing the collected signals.

[0130] Fig.10is a block diagram of a damage detection device for a protective plate according to an exemplary embodiment. Fig.10 As shown, the damage detection device 300 for the protective plate may include a collection module 310 , a determination module 320 , an excitation module 330 and an acquisition module 340 .

[0131] The acquisition module 310 is configured to acquire acceleration signals of the protection plate based on a plurality of piezoelectric ceramic chips integrated on the protection plate; The determination module 320 is configured to determine that the acceleration signal satisfies a preset condition, and to determine an actuator and a sensor in the plurality of piezoelectric ceramic wafers, wherein the actuator and the sensor belong to a target area; The excitation module 330 is configured to apply an excitation signal to the actuator and use the sensor to collect a response signal generated by the excitation signal; The acquisition module 340 is configured to acquire a damage detection result of the protective plate according to the excitation signal and the response signal.

[0132] In some embodiments, the target area includes multiple transmission paths, each transmission path includes an actuator and a sensor, the damage detection result includes a damage location, and the acquisition module 340 is also configured to determine the probability of damage corresponding to different locations based on the excitation signal and the response signal corresponding to each transmission path, and determine the damage location based on the damage probability.

[0133] In some implementations, the acquisition module 340 may include: A damage index determination submodule is configured to determine a damage index of each of the transmission paths, wherein the damage index is used to characterize the degree of change of the signal of the same transmission path before and after damage; A weight function determination submodule is configured to determine a weight function value of each of the transfer paths, wherein the weight function value is used to characterize the relationship between the transfer path and the damage location, and the smaller the distance between the damage location and the transfer path, the larger the weight function value; The probability determination submodule is configured to determine the damage existence probability according to the damage index and the weight function value.

[0134] In some embodiments, the damage detection result also includes a damage degree, and the acquisition module 340 is further configured to use the damage index corresponding to a certain transfer path among multiple transfer paths as the damage degree when it is determined that the damage location is on the certain transfer path.

[0135] In some embodiments, the acquisition module 340 is further configured to select a target transfer path closest to the damage location from the multiple transfer paths when it is determined that the damage location is not on any of the transfer paths, and use the damage index of the target transfer path as the damage degree.

[0136] In some embodiments, the damage detection device 300 for the protective plate may further include: The output module is configured to determine whether the damage degree exceeds the damage threshold, and if it is determined that the damage degree exceeds the damage threshold, output an alarm prompt information.

[0137] In some embodiments, the damage detection device 300 for the protective plate may further include: The timing execution module is configured to, if it is determined that the damage degree does not exceed the damage threshold, apply the excitation signal to the actuator in a timely manner until the damage degree exceeds the damage threshold.

[0138] In some embodiments, the acquisition module 340 is further configured to determine a probability exceeding a preset threshold from among a plurality of damage existence probabilities, and use a position corresponding to the probability as the damage position.

[0139] In some implementations, the determination module 320 may include: A preliminary assessment submodule, configured to obtain candidate impact areas based on a triangulation positioning algorithm; A target area determination submodule, configured to determine the target area corresponding to the candidate impact area on the protective plate; The traversal submodule is configured to traverse each of the piezoelectric ceramic wafers on the target area, and use the piezoelectric ceramic wafer that transmits the excitation signal as the actuator, and use the piezoelectric ceramic wafer that receives the response signal as the sensor.

[0140] In some embodiments, the damage detection device 300 for the protective plate may further include: The condition judgment submodule is configured to obtain the maximum amplitude of the acceleration signal, and when the maximum amplitude exceeds a specified threshold, determine that the acceleration signal meets a preset condition.

[0141] The disclosed embodiments can realize active and passive detection of the protective plate based on multiple piezoelectric ceramic chips, thereby improving the detection accuracy. Specifically, the acceleration signal of the protective plate is collected according to the multiple piezoelectric ceramic chips integrated on the protective plate. When it is determined that the acceleration signal meets the preset conditions, the actuator and the sensor are determined in the multiple piezoelectric ceramic chips, wherein the actuator and the sensor belong to the target area. On this basis, an excitation signal is applied to the actuator, and the response signal generated by the excitation signal is collected by the sensor. Thereafter, the damage detection result of the protective plate is obtained according to the excitation signal and the response signal, and the damage can be located in real time by processing and analyzing the collected signals.

[0142] Fig.11 is a block diagram of a vehicle 900 according to an exemplary embodiment. For example, the vehicle 900 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 900 may be an autonomous vehicle or a semi-autonomous vehicle.

[0143] Reference Fig.11 , the vehicle 900 may include various subsystems, for example, the vehicle 900 includes an infotainment system 910, a perception system 920, a decision control system 930, a drive system 940, and a computing platform 950. The vehicle 900 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 900 may be interconnected by wire or wireless means.

