CN111752263B - Detection system, detection method, and storage medium - Google Patents
Detection system, detection method, and storage medium Download PDFInfo
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- CN111752263B CN111752263B CN202010712822.8A CN202010712822A CN111752263B CN 111752263 B CN111752263 B CN 111752263B CN 202010712822 A CN202010712822 A CN 202010712822A CN 111752263 B CN111752263 B CN 111752263B
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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Abstract
The application discloses a detection system for detecting a vehicle controller, which comprises detection equipment and processing equipment which are respectively electrically connected with the vehicle controller, wherein the detection equipment is electrically connected with the processing equipment and comprises a first detection unit and a second detection unit; the first detection unit is used for outputting detection signals to the second detection unit and the vehicle controller; the processing device is used for judging whether the detection device and/or the vehicle controller are abnormal or not according to the detection signal output by the first detection unit and the detection signal respectively received by the second detection unit and the vehicle controller. In the detection system of the embodiment of the application, the abnormity of the detection equipment and/or the vehicle controller can be judged quickly when the abnormity occurs in the reliability test, the accuracy of the reliability test of the vehicle controller is improved, and meanwhile, the test efficiency can also be improved. The application also discloses a detection method and a computer readable storage medium.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a detection system, a detection method, and a storage medium.
Background
In the process of manufacturing a vehicle controller, a reliability test of the vehicle controller is required. In the related art, a reliability test device is used to simulate a vehicle-related component to communicate with a vehicle controller, and then whether the vehicle controller can pass the reliability test is determined according to whether the vehicle controller can correctly detect an input signal and correctly output a signal. However, when an abnormality occurs in the reliability test, it cannot be determined whether the vehicle controller is abnormal or the reliability test device is abnormal.
Disclosure of Invention
In view of the above, embodiments of the present application provide a detection system, a detection method, and a storage medium.
The application provides a detection system for detecting a vehicle controller, which comprises a detection device and a processing device, wherein the detection device and the processing device are respectively electrically connected with the vehicle controller;
the first detection unit is used for outputting detection signals to the second detection unit and the vehicle controller;
the processing device is used for judging whether the detection device and/or the vehicle controller is abnormal or not according to the detection signal output by the first detection unit and the detection signals respectively received by the second detection unit and the vehicle controller.
In some embodiments, the first detection unit is configured to simulate a parameter adjustment signal of an on-board device to be sent as the detection signal to the second detection unit and the vehicle controller.
In some embodiments, if the detection signal received by the second detection unit is consistent with the detection signal output by the first detection unit, it is determined that the detection device is normal.
In some embodiments, if the detection signal received by the second detection unit is not consistent with the detection signal output by the first detection unit, it is determined that the first detection unit or the second detection unit is abnormal.
In some embodiments, if the detection signal received by the second detection unit is consistent with the detection signal received by the vehicle controller and is consistent with the detection signal output by the first detection unit, it is determined that both the detection device and the vehicle controller are normal.
In some embodiments, if the detection signal received by the second detection unit is consistent with the detection signal received by the vehicle controller and is inconsistent with the detection signal output by the first detection unit, it is determined that the second detection unit and the vehicle controller are normal, and the first detection unit is abnormal.
In some embodiments, if the detection signal received by the second detection unit is not identical to the detection signal received by the vehicle controller, and the detection signal received by the vehicle controller is identical to the detection signal output by the first detection unit, it is determined that the vehicle controller and the first detection unit are normal, and the second detection unit is abnormal.
In some embodiments, if the detection signal received by the second detection unit is not identical to the detection signal received by the vehicle controller, and the detection signal received by the second detection unit is identical to the detection signal output by the first detection unit, it is determined that the first detection unit and the second detection unit are normal, and the vehicle controller is abnormal.
