Scooter capable of automatically avoiding obstacles and control method thereof

Abstract

The invention discloses a scooter technology, and aims to provide a scooter capable of automatically avoiding obstacles and a control method thereof, and the key points of the technical scheme are that the scooter comprises an obstacle detection module used for detecting whether an obstacle exists in front or not in real time through a sensor and obtaining the position and distance information of the obstacle; the judgment module is used for receiving the data transmitted by the obstacle detection module, analyzing the detected obstacle data and judging whether a detour condition exists or not; the safe speed control module is used for controlling the scooter to decelerate to a safe speed when an obstacle is detected, and collision or out-of-control caused by too high speed is avoided; the detouring control module is used for controlling the scooter to steer and avoid obstacles when the detouring condition is met; the warning lamp control module is used for controlling on and off of a warning lamp and providing flickering reminding; the parking control module is used for controlling the scooter to be parked to avoid collision when the bypassing condition is not met; a communication module; the invention is suitable for the technical field of scooters.

Description

Technical Field

[0001] The present invention relates to a mobility scooter technology, and more specifically, to an automatic obstacle-avoiding mobility scooter and a control method thereof. Background Art

[0002] With the aging of human society and the increase in human life expectancy, more and more elderly people are living in our society. Electric scooters used by the elderly are increasingly becoming their daily means of transportation, and even now many young people are beginning to like using scooters to travel. The existing products are completely controlled by the operator himself, and the product is not only used in the wide field, but also in relatively small spaces, homes with many items, and public places with many people. In addition, the elderly themselves react slower than ordinary people, so operating an electric scooter in the above space is a challenge for them. And accidents are prone to occur, which is a threat to both the operator and the public. Summary of the invention

[0003] In view of the deficiencies in the prior art, an object of the present invention is to provide a highly safe automatic obstacle avoidance vehicle and a control method thereof.

[0004] To achieve the above object, the present invention provides the following technical solution: a scooter with automatic obstacle avoidance, comprising:

[0005] Obstacle detection module: used to detect whether there are obstacles ahead in real time through sensors, and obtain the location and distance information of the obstacles;

[0006] Judgment module: used to receive data from the obstacle detection module and analyze the detected obstacle data to determine whether there are detour conditions;

[0007] Safety speed control module: used to control the scooter to slow down to a safe speed when an obstacle is detected, to avoid collision or loss of control due to excessive speed;

[0008] Detour control module: used to control the mobility scooter to turn and avoid obstacles when detour conditions are met;

[0009] Warning light control module: used to control the on and off of the warning light according to the obstacle detection and detour judgment results, provide flashing reminders, and increase the visibility of the scooter and the surrounding environment;

[0010] Parking control module: used to control the mobility scooter to stop and avoid collision when the detour conditions are not met;

[0011] Communication module: used to exchange data with other intelligent transportation equipment or control centers to improve the intelligence level of the mobility scooter.

[0012] The present invention is further configured as follows: the obstacle detection module performs obstacle detection through a laser radar, an ultrasonic sensor, a camera or other sensors to obtain obstacle data in front of the mobility scooter in real time.

[0013] The present invention is further configured as follows: the judgment module comprises:

[0014] The obstacle data analysis unit is used to analyze the front environment data obtained from the obstacle detection module to determine whether there is an obstacle;

[0015] The detour condition evaluation unit is used to evaluate whether the detour condition is met based on the size and distance of the obstacle and the current state of the mobility scooter.

[0016] The present invention is further configured as follows: the safety speed control module comprises:

[0017] The speed control unit is used to determine the safe distance based on the distance and size information and automatically decelerate to a safe speed when the obstacle detection module detects an obstacle;

[0018] The acceleration regulating unit is used to smoothly control the acceleration of the mobility scooter to avoid sudden braking after an obstacle is detected.

[0019] The present invention is further configured as follows: the detour control module includes:

[0020] A detour path planning unit, used to calculate a feasible detour path according to the location of the obstacle and the current location of the mobility scooter;

[0021] A steering control unit, used to control the steering system of the mobility scooter to make it detour according to the calculated detour path;

[0022] The detour status monitoring unit is used to monitor the detour process of the mobility scooter and determine whether the obstacle is successfully avoided.

