Open vehicle and vehicle control method

Abstract

The embodiment of the invention provides an open type vehicle and a vehicle control method, the open type vehicle comprises a vehicle frame, a bearing assembly and a detection assembly, and the vehicle frame comprises a bottom frame and a top frame which are arranged at an interval in the height direction; the bearing assembly is used for fixing a borne object, the bearing assembly is arranged on the frame, and the bearing assembly is located between the bottom frame and the top frame; the detection assembly is used for detecting obstacles around the open type vehicle; wherein the detection assembly comprises a first detection unit and a second detection unit, the first detection unit is arranged on the upper side of the top frame, and the second detection unit is arranged on the lower side of the bottom frame. The open type vehicle provided by the embodiment of the invention has the advantage that the obstacle detection function is not influenced by drivers and passengers.

Description

Technical Field

[0001] This application belongs to the technical field of transportation equipment, and particularly relates to an open vehicle and a vehicle control method. Background Art

[0002] In large transportation stations such as airports or in comprehensive hub buildings, there are usually long routes that need to be walked. For example, in the spacious large waiting halls of international airports, it is difficult for some special passengers to walk long distances, and they need an autonomous shuttle bus to transport them to the destination. However, in the related art, the detection function of the autonomous shuttle bus is easily affected by the passengers during automatic path tracking. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide an open vehicle and a control method to solve the technical problem that the automatic detection function of the existing autonomous shuttle bus is easily affected by the passengers.

[0004] In a first aspect, the embodiments of this application provide an open vehicle.

[0005] The open vehicle provided by the embodiments of this application includes a vehicle frame, which includes a bottom frame and a top frame arranged at intervals along its height direction; a carrying component for fixing the carried object, the carrying component is arranged on the vehicle frame, and the carrying component is located between the bottom frame and the top frame; a detection component for detecting obstacles around the open vehicle; wherein, the detection component includes a first detection unit and a second detection unit, the first detection unit is arranged on the upper side of the top frame, and the second detection unit is arranged on the lower side of the bottom frame.

[0006] The beneficial effect of the vehicle provided by the embodiments of this application is that: compared with the prior art, a part of the detection components of the open vehicle provided by the embodiments of this application are arranged on the upper side of the top frame, and another part of the detection components are arranged on the lower side of the bottom frame. The carried objects such as passengers are located between the top frame and the bottom frame. The first detection unit is separated from the carried objects such as passengers by the top frame, and the second detection unit is separated from the carried objects such as passengers by the bottom frame, so as to avoid the carried objects entering the detection field of view of the detection component during the vehicle operation and affecting the accuracy of the detection component's judgment. Furthermore, the open vehicle provided by the embodiments of this application has the advantage that the detection function is not affected by the passengers.

[0007] Optionally, the vehicle frame further includes columns, the columns are connected between the bottom frame and the top frame, the carrying component includes at least one seat, and the seat is located on one side of the column in a first direction, and the first direction is orthogonal to the height direction;

[0008] The frame has a first opening in the direction in which the seat moves away from the column along the first direction, and the frame has second openings on both sides of the seat along the second direction. The second direction is orthogonal to the height direction and orthogonal to the first direction, and the first opening and the second openings are in communication with each other.

[0009] Optionally, the first detection unit includes a first navigation radar, at least one front vision obstacle avoidance camera, and at least one rear vision obstacle avoidance camera. The top frame is located below the lower edge of the field of view of the first navigation radar. The open vehicle has a forward direction and a reverse direction in the first direction. The front vision obstacle avoidance camera is disposed on one side of the top frame facing the forward direction, the field of view angle of the front vision obstacle avoidance camera faces the forward direction, and the front vision obstacle avoidance camera is located below the lower edge of the field of view of the first navigation radar. The rear vision obstacle avoidance camera is disposed on one side of the top frame facing the reverse direction, the field of view angle of the rear vision obstacle avoidance camera faces the reverse direction, and the rear vision obstacle avoidance camera is located below the lower edge of the field of view of the first navigation radar.