The application provides a detection method, which is used for the detection system as described above, the detection system is used for detecting a vehicle controller, the detection system comprises a detection device and a processing device which are respectively electrically connected with the vehicle controller, the detection device is electrically connected with the processing device, the detection device comprises a first detection unit and a second detection unit, the first detection unit is used for outputting detection signals to the second detection unit and the vehicle controller, and the detection method comprises the following steps:
and judging whether the detection equipment and/or the vehicle controller is abnormal or not according to the detection signal output by the first detection unit, the detection signal respectively received by the second detection unit and the vehicle controller.
A non-transitory computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the detection method is provided.
In the detection system, the detection method and the computer-readable storage medium according to the embodiments of the application, the first detection unit outputs the detection signal to the second detection unit and the vehicle controller, and determines whether the detection device and/or the vehicle controller is abnormal according to the detection signal output by the first detection unit and the detection signal respectively received by the second detection unit and the vehicle controller.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a detection method according to some embodiments of the present application.
FIG. 2 is a schematic diagram of the structure of a detection system according to certain embodiments of the present application.
FIG. 3 is a schematic diagram of the structure of a detection system according to certain embodiments of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Referring to fig. 1 to 3, the present application provides a detection method for a detection system 100, wherein the detection system 100 is used for detecting a vehicle controller 110. The detection system 100 includes a detection device 102 and a processing device 104(1023) electrically connected to the vehicle controller 110, respectively, and the detection device 102 and the processing device 104(1023) are electrically connected. The detection apparatus 102 includes a first detection unit 1021 and a second detection unit 1022, and the first detection unit 1021 is configured to output a detection signal to the second detection unit 1022 and the vehicle controller 110. The detection method comprises the following steps:
s10: whether the detection device 102 and/or the vehicle controller 110 are abnormal is determined based on the detection signal output by the first detection unit 1021 and the detection signals respectively received by the second detection unit 1022 and the vehicle controller 110.
Wherein S10 includes:
s11: controls the first detection unit 1021 to output a detection signal to the second detection unit 1022 and the vehicle controller 110;
s12: whether the detection device 102 and/or the vehicle controller 110 are abnormal is determined based on the detection signal output by the first detection unit 1021 and the detection signals respectively received by the second detection unit 1022 and the vehicle controller 110.
Referring to fig. 2 and fig. 3, a detection system 100 is provided in the present embodiment, and the detection method in the present embodiment may be implemented by the detection system 100. The detection system 100 is used for detecting the vehicle controller 110, and includes a detection device 102 and a processing device 104(1023) electrically connected to the vehicle controller 110, respectively, the detection device 102 and the processing device 104(1023) are electrically connected, and the detection device 102 includes a first detection unit 1021 and a second detection unit 1022. The processing device 104(1023) may be the processing device 104 independently disposed in the detection system 100, or may be the processing device 1023 disposed in the detection device 102, which is not limited herein.
Specifically, the first detection unit 1021 sends a detection signal to the second detection unit 1022 and the vehicle controller 110 to be detected, so that the second detection unit 1022 and the vehicle controller 110 to be detected can capture the detection signal. The second detection unit 1022 and the vehicle controller 110 receive the detection signal transmitted by the first detection unit 1021, and return the received detection signal to the processing device 104 (1023).
The processing device 104(1023) receives and displays the detection signal output by the first detection unit 1021 and the detection signal respectively received by the second detection unit 1022 and the vehicle controller 110 in real time, compares the detection signal output by the first detection unit 1021 with the detection signal respectively received by the second detection unit 1022 and the vehicle controller 110, determines that one or both of the detection device 102 and the vehicle controller 110 are in an abnormal state, or determines that the detection device 102 and the vehicle controller 110 are normal, and completes detection of the vehicle controller 110 to be detected.
The vehicle controller 110 in the embodiment of the present invention may be a vehicle controller, an electronic control unit, a hybrid controller, an automatic transmission controller, and the like, and is not limited specifically. The processing device 104(1023) may be an upper computer, and the upper computer includes a display unit for receiving and displaying the received detection signal in real time.