[0023] The present invention is further configured as follows: the warning light control module controls the state of the warning light according to the judgment module and the detour control module, and the specific method is as follows:

[0024] S6-1. When an obstacle exists, the warning light flashes to alert the user and surrounding vehicles or pedestrians;

[0025] S6-2: When the detour condition is not met, the warning light continues to flash, otherwise, go to S6-3;

[0026] S6-3, when the detour condition is met, the warning light is turned off and the unilateral warning light opposite to the required turning direction is turned into a turn signal according to the feedback signal of the detour control module;

[0027] S6-4, when the detour is completed, if there is no obstacle ahead, all warning lights are turned off; otherwise, go to S6-5;

[0028] S6-5. After the detour is completed, if there is still an obstacle ahead, the warning lights will be turned on again as a warning.

[0029] The present invention is further configured as follows: the parking control module comprises:

[0030] The collision warning unit is used to trigger a parking control signal when the judgment module detects that there is an obstacle ahead and it is impossible to bypass it;

[0031] The parking control unit is used to control the mobility scooter to stop immediately after receiving the signal from the collision warning unit.

[0032] The present invention is further configured as follows: the communication module comprises:

[0033] A wireless communication unit uses 5G, Wi-Fi, Bluetooth or other wireless communication technologies to exchange data with surrounding intelligent transportation equipment or control centers. The unit transmits the status information of the mobility scooter in real time and receives external environment information;

[0034] The data fusion unit fuses data from multiple sensors and external devices, and sends and receives data through efficient communication protocols to ensure the adaptability of the mobility scooter in dynamic traffic environments;

[0035] The intelligent decision-making unit receives real-time instructions from the control center and automatically adjusts the driving strategy of the mobility scooter based on local perception information.

[0036] A control method for a scooter capable of automatically avoiding obstacles, characterized by comprising the following steps:

[0037] S1, startup phase: when the scooter starts, each module is initialized and self-checked to ensure that the obstacle detection module works normally;

[0038] S2, real-time detection stage: through the obstacle detection module, the environment in front of the scooter is scanned in real time and obstacle data is obtained;

[0039] S3, obstacle judgment stage: the judgment module receives the data from the obstacle detection module and analyzes it to determine whether there is an obstacle in front of the scooter;

[0040] S4, deceleration control stage: when it is determined that there is an obstacle, the safe speed control module controls the mobility scooter to decelerate to a safe speed, and at the same time starts the warning light control module to flash to remind the driver and surrounding vehicles and pedestrians, otherwise it continues to drive normally;

[0041] S5, detour condition judgment stage: the judgment module judges whether the mobility scooter meets the detour condition based on the data transmitted by the obstacle detection module;

[0042] S6, bypass judgment stage:

[0043] S61, if the detour condition is not met, the parking control module immediately controls the mobility scooter to stop to avoid collision, and the warning light continues to flash, otherwise, the process goes to S62;

[0044] S62, if the detour condition is met, the judgment module outputs a detour signal to the detour control module and the warning light control module, the warning light control module controls the unilateral warning light opposite to the required turning direction to be turned off and turned into a turn signal, and at the same time the detour control module controls the mobility scooter to detour the obstacle according to the planned path;

[0045] S7, detour completion detection stage: the detour control module immediately transmits a signal to the obstacle detection module after detour to detect again whether there is still an obstacle in front of the mobility scooter. If not, go to S8; if yes, go to S9;

[0046] S8, continuing driving stage: if it is detected again that there is no obstacle in front of the scooter, the warning light control module controls to turn off all warning lights, and the scooter resumes normal driving;

[0047] S9, stop driving stage: if it is detected again that there is still an obstacle in front of the mobility scooter, the warning light control module controls all warning lights to flash, and the parking control module controls the mobility scooter to stop driving to avoid collision.

