Ultrasonic sensor attachment detection method and device, storage medium, electronic equipment and vehicle

Abstract

The invention provides an ultrasonic sensor attachment detection method and device, a storage medium, electronic equipment and a vehicle. The method comprises the steps of obtaining aftershock time and a first expression distance of an ultrasonic sensor; when the aftershock time is smaller than a first threshold value within the first preset duration, judging that attachments exist on the surface of the ultrasonic sensor; when the moving speed of the ultrasonic sensor is greater than the preset speed and the aftershock time is greater than a second threshold value within a second preset duration, judging that attachments exist on the surface of the ultrasonic sensor; and when the moving speed of the ultrasonic sensor is greater than the preset speed and the accumulated time when the first expression distance is less than a third threshold value reaches a fourth preset time length within a third preset time length, determining that the surface of the ultrasonic sensor has attachments. According to the ultrasonic sensor attachment detection method and device, the storage medium, the electronic equipment and the vehicle, the attachment detection probability is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of object detection, and particularly to a method, device, storage medium, electronic device and vehicle for detecting attachments on an ultrasonic sensor. Background Art

[0002] In the intelligent driving industry, ultrasonic sensors for detecting nearby obstacles play a very important role. When there is sludge or ice on the surface of the ultrasonic sensor, its normal operation will be affected, resulting in the inability to detect obstacles or misdetection of obstacles. Therefore, it is necessary to timely identify whether there are attachments on the surface of the ultrasonic sensor. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a method, device, storage medium, electronic device and vehicle for detecting attachments on an ultrasonic sensor, which detects the attachments on the surface of the ultrasonic sensor based on the aftershock time and the first apparent distance of the ultrasonic sensor, greatly improving the detection probability of the attachments.

[0004] In a first aspect, the present invention provides a method for detecting attachments on an ultrasonic sensor, the method comprising the following steps: obtaining the aftershock time and the first apparent distance of the ultrasonic sensor; when the aftershock time is less than a first threshold within a first preset duration, determining that there are attachments on the surface of the ultrasonic sensor; when the moving speed of the ultrasonic sensor is greater than a preset speed and the aftershock time is greater than a second threshold within a second preset duration, determining that there are attachments on the surface of the ultrasonic sensor; when within a third preset duration, the cumulative time that the moving speed of the ultrasonic sensor is greater than the preset speed and the first apparent distance is less than a third threshold reaches a fourth preset duration, determining that there are attachments on the surface of the ultrasonic sensor.

[0005] In an implementation method of the first aspect, it further includes obtaining the aftershock frequency offset of the ultrasonic sensor; when within a fifth preset duration, the difference between the aftershock frequency offset and a preset aftershock frequency offset is greater than a preset threshold, determining that there are attachments on the surface of the ultrasonic sensor.

[0006] In an implementation method of the first aspect, the range of the first threshold is 400us - 700us.

[0007] In an implementation method of the first aspect, the range of the second threshold is 1600us - 2600us.

[0008] In an implementation method of the first aspect, the range of the third threshold is 150mm - 550mm.

[0009] In an implementation method of the first aspect, the first represented distance is the distance between the ultrasonic sensor and the detected object.

[0010] In a second aspect, the present invention provides an ultrasonic sensor attachment detection system, which includes an acquisition module, a first judgment module, a second judgment module, and a third judgment module;

[0011] The acquisition module is used to acquire the aftershock time and the first represented distance of the ultrasonic sensor;

[0012] The first judgment module is used to judge that there is an attachment on the surface of the ultrasonic sensor when the aftershock time is less than the first threshold within the first preset duration;

[0013] The second judgment module is used to judge that there is an attachment on the surface of the ultrasonic sensor when the moving speed of the ultrasonic sensor is greater than the preset speed and the aftershock time is greater than the second threshold within the second preset duration;

[0014] The third judgment module is used to judge that there is an attachment on the surface of the ultrasonic sensor when within the third preset duration, the cumulative time that the moving speed of the ultrasonic sensor is greater than the preset speed and the first represented distance is less than the third threshold reaches the fourth preset duration.

[0015] In a third aspect, the present invention provides a storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned ultrasonic sensor attachment detection method is implemented.