In the detection method and the detection system 100 according to the embodiment of the application, the first detection unit 1021 outputs the detection signal to the second detection unit 1022 and the vehicle controller 110, and determines whether the detection device 102 and/or the vehicle controller 110 is abnormal according to the detection signal output by the first detection unit 1021 and the detection signal respectively received by the second detection unit 1022 and the vehicle controller 110, compared with a scheme using one detection unit, when an abnormality occurs in a reliability test, it can be determined quickly that one or both of the detection device 102 and the vehicle controller 110 are in an abnormal state, or it is determined that both the detection device 102 and the vehicle controller 110 are normal, so that the accuracy of the reliability test of the vehicle controller 110 is improved, and the test efficiency can also be improved.
In certain embodiments, S10 includes:
s13: the first detection unit 1021 is controlled to transmit the parameter adjustment signal simulating the in-vehicle apparatus to the second detection unit 1022 and the vehicle controller 110 as a detection signal.
In some embodiments, the first detection unit 1021 transmits the parameter adjustment signal simulating the in-vehicle device to the second detection unit 1022 and the vehicle controller 110 as the detection signal.
Specifically, in the reliability test, the first detection unit 1021 simulates the actual running state of the vehicle, the parameter adjustment signal simulating the vehicle-mounted device is output to the second detection unit 1022 and the vehicle controller 110, and the processing device 104(1023) receives and displays the parameter adjustment signal received by the second detection unit 1022 and the vehicle controller 110 in real time, so that the reliability test on the vehicle controller 110 is completed.
Further, the parameter adjustment signal received by the vehicle controller 110 is related to the type of the vehicle controller 110, and the parameter adjustment signal received by the vehicle controller 110 is different under different detection items. For example, when the vehicle controller 110 is a vehicle control unit, the parameter adjusting signal of the vehicle-mounted device is a signal output by the vehicle control unit when the vehicle is actually driven, and includes a battery charge state, a battery voltage and current value, a motor mode, a motor speed and torque, a pulse width modulation signal, a chassis and a fault alarm signal, and the like.
In some embodiments, the first detection unit 1021 simulates an on-board device and sends the pulse width modulation signal in the actual running state of the vehicle to the second detection unit 1022 and the vehicle controller 110 as a detection signal for the reliability test of the vehicle controller 110. The processing device 104(1023) receives and displays the pwm signals received by the second detection unit 1022 and the vehicle controller 110 in real time, compares the pwm signals with the pwm signals sent by the first detection unit 1021, and determines that one or both of the detection device 102 and the vehicle controller 110 are in an abnormal state, or determines that both the detection device 102 and the vehicle controller 110 are normal.
Therefore, the actual running state of the vehicle can be restored as truly as possible, the performance of the vehicle controller 110 can be detected more comprehensively, the accuracy and the reliability of the detection result can be ensured, and the detection efficiency can be improved.
In certain embodiments, S10 includes:
s14: if the detection signal received by the second detection unit 1022 is consistent with the detection signal output by the first detection unit 1021, it is determined that the detection apparatus 102 is normal.
S15: if the detection signal received by the second detection unit 1022 is not consistent with the detection signal output by the first detection unit 1021, it is determined that the first detection unit 1021 or the second detection unit 1022 is abnormal.
In some embodiments, the detection device 102 is determined to be normal if the detection signal received by the second detection unit 1022 matches the detection signal output by the first detection unit 1021. And is used for judging that the first detection unit 1021 or the second detection unit 1022 is abnormal when the detection signal received by the second detection unit 1022 is inconsistent with the detection signal output by the first detection unit 1021.
Specifically, the detection signal is output from the first detection unit 1021 to the second detection unit 1022, and in the case where both the first detection unit 1021 and the second detection unit 1022 are in the normal state, the detection signal received by the second detection unit 1022 should coincide with the detection signal output by the first detection unit 1021. The term "signal matching" may refer to signal matching in a broad sense, that is, when an error between the detection signal received by the second detection unit 1022 and the detection signal output by the first detection unit 1021 is within a receivable range, it is regarded as signal matching. Signal uniformity includes, but is not limited to, signal uniformity in terms of frequency, amplitude, periodicity, etc. The processing device 104(1023) receives and displays the signal sent by the first detection unit 1021 and the signal received by the second detection unit 1022 in real time, compares the detection signal output by the first detection unit 1021 with the detection signal received by the second detection unit 1022, determines that one or both of the first detection unit 1021 and the second detection unit 1022 are in an abnormal state, or determines that the first detection unit 1021 and the second detection unit 1022 are normal, and completes the detection of the detection device 102.