[0048] The beneficial effects of the present invention are:

[0049] 1. Compared with the prior art, the automatic obstacle avoidance vehicle of the present invention realizes automatic obstacle avoidance and safe driving in complex environments by integrating multiple modules (obstacle detection, judgment, speed control, detour control, warning light control, parking control and communication module); the obstacle detection module obtains the front environment data in real time, detects the position and distance of the front obstacle through the sensor, and provides accurate information for the subsequent obstacle avoidance decision-making; the judgment module analyzes the data to evaluate whether there are detour conditions. If the detour conditions are met, the vehicle can automatically perform the detour operation; if not, it will automatically stop to avoid collision; by controlling the vehicle to slow down to a safe speed, the risk of collision caused by excessive driving speed can be effectively avoided. Through multiple judgment and control mechanisms, the vehicle can avoid the loss of control in complex environments. In addition, the coordinated use of the warning light control module can provide flashing reminders during the obstacle avoidance process of the vehicle, increase visibility, and improve safety. Most importantly, the system avoids multiple continuous detours and reduces the risk of rollover of the vehicle.

[0050] 2. The automatic obstacle-avoiding mobility scooter of the present invention uses a combination of multiple sensors such as laser radar, ultrasonic sensors, cameras, etc., and the obstacle detection module can obtain obstacle information in front of the mobility scooter more accurately and in real time. The diversity and complementarity of these sensors enhance the reliability and adaptability of obstacle detection, and can work stably in different environments and conditions. The module obtains obstacle data in real time to ensure that the mobility scooter can respond in time, avoid obstacles, and reduce the occurrence of collisions or accidents.

[0051] 3. In the present invention, the introduction of the judgment module further optimizes the obstacle avoidance decision-making process. The obstacle data analysis unit can comprehensively analyze the obstacle information ahead, such as position, size, distance and other parameters according to the real-time data provided by the sensor to ensure the accuracy of the judgment. The detour condition evaluation unit can accurately evaluate whether the conditions for detour are met by comprehensively analyzing the size and distance of the obstacle and the current state of the mobility scooter (such as speed, position, etc.). This analysis process can effectively avoid blind detours or unnecessary parking. In particular, the judgment module's accurate grasp of the detour conditions allows the system to avoid multiple consecutive detour operations and reduce the risk of the mobility scooter overturning. When conditions permit, the mobility scooter only performs one detour to ensure safe detours and minimize risks during operation.

[0052] 4. The safety speed control module in the present invention ensures the safety of the mobility scooter when encountering obstacles by adjusting the vehicle speed in real time. When the obstacle detection module detects the existence of an obstacle in front, the speed control unit determines a suitable safety distance according to the distance and size information of the obstacle, and automatically decelerates to a safe speed. This control process avoids the risk of collision caused by driving too fast. The smooth acceleration and deceleration function of the acceleration adjustment unit avoids sudden emergency braking, reduces the instability of the mobility scooter caused by sudden stopping, and thus reduces the risk of rollover. Through the smooth deceleration process, the mobility scooter can effectively cope with the appearance of obstacles without causing the driver to lose control or other safety accidents due to excessive speed. The precise control of the safety speed control module can greatly improve the driving safety of the mobility scooter in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 The figure is a flow chart of a control method of a scooter capable of automatically avoiding obstacles according to the present invention. DETAILED DESCRIPTION

[0054] Reference Figure 1 The automatic obstacle avoidance vehicle and the control method thereof are further described in an embodiment of the present invention.

[0055] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the elements described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0056] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.

[0057] Figure 1 The automatic obstacle avoidance vehicle shown in the figure comprises:

[0058] Obstacle detection module: used to detect whether there are obstacles ahead in real time through sensors, and obtain the location and distance information of the obstacles;

[0059] Judgment module: used to receive data from the obstacle detection module and analyze the detected obstacle data to determine whether there are detour conditions;

[0060] Safety speed control module: used to control the scooter to slow down to a safe speed when an obstacle is detected, to avoid collision or loss of control due to excessive speed;

[0061] Detour control module: used to control the mobility scooter to turn and avoid obstacles when detour conditions are met;

[0062] Warning light control module: used to control the on and off of the warning light according to the obstacle detection and detour judgment results, provide flashing reminders, and increase the visibility of the scooter and the surrounding environment;

[0063] Parking control module: used to control the mobility scooter to stop and avoid collision when the detour conditions are not met;

[0064] Communication module: used to exchange data with other intelligent transportation equipment or control centers to improve the intelligence of the mobility scooter;

