System and method for anti-tampering sensor assembly
The present teaching relates to method and system related to providing an anti-tampering sensor assembly on a vehicle. An inertial measurement unit (IMU) is attached to a structure hosting at least one sensor to form a rigid integral structure, which is deployed on a vehicle with an installation pose to enable the at least one sensor therein to sense surrounding information to facilitate autonomous driving. The installation pose of the IMU is indicative of an installation pose of the at least one sensor. The IMU is configured to obtain, in accordance with a schedule, one or more measurements associated with its state, which can be used to enable detecting tampering of the rigid integral structure.
1. A method comprising:
attaching an inertial measurement unit (IMU) to a structure that houses at least one sensor to form a rigid integral structure; and
deploying the rigid integral structure on a vehicle to enable the at least one sensor to sense surrounding information to facilitate driving of the vehicle, wherein
the IMU detects a vibration level,
the IMU, in response to a determination that the vibration level is below a threshold, provides information associated with a pose of the IMU, and
an in-vehicle system determines a need for re-installation of the at least one sensor based on a comparison of the pose of the IMU against a known pose of the IMU.
2. The method of claim 1 , wherein the structure is a frame-like structure and corresponds to a housing with the at least one sensor or a sensor rack with the at least one sensor.
3. The method of claim 1 , wherein the at least one sensor can be activated in response to the vibration level.
4. The method of claim 1 , wherein the IMU detects a deviation from an initial pose of the IMU to the pose of the IMU, and the IMU communicates the deviation to an anti-tampering system.
5. The method of claim 4 , wherein the IMU determines the deviation based on a change in at least one of: velocity, displacement, rotation, and acceleration.
6. The method of claim 5 , wherein the change in the at least one of: velocity, displacement, rotation, and acceleration is based on a schedule that includes predetermined detection intervals.
7. The method of claim 6 , wherein the predetermined detection intervals included in the schedule are based on whether the vehicle is in motion or the vehicle is in a parking state, wherein the predetermined detection intervals when the vehicle is in motion are longer than the predetermined detection intervals for when the vehicle is in the parking state.
8. An assembly comprising:
an inertial measurement unit (IMU);
a structure hosting at least one sensor, wherein the IMU is attached to the structure to form a rigid integral structure, the rigid integral structure deployed on a vehicle to enable the at least one sensor to sense surrounding information to facilitate driving of the vehicle, wherein the assembly is configured so that
the IMU detects a vibration level,
the IMU, in response to a determination that the vibration level is below a threshold, provides information associated with a pose of the IMU, and
an in-vehicle system determines a need for re-installation of the at least one sensor based on a comparison of the pose of the IMU against a known pose of the IMU.
9. The assembly of claim 8 , wherein the structure is a frame-like structure and corresponds to a housing with the at least one sensor or a sensor rack with the at least one sensor.
10. The assembly of claim 8 , wherein the at least one sensor can be activated in response to the vibration level.
11. The assembly of claim 8 , wherein the IMU detects a deviation from an initial pose of the IMU to the pose of the IMU, and the IMU communicates the deviation to an anti-tampering system.
12. The assembly of claim 11 , wherein the IMU determines the deviation based on a change in velocity, displacement, rotation, and acceleration.
13. The assembly of claim 12 , wherein the change in the at least one of: velocity, displacement, rotation, and acceleration is based on a schedule that includes predetermined detection intervals.
14. The assembly of claim 13 , wherein the predetermined detection intervals included in the schedule are based on whether the vehicle is in motion or the vehicle is in a parking state, wherein the predetermined detection intervals when the vehicle is in motion is longer than the predetermined detection intervals for when the vehicle is in the parking state.
15. An anti-tampering sensor assembly deployed on a vehicle, the anti-tampering sensor assembly comprising:
an inertial measurement unit (IMU);
a structure hosting at least one sensor, wherein the IMU is attached to the structure to form a rigid integral structure, the rigid integral structure deployed on the vehicle to enable the at least one sensor to sense surrounding information to facilitate driving of the vehicle, wherein the anti-tampering sensor assembly is configured so that
the IMU detects a vibration level,
the IMU, in response to a determination that the vibration level is below a threshold, provides information associated with a pose of the IMU, and
an in-vehicle system determines a need for re-installation of the at least one sensor based on a comparison of the pose of the IMU against a known pose of the IMU.
16. The anti-tampering sensor assembly of claim 15 , wherein the structure is a frame-like structure and corresponds to a housing with the at least one sensor or a sensor rack with the at least one sensor.
17. The anti-tampering sensor assembly of claim 15 , wherein the at least one sensor can be activated in response to the vibration level.
18. The anti-tampering sensor assembly of claim 15 , wherein the IMU detects a deviation from an initial pose of the IMU to the pose of the IMU, and the IMU communicates the deviation to an anti-tampering system.
19. The anti-tampering sensor assembly of claim 18 , wherein the IMU determines the deviation based on a change in at least one of: velocity, displacement, rotation, and acceleration.
20. The anti-tampering sensor assembly of claim 19 , wherein the change in the at least one of: velocity, displacement, rotation, and acceleration is based on a schedule that includes predetermined detection intervals.