[0016] In a fourth aspect, the present invention provides an electronic device, including: a processor and a memory;

[0017] The memory is used to store a computer program;

[0018] The processor is used to execute the computer program stored in the memory so that the electronic device executes the above-mentioned ultrasonic sensor attachment detection method.

[0019] In a fifth aspect, the present invention provides a vehicle, including an ultrasonic sensor and the above-mentioned electronic device.

[0020] As described above, the ultrasonic sensor attachment detection method, device, storage medium, electronic device, and vehicle of the present invention have the following beneficial effects:

[0021] (1) Detect the attachment on the surface of the ultrasonic sensor based on the aftershock time and the first represented distance of the ultrasonic sensor;

[0022] (2) Especially for cavity-like attachments, the use of the first represented distance effectively improves the detection probability and detection efficiency of the attachment of the ultrasonic sensor;

[0023] (3) provides information support for the safe driving of the vehicle. Description of the Drawings

[0024] Figure 1 Shown is a flowchart of the ultrasonic sensor attachment detection method of the present invention in an embodiment;

[0025] Figure 2 Shown is a schematic diagram of the aftershock time when there is no attachment on the surface of the ultrasonic sensor in an embodiment;

[0026] Figure 3 Shown is a schematic diagram of the aftershock time when the surface of the ultrasonic sensor is in an icing state in an embodiment;

[0027] Figure 4 Shown is a schematic diagram of the aftershock time when the surface of the ultrasonic sensor is in an icing state in an embodiment;

[0028] Figure 5 Shown is a schematic diagram of the first manifestation distance when the surface of the ultrasonic sensor is in an icing state in an embodiment;

[0029] Figure 6 Shown is a schematic structural diagram of the ultrasonic sensor attachment detection system of the present invention in an embodiment;

[0030] Figure 7 Shown is a schematic structural diagram of the electronic device of the present invention in an embodiment. Detailed Embodiments

[0031] The following illustrates the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0032] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0033] The following embodiments of the present invention provide a method for generating a brain-computer interface stimulation paradigm based on SSVEP, which can be applied to electronic devices. The electronic devices described in the present invention may include mobile phones, tablet computers, laptop computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), etc. with wireless charging functions. The specific types of electronic devices are not limited in the embodiments of the present invention.

[0034] For example, the electronic device may be a station (ST) in a WLAN with wireless charging function, a cellular phone with wireless charging function, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA) device, a handheld device with wireless charging function, a computing device or other processing devices, a computer, a laptop computer, a handheld communication device, a handheld computing device, and / or other devices for communicating on a wireless system, as well as next-generation communication systems, such as mobile electronic devices in a 5G network, mobile electronic devices in a future evolved public land mobile network (PLMN), or mobile electronic devices in a future evolved non-terrestrial network (NTN).

[0035] For example, the electronic device can communicate with the network and other devices via wireless communication. The above wireless communication can use any communication standard or protocol, including but not limited to Global System of Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), BeiDou navigation Satellite System (BDS), Quasi-Zenith Satellite System (QZSS), and / or Satellite Based Augmentation Systems (SBAS).

[0036] Next, the technical solutions in the embodiments of the present invention will be described in detail with reference to the accompanying drawings in the embodiments of the present invention.

[0037] As Figure 1 shown, in one embodiment, the ultrasonic sensor attachment detection method of the present invention includes steps S1 to S4.

[0038] Step S1, obtain the aftershock time and the first apparent distance of the ultrasonic sensor; the first apparent distance is the distance between the ultrasonic sensor and the detected object.

[0039] Specifically, the aftershock of the ultrasonic sensor refers to the time period from when the ultrasonic sensor is powered on until the ultrasonic starts to work stably. It is set that the ultrasonic sensor is in the self-transmitting and self-receiving working mode, and the number of single-wave transmissions is between 10 and 20. Therefore, in actual calculation, the first apparent distance is obtained by dividing the distance traveled by the first echo received after the ultrasonic sensor emits a wave by two. Usually, the distance traveled by the first echo is calculated by the start and end times of the vibration detected by the ultrasonic sensor.

[0040] Step S2: When the aftershock time is less than the first threshold within the first preset duration, it is determined that there is an attachment on the surface of the ultrasonic sensor.