[0065] The automatic obstacle avoidance vehicle of the present invention realizes automatic obstacle avoidance and safe driving in complex environments by integrating multiple modules (obstacle detection, judgment, speed control, detour control, warning light control, parking control and communication modules); the obstacle detection module obtains the front environment data in real time, detects the position and distance of the front obstacle through the sensor, and provides accurate information for the subsequent obstacle avoidance decision-making; the judgment module analyzes the data to evaluate whether there are detour conditions. If the detour conditions are met, the vehicle can automatically perform the detour operation; if not, it automatically stops to avoid collision; by controlling the vehicle to slow down to a safe speed, the risk of collision caused by excessive driving speed can be effectively avoided. Through multiple judgment and control mechanisms, the vehicle can avoid loss of control in complex environments. In addition, the coordinated use of the warning light control module can provide flashing reminders during the vehicle's obstacle avoidance process, increase visibility, and improve safety. Most importantly, the system avoids multiple continuous detours and reduces the risk of the vehicle rolling over.

[0066] The obstacle detection module detects obstacles through laser radar, ultrasonic sensor, camera or other sensors to obtain obstacle data in front of the mobility scooter in real time;

[0067] Through the combination of multiple sensors such as lidar, ultrasonic sensors, cameras, etc., the obstacle detection module can obtain obstacle information in front of the mobility scooter more accurately and in real time. The diversity and complementarity of these sensors enhance the reliability and adaptability of obstacle detection, and can work stably in different environments and conditions. The module obtains obstacle data in real time to ensure that the mobility scooter can respond in time, avoid obstacles, and reduce the occurrence of collisions or accidents.

[0068] The judging module comprises:

[0069] The obstacle data analysis unit is used to analyze the front environment data obtained from the obstacle detection module to determine whether there is an obstacle;

[0070] A detour condition evaluation unit, used to evaluate whether the detour condition is met based on the size and distance of the obstacle and the current state of the mobility scooter;

[0071] The introduction of the judgment module further optimizes the obstacle avoidance decision-making process. The obstacle data analysis unit can comprehensively analyze the obstacle information ahead, such as position, size, distance and other parameters, based on the real-time data provided by the sensor to ensure the accuracy of the judgment. The detour condition evaluation unit accurately evaluates whether the conditions for detour are met by comprehensively analyzing the size and distance of the obstacle and the current state of the mobility scooter (such as speed, position, etc.). This analysis process can effectively avoid blind detours or unnecessary parking. In particular, the judgment module's precise grasp of detour conditions allows the system to avoid multiple consecutive detour operations and reduce the risk of the mobility scooter overturning. When conditions permit, the mobility scooter only performs one detour to ensure safe detours and minimize risks during operation.

[0072] The safety speed control module comprises:

[0073] The speed control unit is used to determine the safe distance based on the distance and size information and automatically decelerate to a safe speed when the obstacle detection module detects an obstacle;

[0074] The acceleration regulating unit is used to smoothly control the acceleration of the mobility scooter to avoid sudden braking after an obstacle is detected;

[0075] The safety speed control module ensures the safety of the mobility scooter when encountering obstacles by adjusting the vehicle speed in real time. When the obstacle detection module detects an obstacle in front, the speed control unit determines a suitable safety distance based on the distance and size information of the obstacle, and automatically decelerates to a safe speed. This control process avoids the risk of collision caused by driving too fast. The smooth acceleration and deceleration function of the acceleration adjustment unit avoids sudden emergency braking and reduces the instability of the mobility scooter caused by sudden stopping, thereby reducing the risk of rollover. Through the smooth deceleration process, the mobility scooter can effectively respond to the appearance of obstacles without causing the driver to lose control or other safety accidents due to excessive speed. The precise control of the safety speed control module can greatly improve the driving safety of the mobility scooter in complex environments.

[0076] The bypass control module includes:

[0077] A detour path planning unit, used to calculate a feasible detour path according to the location of the obstacle and the current location of the mobility scooter;

[0078] A steering control unit, used to control the steering system of the mobility scooter to make it detour according to the calculated detour path;

[0079] A detour status monitoring unit is used to monitor the detour process of the mobility scooter and determine whether the obstacle is successfully avoided;

[0080] The detour control module ensures that the mobility scooter can safely avoid obstacles in a complex obstacle environment through intelligent path planning and steering control. The detour path planning unit calculates a reasonable and feasible detour path based on the location of the obstacle and the current driving status of the mobility scooter to avoid uncertainty or invalid detours during the detour. The steering control unit accurately controls the steering system of the mobility scooter based on the planned path to ensure smooth and accurate detours. The detour status monitoring unit monitors the detour process in real time to ensure that the mobility scooter can successfully avoid obstacles and that there are no errors in the detour path, thereby preventing the mobility scooter from deviating from the planned path or causing other safety problems due to incorrect steering, through the precise control of this module.