[0144] In some embodiments, the infotainment system 910 may include a communication system, an entertainment system, and a navigation system, etc.

[0145] The perception system 920 may include several sensors for sensing information about the environment around the vehicle 900. For example, the perception system 920 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0146] The decision control system 930 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0147] The drive system 940 may include components that provide powered motion for the vehicle 900. In one embodiment, the drive system 940 may include an engine, an energy source, a transmission system, and wheels. The engine may be a combination of one or more of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0148] Some or all functions of the vehicle 900 are controlled by a computing platform 950. The computing platform 950 may include at least one processor 951 and a memory 952, and the processor 951 may execute instructions 953 stored in the memory 952.

[0149] The processor 951 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0150] The memory 952 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0151] In addition to instructions 953 , memory 952 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 952 may be used by computing platform 950 .

[0152] In the embodiment of the present disclosure, the processor 951 can execute instruction 953 to complete all or part of the steps of the above-mentioned method for detecting damage to the protective plate.

[0153] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the computer program instructions are executed by a processor, the steps of the above-mentioned fender damage detection method are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 952 including program instructions, and the above-mentioned program instructions may be executed by the processor 951 of the vehicle 900 to complete the above-mentioned fender damage detection method.

[0154] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a processor. When the computer program is executed by the processor, the steps of the above-mentioned method for detecting damage to the protective plate are implemented.

[0155] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0156] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0157] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for detecting damage to a protective plate, characterized in that: The method comprises: Collecting acceleration signals of the protective plate based on a plurality of piezoelectric ceramic chips integrated on the protective plate; Determining that the acceleration signal meets a preset condition, determining an actuator and a sensor in the plurality of piezoelectric ceramic wafers, wherein the actuator and the sensor belong to a target area; Applying an excitation signal to the actuator, and using the sensor to collect a response signal generated by the excitation signal; A damage detection result of the protective plate is obtained according to the excitation signal and the response signal.

2. The method according to claim 1, characterized in that The target area includes a plurality of transmission paths, each transmission path includes one of the actuators and one of the sensors, and the damage detection result includes a damage location; The obtaining of the damage detection result of the protective plate according to the excitation signal and the response signal comprises: The damage existence probabilities corresponding to different positions are determined according to the excitation signal and the response signal corresponding to each transmission path, and the damage position is determined based on the damage existence probabilities.

3. The method according to claim 2, characterized in that The determining the damage existence probability corresponding to different positions according to the excitation signal and the response signal output and received by the sensor in the target area includes: Determine a damage index of each of the transmission paths, wherein the damage index is used to characterize the degree of change of the signal of the same transmission path before and after damage; Determining a weight function value of each of the transmission paths, wherein the weight function value is used to characterize the relationship between the transmission path and the damage location, and the smaller the distance between the damage location and the transmission path, the larger the weight function value; The damage existence probability is determined according to the damage index and the weight function value.

4. The method according to claim 3, characterized in that The damage detection result also includes the damage degree, and the method further includes: When it is determined that the damage position is on a certain transmission path among the multiple transmission paths, the damage index corresponding to the transmission path is used as the damage degree.

5. The method according to claim 4, characterized in that The method further comprises: When it is determined that the damage location is not on any of the transmission paths, a target transmission path closest to the damage location is selected from the plurality of transmission paths, and the damage index of the target transmission path is used as the damage degree.

6. The method according to claim 4, characterized in that The method further comprises: Determine whether the damage degree exceeds the damage threshold, and if it is determined that the damage degree exceeds the damage threshold, output an alarm prompt message.

7. The method according to claim 6, characterized in that The method further comprises: If it is determined that the damage level does not exceed the damage threshold, the excitation signal is applied to the actuator at a fixed time until the damage level exceeds the damage threshold.

8. The method according to claim 2, characterized in that: The determining the damage location based on the damage existence probability comprises: The probability of exceeding a preset threshold is determined from the multiple damage existence probabilities, and the position corresponding to the probability is used as the damage position.

9. The method according to any one of claims 1 to 8, characterized in that: Determining actuators and sensors in the plurality of piezoelectric ceramic wafers comprises: Obtain candidate impact areas based on triangulation positioning algorithm; determining the target area corresponding to the candidate impact area on the protective plate; Each of the piezoelectric ceramic wafers on the target area is traversed, and the piezoelectric ceramic wafer that transmits the excitation signal is used as the actuator, and the piezoelectric ceramic wafer that receives the response signal is used as the sensor.

10. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: The maximum amplitude of the acceleration signal is obtained, and when the maximum amplitude exceeds a specified threshold, it is determined that the acceleration signal meets a preset condition.

11. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to, when calling the executable instructions stored in the memory, Implement the steps of the method according to any one of claims 1 to 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 10 are implemented.

13. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10.

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