[0041] As Figure 2 shown, when there is no attachment on the surface of the ultrasonic sensor, the aftershock time is usually between 780 us and 820 us. When there is an attachment on the surface of the ultrasonic sensor, the aftershock time is likely to be abnormal. Therefore, the attachment detection can be performed based on the abnormal aftershock time. Preferably, the first preset duration is 15 seconds.

[0042] As Figure 3 shown, in one embodiment, when the surface of the ultrasonic sensor is covered with ice, the aftershock time significantly decreases and is usually between 540 us and 570 us. Therefore, when within a continuous time period, that is, within the first preset duration, the aftershock time is less than the first threshold, it can be determined that there is an attachment on the surface of the ultrasonic sensor.

[0043] In one embodiment, the range of the first threshold is 400 us - 700 us. Preferably, the first threshold is 400 us, 550 us, or 700 us.

[0044] Step S3: When the moving speed of the ultrasonic sensor is greater than the preset speed and the aftershock time is greater than the second threshold within the second preset duration, it is determined that there is an attachment on the surface of the ultrasonic sensor.

[0045] As Figure 4 shown, in another embodiment, when the surface of the ultrasonic sensor is covered with ice and in a moving state, the aftershock time is divided into two levels. One level is between 1500 us and 2000 us, and the other level is around 2500 us. Therefore, when within a continuous time period, that is, within the second preset duration, the aftershock time is greater than the second threshold and the moving speed of the ultrasonic sensor is greater than the preset speed, it can be determined that there is an attachment on the surface of the ultrasonic sensor. Among them, the reason why the ultrasonic sensor needs to be in a moving state is to avoid false alarms of attachments caused by fixed obstacles at close range. Preferably, the second preset duration is 15 seconds. The preset speed is 3 km / h.

[0046] In one embodiment, the range of the second threshold is 1600 us - 2600 us. Preferably, the second threshold is 1600 us, 2100 us, or 2600 us.

[0047] Step S4. When, within a third preset time period, the cumulative time during which the moving speed of the ultrasonic sensor is greater than a preset speed and the first displayed distance is less than a third threshold reaches a fourth preset time period, it is determined that there is an attachment on the surface of the ultrasonic sensor.

[0048] When the surface of the ultrasonic sensor is covered with ice and there is a cavity in the ice, the ice fails to fit closely to the surface of the ultrasonic sensor, resulting in no abnormality in the aftershock time of the ultrasonic sensor. Since there is a gap between the attachment and the ultrasonic sensor, the first displayed distance received by the ultrasonic sensor can be small. Therefore, to avoid missed detection of attachments, the present invention uses the first displayed distance detection of ultrasonic waves to detect attachments.

[0049] As Figure 5 shown, in another embodiment, when the surface of the ultrasonic sensor is covered with ice and the ice has a cavity, the first displayed distance of the ultrasonic sensor is basically within 300 mm and is relatively stable. Therefore, when, within a continuous time period, that is, the third preset time period, the cumulative time during which the moving speed of the ultrasonic sensor is greater than a preset speed and the first displayed distance is less than a third threshold reaches a fourth preset time period, it can be determined that there is an attachment on the surface of the ultrasonic sensor. Among them, the reason why the ultrasonic sensor needs to be in a moving state is to avoid false alarms of attachments caused by fixed obstacles at close range. Preferably, the third preset time period is 15 seconds. The fourth preset time period is 10 seconds. The preset speed is 3 km / h.

[0050] In one embodiment, the range of the third threshold is 150 mm to 550 mm. Preferably, the third threshold is 150 mm, 350 mm or 550 mm.