[0081] The warning light control module controls the state of the warning light according to the judgment module and the detour control module, and the specific method is as follows:

[0082] S6-1. When an obstacle exists, the warning light flashes to alert the user and surrounding vehicles or pedestrians;

[0083] S6-2: When the detour condition is not met, the warning light continues to flash, otherwise, go to S6-3;

[0084] S6-3, when the detour condition is met, the warning light is turned off and the unilateral warning light opposite to the required turning direction is turned into a turn signal according to the feedback signal of the detour control module;

[0085] S6-4, when the detour is completed, if there is no obstacle ahead, all warning lights are turned off; otherwise, go to S6-5;

[0086] S6-5. After the detour is completed, if there is still an obstacle ahead, the warning lights will be turned on again as a warning;

[0087] The warning light control module plays a vital role in obstacle detection and detour, enhancing the visibility and safety of the mobility scooter.

[0088] The parking control module comprises:

[0089] The collision warning unit is used to trigger a parking control signal when the judgment module detects that there is an obstacle ahead and it is impossible to bypass it;

[0090] A parking control unit, used to immediately control the mobility scooter to stop upon receiving a signal from the collision warning unit;

[0091] The parking control module provides safety protection when the mobility scooter cannot bypass the obstacle through the cooperation of collision warning and parking control unit. When the judgment module confirms that there is an obstacle in front of the mobility scooter and the bypass conditions are not met, the collision warning unit triggers the parking control signal in time, and the parking control unit then takes immediate action to quickly stop the mobility scooter to avoid collision due to the inability to bypass. Through this mechanism, the mobility scooter can stop in time when encountering complex obstacles, avoiding the risk of collision or rollover due to continued driving or failure to bypass. The setting of this module greatly improves the safety of the mobility scooter, especially in high-speed or narrow environments, and can prevent safety accidents caused by slow reaction.

[0092] The communication module comprises:

[0093] A wireless communication unit uses 5G, Wi-Fi, Bluetooth or other wireless communication technologies to exchange data with surrounding intelligent transportation equipment or control centers. The unit transmits the status information of the mobility scooter in real time and receives external environment information;

[0094] The data fusion unit fuses data from multiple sensors and external devices, and sends and receives data through efficient communication protocols to ensure the adaptability of the mobility scooter in dynamic traffic environments;

[0095] The intelligent decision-making unit receives real-time instructions from the control center and automatically adjusts the vehicle's driving strategy based on local perception information;

[0096] The introduction of the communication module enables the mobility scooter to have the ability to exchange data with surrounding intelligent traffic equipment or control centers in real time. The wireless communication unit can ensure that the mobility scooter receives instructions from the control center in real time and promptly feeds back local perception data through 5G, Wi-Fi, Bluetooth and other technologies. This communication capability enhances the intelligence level of the mobility scooter, enabling it to work in coordination with surrounding traffic facilities to achieve safer and more efficient driving. The role of the data fusion unit is to fuse data from multiple sensors to improve perception accuracy and ensure that the mobility scooter can accurately respond to changes in the external environment. The intelligent decision-making unit dynamically adjusts the mobility scooter's driving strategy by receiving instructions and perception data in real time, further optimizing the obstacle avoidance performance. Through the integration of communication modules, the mobility scooter can maintain a high level of adaptability in complex traffic environments and avoid accident risks caused by delayed response or misjudgment.