In some embodiments, the processing device 104(1023) detects the detection signal received by the second detection unit 1022 and the detection signal output by the first detection unit 1021, respectively, and determines that the detection device 102 is normal if the two signals are consistent or the signal error is within an acceptable range, for example, the frequency of the detection signal output by the first detection unit 1021 is 90 hz, and the frequency of the detection signal received by the second detection unit 1022 is 85 hz, 90 hz, or 95 hz.
In other embodiments, the processing apparatus 104(1023) detects the detection signal received by the second detection unit 1022 and the detection signal output by the first detection unit 1021, respectively, and determines that the first detection unit 1021 or the second detection unit 1022 is abnormal if the two signals are not identical.
In this way, the self-check of the detection unit can be realized, and the accuracy of the detection unit is ensured, so that the accuracy and reliability of the detection result of the vehicle controller 110 are ensured.
In addition, the self-check of the detection unit can be performed before the detection device 102 sends the detection signal to the vehicle controller 110 to be detected, or can be performed in the process that the detection device 102 sends the detection signal to the vehicle controller 110 to be detected, so that the self-check can be performed for multiple times, the accuracy of the detection unit itself is further improved, and the accuracy and the reliability of the detection result of the vehicle controller 110 are ensured.
In certain embodiments, S10 includes:
s16: if the detection signal received by the second detection unit 1022 is consistent with the detection signal received by the vehicle controller 110 and is consistent with the detection signal output by the first detection unit 1021, it is determined that both the detection apparatus and the vehicle controller 110 are normal.
S17: if the detection signal received by the second detection unit 1022 is consistent with the detection signal received by the vehicle controller 110 and is inconsistent with the detection signal output by the first detection unit 1021, it is determined that the second detection unit 1022 and the vehicle controller 110 are normal, and the first detection unit 1021 is abnormal.
S18: if the detection signal received by the second detection unit 1022 is not identical to the detection signal received by the vehicle controller 110, and the detection signal received by the vehicle controller 110 is identical to the detection signal output by the first detection unit 1021, it is determined that the vehicle controller 110 and the first detection unit 1021 are normal, and the second detection unit 1022 is abnormal.
S19: if the detection signal received by the second detection unit 1022 is not identical to the detection signal received by the vehicle controller 110, and the detection signal received by the second detection unit 1022 is identical to the detection signal output by the first detection unit 1021, it is determined that the first detection unit 1021 and the second detection unit 1022 are normal, and the vehicle controller 110 is abnormal.
In some embodiments, in the case where the detection signal received by the second detection unit 1022 coincides with the detection signal received by the vehicle controller 110 and coincides with the detection signal output by the first detection unit 1021, it is determined that both the detection apparatus 102 and the vehicle controller 110 are normal. And when the detection signal received by the second detection unit 1022 is consistent with the detection signal received by the vehicle controller 110 and is inconsistent with the detection signal output by the first detection unit 1021, determining that the second detection unit 1022 and the vehicle controller 110 are normal and the first detection unit 1021 is abnormal. And when the detection signal received by the second detection unit 1022 is not consistent with the detection signal received by the vehicle controller 110, and the detection signal received by the vehicle controller 110 is consistent with the detection signal output by the first detection unit 1021, it is determined that the vehicle controller 110 and the first detection unit 1021 are normal, and the second detection unit 1022 is abnormal. And when the detection signal received by the second detection unit 1022 is not consistent with the detection signal received by the vehicle controller 110 and the detection signal received by the second detection unit 1022 is consistent with the detection signal output by the first detection unit 1021, determining that the first detection unit 1021 and the second detection unit 1022 are normal and the vehicle controller 110 is abnormal.