[0051] In one embodiment, the method for detecting attachments on the ultrasonic sensor of the present invention further includes obtaining the offset of the aftershock frequency of the ultrasonic sensor; when, within a fifth preset time period, the difference between the offset of the aftershock frequency and a preset aftershock frequency offset is greater than a preset threshold, it is determined that there is an attachment on the surface of the ultrasonic sensor. Specifically, under normal circumstances, the aftershock frequency during the aftershock of the ultrasonic sensor generally stabilizes near a specific value. When the attachment is closely connected to the ultrasonic sensor, the aftershock frequency of the ultrasonic sensor will change greatly. Therefore, first calculate the offset of the aftershock frequency compared to the specific value, that is, the aftershock frequency offset, and then obtain the preset aftershock offset recorded at the factory of the ultrasonic sensor. When the deviation between the aftershock frequency offset of the ultrasonic sensor and the preset aftershock frequency offset exceeds a certain range, it can be considered that there is an attachment on the surface of the ultrasonic sensor. Preferably, the fifth preset time period is 15 seconds. Since both the aftershock frequency offset and the preset aftershock frequency offset are recorded as percentages, the preset threshold can be set to 6%.

[0052] The protection scope of the ultrasonic sensor attachment detection method described in the embodiments of the present invention is not limited to the execution order of the steps listed in this embodiment. Any solution achieved by adding or subtracting steps of the prior art and replacing steps according to the principle of the present invention is included in the protection scope of the present invention.

[0053] The embodiments of the present invention further provide an ultrasonic sensor attachment detection system. The ultrasonic sensor attachment detection system can implement the ultrasonic sensor attachment detection method described in the present invention. However, the implementation devices of the ultrasonic sensor attachment detection system described in the present invention include, but are not limited to, the structures of the ultrasonic sensor attachment detection system listed in this embodiment. Any structural deformation and replacement of the prior art made according to the principle of the present invention are included in the protection scope of the present invention.

[0054] As Figure 6 shown, in one embodiment, the ultrasonic sensor attachment detection system of the present invention includes an acquisition module 61, a first judgment module 62, a second judgment module 63, and a third judgment module 64.

[0055] The acquisition module 61 is used to acquire the aftershock time and the first apparent distance of the ultrasonic sensor.

[0056] The first judgment module 62 is connected to the acquisition module 61 and is used to judge that there is an attachment on the surface of the ultrasonic sensor when the aftershock time is less than the first threshold within the first preset duration.

[0057] The second judgment module 63 is connected to the acquisition module 61 and is used to judge that there is an attachment on the surface of the ultrasonic sensor when the moving speed of the ultrasonic sensor is greater than the preset speed and the aftershock time is greater than the second threshold within the second preset duration.

[0058] The third judgment module 64 is connected to the acquisition module 61 and is used to judge that there is an attachment on the surface of the ultrasonic sensor when, within the third preset duration, the time when the moving speed of the ultrasonic sensor is greater than the preset speed and the first apparent distance is less than the third threshold accumulates to the fourth preset duration.

[0059] Among them, the structures and principles of the acquisition module 61, the first judgment module 62, the second judgment module 63, and the third judgment module 64 correspond one by one to the steps in the above ultrasonic sensor attachment detection method, so they will not be elaborated here.

[0060] In several embodiments provided by the present invention, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules / units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or modules or units can be in electrical, mechanical or other forms.

[0061] The modules / units described as separate components may or may not be physically separated. The components shown as modules / units may or may not be physical modules, that is, they can be located in one place or distributed to multiple network units. Some or all of the modules / units can be selected according to actual needs to achieve the purpose of the embodiments of the present invention. For example, in each embodiment of the present invention, the functional modules / units can be integrated in a processing module, or each module / unit can exist physically alone, or two or more modules / units can be integrated in one module / unit.

[0062] Those of ordinary skill in the art should further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0063] An embodiment of the present invention also provides a computer-readable storage medium. Those of ordinary skill in the art can understand that all or part of the steps in the ultrasonic sensor attachment detection method of the above embodiment can be completed by instructing a processor through a program. The program can be stored in a computer-readable storage medium. The storage medium is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating one or more available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid-state disk (SSD)).

[0064] An embodiment of the present invention also provides an electronic device. The electronic device includes a processor and a memory.

[0065] The memory is used to store a computer program.

[0066] The memory includes various media that can store program codes, such as ROM, RAM, magnetic disk, USB flash drive, memory card, or optical disc.

[0067] The processor is connected to the memory and is configured to execute the computer program stored in the memory, so that the electronic device executes the ultrasonic sensor attachment detection method described above.

[0068] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0069] Such as Figure 7As shown, the electronic device of the present invention is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors or processing units 71, a memory 72, and a bus 73 that connects different system components (including the memory 72 and the processing unit 71).