[0097] A control method for a scooter capable of automatically avoiding obstacles, characterized by comprising the following steps:

[0098] S1, startup phase: when the scooter starts, each module is initialized and self-checked to ensure that the obstacle detection module works normally;

[0099] S2, real-time detection stage: through the obstacle detection module, the environment in front of the scooter is scanned in real time and obstacle data is obtained;

[0100] S3, obstacle judgment stage: the judgment module receives the data from the obstacle detection module and analyzes it to determine whether there is an obstacle in front of the scooter;

[0101] S4, deceleration control stage: when it is determined that there is an obstacle, the safe speed control module controls the mobility scooter to decelerate to a safe speed, and at the same time starts the warning light control module to flash to remind the driver and surrounding vehicles and pedestrians, otherwise it continues to drive normally;

[0102] S5, detour condition judgment stage: the judgment module judges whether the mobility scooter meets the detour condition based on the data transmitted by the obstacle detection module;

[0103] S6, bypass judgment stage:

[0104] S61, if the detour condition is not met, the parking control module immediately controls the mobility scooter to stop to avoid collision, and the warning light continues to flash, otherwise, the process goes to S62;

[0105] S62, if the detour condition is met, the judgment module outputs a detour signal to the detour control module and the warning light control module, the warning light control module controls the unilateral warning light opposite to the required turning direction to be turned off and turned into a turn signal, and at the same time the detour control module controls the mobility scooter to detour the obstacle according to the planned path;

[0106] S7, detour completion detection stage: the detour control module immediately transmits a signal to the obstacle detection module after detour to detect again whether there is still an obstacle in front of the mobility scooter. If not, go to S8; if yes, go to S9;

[0107] S8, continuing driving stage: if it is detected again that there is no obstacle in front of the scooter, the warning light control module controls to turn off all warning lights, and the scooter resumes normal driving;

[0108] S9, stop driving stage: if it is detected again that there is still an obstacle in front of the scooter, the warning light control module controls all warning lights to flash, and the parking control module controls the scooter to stop driving to avoid collision;

[0109] After stopping, the driver needs to perform necessary operations according to the situation to avoid obstacles, such as adjusting the direction, and drive according to road conditions, safety requirements and traffic rules. The automatic obstacle avoidance remains activated and the driver needs to pay attention to the surrounding environment at all times during operation. The mobility scooter will issue warnings when encountering obstacles or potential dangers and automatically determine whether the mobility scooter should avoid obstacles or stop driving to ensure safety; despite this, the driver still needs to actively control the speed and direction of the mobility scooter and make timely adjustments according to road conditions and traffic rules to ensure safe driving.

[0110] Through a series of refined steps, it is ensured that the mobility scooter can travel safely and stably in a complex environment. Through real-time obstacle detection, judgment, deceleration control, detour control and other steps, the mobility scooter can quickly respond to changes in the environment ahead and decide whether to detour or stop according to the actual situation. In particular, during the detour, the judgment module will evaluate the detour conditions to ensure that the mobility scooter only performs a detour operation once, avoid multiple continuous detours, and reduce the risk of rollover caused by frequent turns. At the same time, the system design takes safety and stability into consideration. Through precise steps and controls, it is ensured that each decision can effectively reduce the possibility of collision. Through the implementation of this method, the mobility scooter can better adapt to and ensure user safety in a complex environment. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The usual changes and substitutions made by technicians in this field within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A scooter with automatic obstacle avoidance, characterized in that: include: Obstacle detection module: used to detect whether there are obstacles ahead in real time through sensors, and obtain the location and distance information of the obstacles; Judgment module: used to receive data from the obstacle detection module and analyze the detected obstacle data to determine whether there are detour conditions; Safety speed control module: used to control the scooter to slow down to a safe speed when an obstacle is detected, to avoid collision or loss of control due to excessive speed; Detour control module: used to control the mobility scooter to turn and avoid obstacles when detour conditions are met; Warning light control module: used to control the on and off of the warning light according to the obstacle detection and detour judgment results, provide flashing reminders, and increase the visibility of the scooter and the surrounding environment; Parking control module: used to control the mobility scooter to stop and avoid collision when the detour conditions are not met; Communication module: used to exchange data with other intelligent transportation equipment or control centers to improve the intelligence level of the mobility scooter.

2. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The obstacle detection module detects obstacles through laser radar, ultrasonic sensor, camera or other sensors to obtain obstacle data in front of the mobility scooter in real time.

3. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The judging module comprises: The obstacle data analysis unit is used to analyze the front environment data obtained from the obstacle detection module to determine whether there is an obstacle; The detour condition evaluation unit is used to evaluate whether the detour condition is met based on the size and distance of the obstacle and the current state of the mobility scooter.

4. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The safety speed control module comprises: The speed control unit is used to determine the safe distance based on the distance and size information and automatically decelerate to a safe speed when the obstacle detection module detects an obstacle; The acceleration regulating unit is used to smoothly control the acceleration of the mobility scooter to avoid sudden braking after an obstacle is detected.

5. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The bypass control module includes: A detour path planning unit, used to calculate a feasible detour path according to the location of the obstacle and the current location of the mobility scooter; A steering control unit, used to control the steering system of the mobility scooter to make it detour according to the calculated detour path; The detour status monitoring unit is used to monitor the detour process of the mobility scooter and determine whether the obstacle is successfully avoided.

6. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The warning light control module controls the state of the warning light according to the judgment module and the detour control module, and the specific method is as follows: S6-1. When an obstacle exists, the warning light flashes to alert the user and surrounding vehicles or pedestrians; S6-2: When the detour condition is not met, the warning light continues to flash. Otherwise, go to S6-3; S6-3, when the detour condition is met, the warning light is turned off and the unilateral warning light opposite to the required turning direction is turned into a turn signal according to the feedback signal of the detour control module; S6-4, when the detour is completed, if there is no obstacle ahead, all warning lights are turned off; otherwise, go to S6-5; S6-5. After the detour is completed, if there is still an obstacle ahead, the warning lights will be turned on again as a warning.

7. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The parking control module comprises: The collision warning unit is used to trigger a parking control signal when the judgment module detects an obstacle ahead and cannot bypass it; The parking control unit is used to control the mobility scooter to stop immediately after receiving the signal from the collision warning unit.

8. The automatic obstacle avoidance vehicle according to claim 1, characterized in that: The communication module comprises: A wireless communication unit uses 5G, Wi-Fi, Bluetooth or other wireless communication technologies to exchange data with surrounding intelligent transportation equipment or control centers. The unit transmits the status information of the mobility scooter in real time and receives external environment information; The data fusion unit fuses data from multiple sensors and external devices, and sends and receives data through efficient communication protocols to ensure the adaptability of the mobility scooter in dynamic traffic environments; The intelligent decision-making unit receives real-time instructions from the control center and automatically adjusts the driving strategy of the mobility scooter based on local perception information.

9. A control method for the automatic obstacle avoidance scooter according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, startup phase: when the scooter starts, each module is initialized and self-checked to ensure that the obstacle detection module works normally; S2, real-time detection stage: through the obstacle detection module, the environment in front of the scooter is scanned in real time and obstacle data is obtained; S3, obstacle judgment stage: the judgment module receives the data from the obstacle detection module and analyzes it to determine whether there is an obstacle in front of the scooter; S4, deceleration control stage: when it is determined that there is an obstacle, the safe speed control module controls the mobility scooter to decelerate to a safe speed, and at the same time starts the warning light control module to flash to remind the driver and surrounding vehicles and pedestrians, otherwise it continues to drive normally; S5, detour condition judgment stage: the judgment module judges whether the mobility scooter meets the detour condition based on the data transmitted by the obstacle detection module; S6, bypass judgment stage: S61, if the detour condition is not met, the parking control module immediately controls the mobility vehicle to stop to avoid collision, and the warning light continues to flash, otherwise, the process goes to S62; S62, if the detour condition is met, the judgment module outputs a detour signal to the detour control module and the warning light control module, the warning light control module controls the unilateral warning light opposite to the required turning direction to be turned off and turned into a turn signal, and at the same time the detour control module controls the mobility scooter to detour the obstacle according to the planned path; S7, detour completion detection stage: the detour control module immediately transmits a signal to the obstacle detection module after detour to detect again whether there is still an obstacle in front of the mobility scooter. If not, go to S8; if yes, go to S9; S8, continuing driving stage: if it is detected again that there is no obstacle in front of the scooter, the warning light control module controls to turn off all warning lights, and the scooter resumes normal driving; S9, stop driving stage: if it is detected again that there is still an obstacle in front of the mobility scooter, the warning light control module controls all warning lights to flash, and the parking control module controls the mobility scooter to stop driving to avoid collision.

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