Specifically, the detection signal is sent from the first detection unit 1021 to the second detection unit 1022 and the vehicle processor, and in the case where both the detection device 102 and the vehicle processor are in the normal state, the detection signal received by the second detection unit 1022, the detection signal received by the vehicle controller 110, and the detection signal output by the first detection unit 1021 should coincide. The term "signal matching" may refer to signal matching in a broad sense, that is, the error between the detection signal received by the second detection unit 1022 and the detection signal output by the vehicle controller 110 is within a receivable range, and the signals are regarded as signal matching. Signal uniformity includes, but is not limited to, signal uniformity in terms of frequency, amplitude, periodicity, etc. The processing device 104(1023) receives and displays the detection signal output by the first detection unit 1021 and the detection signal respectively received by the second detection unit 1022 and the vehicle controller 110 in real time, compares the detection signal output by the first detection unit 1021 with the detection signal respectively received by the second detection unit 1022 and the vehicle controller 110, determines that one or both of the detection device 102 and the vehicle controller 110 are in an abnormal state, or determines that the detection device 102 and the vehicle controller 110 are normal, and completes the detection of the vehicle controller 110 to be detected.
The test conditions are shown in the following table. Wherein, the symbol + and the symbol-only represent the consistency of the transmitted signal, and do not represent the direction or content of signal transmission.
If the detection signal received by the second detection unit 1022 is consistent with the detection signal received by the vehicle controller 110 or the signal error is within the acceptable range, and is consistent with the detection signal output by the first detection unit 1021 or the signal error is within the acceptable range, for example, the frequency of the detection signal output by the first detection unit 1021 is 90 hz, and the frequencies of the detection signals received by the second detection unit 1022 and the vehicle controller 110 are 85 hz and 95 hz, respectively, it is determined that the detection device 102 and the vehicle controller 110 are normal.
If the detection signal received by the second detection unit 1022 is consistent with the detection signal received by the vehicle controller 110 and is inconsistent with the detection signal output by the first detection unit 1021, it can be determined that the second detection unit 1022 and the vehicle controller 110 are normal according to the consistency between the detection signal received by the second detection unit 1022 and the detection signal received by the vehicle controller 110. If the detection signal output by the first detection unit 1021 is not consistent with the detection signals respectively received by the second detection unit 1022 and the vehicle controller 110, it is determined that the first detection unit 1021 is abnormal. That is, in this case, the second detection unit 1022 and the vehicle controller 110 are normal, and the first detection unit 1021 is abnormal.
If the detection signal received by the second detection unit 1022 is not identical to the detection signal received by the vehicle controller 110, and the detection signal received by the vehicle controller 110 is identical to the detection signal output by the first detection unit 1021, it can be determined that the vehicle controller 110 and the first detection unit 1021 are normal according to the consistency between the received detection signal and the detection signal output by the first detection unit 1021. If the detection signal received by the second detection unit 1022 is not consistent with the detection signal received by the vehicle controller 110, that is, the detection signal received by the second detection unit 1022 is not consistent with the detection signal output by the first detection unit 1021, it is determined that the second detection unit 1022 is abnormal. That is, in this case, the vehicle controller 110 and the first detection unit 1021 are normal, and the second detection unit 1022 is abnormal.
If the detection signal received by the second detection unit 1022 is not identical to the detection signal received by the vehicle controller 110, and the detection signal received by the second detection unit 1022 is identical to the detection signal output by the first detection unit 1021, it can be determined that the first detection unit 1021 and the second detection unit 1022 are normal according to the detection signal received by the second detection unit 1022 is identical to the detection signal output by the first detection unit 1021. If the detection signal received by the second detection unit 1022 is not consistent with the detection signal received by the vehicle controller 110, that is, the detection signal received by the vehicle controller 110 is not consistent with the detection signal output by the first detection unit 1021, it is determined that the vehicle controller 110 is abnormal. That is, in this case, the first detection unit 1021 and the second detection unit 1022 are normal, and the vehicle controller 110 is abnormal.