[0070] The bus 73 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0071] The electronic device typically includes a variety of computer system-readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0072] The memory 72 may include computer system-readable media in the form of volatile memory, such as random access memory (RAM) 721 and / or cache memory 722. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 723 can be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, commonly referred to as a "hard disk drive"). Although Figure 7 not shown in the figure, a disk drive for reading and writing removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 73 through one or more data media interfaces. The memory 72 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0073] A program / utility 724 having a set (at least one) of program modules 7241 can be stored in, for example, the memory 72. Such program modules 7241 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 7241 generally perform the functions and / or methods described in the embodiments of the present invention.

[0074] The electronic device can also communicate with one or more external devices (such as a keyboard, a pointing device, a display, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device, and / or communicate with any device that enables the electronic device to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 74. Moreover, the electronic device can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 75. As Figure 7 shown, the network adapter 75 communicates with other modules of the electronic device through the bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0075] In addition, the vehicle of the present invention includes an ultrasonic sensor and the above-mentioned electronic device. The electronic device is used to implement the attachment detection of the ultrasonic sensor, so as to provide information support for the driving safety of the vehicle.

[0076] The above embodiments are only illustrative of the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An ultrasonic sensor attachment detection method, characterized in that: The method includes the following steps: Obtain the aftershock time and the first displayed distance of the ultrasonic sensor; When the aftershock time is less than the first threshold within the first preset duration, it is determined that there is an attachment on the surface of the ultrasonic sensor; When the moving speed of the ultrasonic sensor is greater than the preset speed and the aftershock time is greater than the second threshold within the second preset duration, it is determined that there is an attachment on the surface of the ultrasonic sensor; When, within the third preset duration, the time when the moving speed of the ultrasonic sensor is greater than the preset speed and the first displayed distance is less than the third threshold accumulates to the fourth preset duration, it is determined that there is an attachment on the surface of the ultrasonic sensor.

2. The ultrasonic sensor attachment detection method according to claim 1, wherein: It further includes obtaining the aftershock frequency offset of the ultrasonic sensor; when the difference between the aftershock frequency offset and the preset aftershock frequency offset is greater than the preset threshold within the fifth preset duration, it is determined that there is an attachment on the surface of the ultrasonic sensor.

3. The ultrasonic sensor attachment detection method according to claim 1, characterized in that: The range of the first threshold is 400us - 700us.

4. The ultrasonic sensor attachment detection method according to claim 1, wherein: The range of the second threshold is 1600us - 2600us.

5. The ultrasonic sensor attachment detection method according to claim 1, wherein: The range of the third threshold is 150mm - 550mm.

6. The ultrasonic sensor attachment detection method according to claim 1, characterized in that: The first displayed distance is the distance between the ultrasonic sensor and the detected object.

7. An ultrasonic sensor attachment detection system, characterized in that: The system includes an acquisition module, a first judgment module, a second judgment module, and a third judgment module; The acquisition module is used to obtain the aftershock time and the first displayed distance of the ultrasonic sensor; The first judgment module is used to determine that there is an attachment on the surface of the ultrasonic sensor when the aftershock time is less than the first threshold within the first preset duration; The second judgment module is used to determine that there is an attachment on the surface of the ultrasonic sensor when the moving speed of the ultrasonic sensor is greater than the preset speed and the aftershock time is greater than the second threshold within the second preset duration; The third judgment module is used to determine that there is an attachment on the surface of the ultrasonic sensor when, within the third preset duration, the time when the moving speed of the ultrasonic sensor is greater than the preset speed and the first displayed distance is less than the third threshold accumulates to the fourth preset duration.

8. A storage medium, on which a computer program is stored, characterized in that, When the program is executed by the processor, it implements the ultrasonic sensor attachment detection method described in any one of claims 1 to 6.

9. An electronic device, characterized in that, It includes: A processor and a memory; The memory is used to store a computer program; The processor is used to execute the computer program stored in the memory so that the electronic device executes the ultrasonic sensor attachment detection method described in any one of claims 1 to 6.

10. A vehicle, characterized in that: It includes an ultrasonic sensor and the electronic device described in claim 9.

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