Therefore, the accuracy and the reliability of the detection result of the vehicle controller 110 can be ensured, and the efficiency of the reliability test of the vehicle controller 110 is improved.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the detection method of any of the embodiments described above.
The embodiment of the application also provides a vehicle. The vehicle includes a memory and one or more processors, one or more programs being stored in the memory and configured to be executed by the one or more processors. The program comprises instructions for carrying out the detection method according to any one of the embodiments described above.
The processor may be used to provide computational and control capabilities to support the operation of the entire vehicle. The memory of the vehicle provides an environment for the computer readable instructions in the memory to operate.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A detection system is used for detecting a vehicle controller and is characterized by comprising detection equipment and processing equipment which are respectively electrically connected with the vehicle controller, wherein the detection equipment is electrically connected with the processing equipment and comprises a first detection unit and a second detection unit; the first detection unit is used for outputting detection signals to the second detection unit and the vehicle controller; the processing device receives and displays the detection signals received by the second detection unit and the vehicle controller in real time;
the processing device is used for judging whether the detection device and/or the vehicle controller is abnormal or not according to the detection signal output by the first detection unit and the detection signals respectively received by the second detection unit and the vehicle controller; if the detection signal received by the second detection unit is consistent with the detection signal received by the vehicle controller and is inconsistent with the detection signal output by the first detection unit, it is determined that the second detection unit and the vehicle controller are normal, and the first detection unit is abnormal.
2. The detection system of claim 1, wherein the first detection unit is configured to simulate a parameter adjustment signal of an on-board device for sending as the detection signal to the second detection unit and the vehicle controller.
3. The detection system according to claim 1, wherein if the detection signal received by the second detection unit is consistent with the detection signal output by the first detection unit, the detection device is determined to be normal.
4. The detecting system according to claim 1, wherein if the detecting signal received by the second detecting unit is not consistent with the detecting signal output by the first detecting unit, it is determined that the first detecting unit or the second detecting unit is abnormal.
5. The detection system according to claim 1, wherein if the detection signal received by the second detection unit is identical to the detection signal received by the vehicle controller and is identical to the detection signal output by the first detection unit, it is determined that both the detection device and the vehicle controller are normal.
6. The detection system according to claim 1, wherein if the detection signal received by the second detection unit is not identical to the detection signal received by the vehicle controller and the detection signal received by the vehicle controller is identical to the detection signal output by the first detection unit, it is determined that the vehicle controller and the first detection unit are normal and the second detection unit is abnormal.
7. The detection system according to claim 1, wherein if the detection signal received by the second detection unit is not identical to the detection signal received by the vehicle controller and the detection signal received by the second detection unit is identical to the detection signal output by the first detection unit, it is determined that the first detection unit and the second detection unit are normal and the vehicle controller is abnormal.
8. A detection method, which is used for the detection system according to any one of claims 1 to 7, wherein the detection system is used for detecting a vehicle controller, the detection system comprises a detection device and a processing device which are respectively electrically connected with the vehicle controller, the detection device and the processing device are electrically connected, the detection device comprises a first detection unit and a second detection unit, the first detection unit is used for outputting detection signals to the second detection unit and the vehicle controller, and the processing device receives and displays the detection signals received by the second detection unit and the vehicle controller in real time;
the detection method comprises the following steps:
judging whether the detection equipment and/or the vehicle controller is abnormal or not according to the detection signal output by the first detection unit and the detection signals respectively received by the second detection unit and the vehicle controller;
and if the detection signal received by the second detection unit is consistent with the detection signal received by the vehicle controller and is inconsistent with the detection signal output by the first detection unit, judging that the second detection unit and the vehicle controller are normal and the first detection unit is abnormal.
9. A non-transitory computer-readable storage medium of computer-executable instructions that, when executed by one or more processors, cause the processors to perform the detection method of claim 8.
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