[0010] Optionally, the seat correspondingly has a passenger limb activity space;

[0011] Wherein, the field of view of the front vision obstacle avoidance camera and the passenger limb activity space are spaced apart in the height direction, and the field of view of the rear vision obstacle avoidance camera and the passenger limb activity space are spaced apart in the height direction;

[0012] And / or, the fields of view of the front vision obstacle avoidance camera and the rear vision obstacle avoidance camera are both spaced apart from the passenger limb activity space in the first direction, and the fields of view of the front vision obstacle avoidance camera and the rear vision obstacle avoidance camera are both spaced apart from the passenger limb activity space in the second direction.

[0013] Optionally, the top frame is provided with a plurality of outline lights, wherein:

[0014] At least one of the outline lights is disposed on one side of the top frame facing the forward direction to project an outline pattern onto the ground on one side of the open vehicle in the forward direction;

[0015] And / or, at least one of the outline lights is disposed on one side of the top frame facing the reverse direction to project an outline pattern onto the ground on one side of the open vehicle in the reverse direction;

[0016] And / or, at least one of the outline lights is disposed on one side of the top frame facing the second direction to project an outline pattern onto the ground on one side of the open vehicle in the second direction;

[0017] And / or, at least one of the outline lights is provided on the other side of the top frame facing the second direction to project an outline pattern onto the ground on the other side of the open vehicle in the second direction.

[0018] Optionally, the open vehicle further includes a driving assembly for driving the frame to move, and the driving assembly is located on the lower side of the underframe.

[0019] The second detection unit is located on the side of the driving assembly facing the first opening along the first direction. The second detection unit includes a second radar and a third radar, which are arranged opposite to each other along the second direction. The field of view of the second radar includes one side of the frame in the first direction and one side of the frame in the second direction, and the field of view of the third radar includes one side of the frame in the first direction and the other side of the frame in the second direction.

[0020] Optionally, the second detection unit further includes a first shield and a second shield. The first shield covers the side of the second radar facing the third radar and the lower side of the second radar, and the second shield covers the side of the third radar facing the second radar and the lower side of the third radar.

[0021] Optionally, the driving assembly includes:

[0022] A driving wheel set, which includes a first wheel and a second wheel arranged along the second direction, and the differential between the first wheel and the second wheel is adjustable.

[0023] At least one first driven wheel set, which is provided on one side of the driving wheel set in the first direction. The first driven wheel set includes a third wheel and a fourth wheel, which are arranged at intervals along the second direction, and both the third wheel and the fourth wheel are universal wheels.

[0024] At least one second driven wheel set, which is provided on the other side of the driving wheel set in the first direction. The second driven wheel set includes a fifth wheel and a sixth wheel, which are arranged at intervals along the second direction, and both the fifth wheel and the sixth wheel are universal wheels.

[0025] Optionally, the seat faces along the first direction and away from the column. First armrests and second armrests are respectively provided on both sides of the seat along the second direction, and at least one of the first armrest and the second armrest on each seat is rotatably provided on the seat.

[0026] Optionally, there are multiple seats, and the multiple seats are arranged along the first direction. The multiple seats include a first seat and a second seat arranged adjacent to each other along the first direction, and a first armrest on the first seat on one side of the second direction can be rotatably provided on the first seat, and a second armrest on the second seat on the other side of the second direction can be rotatably provided on the second seat.

[0027] Optionally, the open vehicle further includes: a drive component and a control component, the control component is used for a user to input control instructions, the drive component and the detection component are both electrically connected to the control component, and the control component is provided on at least one of the first armrest and the second armrest.

[0028] Optionally, the bearing assembly further includes a luggage rack, which is arranged on the frame and is located on a side of the column away from the seat in the first direction.

[0029] Optionally, the luggage rack comprises:

[0030] A first bearing member, used to be connected to the vehicle frame;

[0031] The second carrier is swingably disposed on the first carrier, and the second carrier has an unfolded position and a folded position at two ends of a swing stroke relative to the first carrier. In the unfolded position, the first carrier and the second carrier are arranged in a horizontal direction to place the carried objects on the upper sides of the first carrier and the second carrier. In the folded position, at least a portion of the second carrier is located on one side of the first carrier in the vertical direction.

[0032] Optionally, the first bearing member includes a first bearing portion, the first bearing portion extends in a horizontal direction, the first bearing portion is provided with a first positioning groove, the second bearing member includes a second bearing portion, the second bearing portion extends in a radial direction of the second bearing member rotating around the first bearing portion, the second bearing portion is provided with a second positioning groove, and in the expanded position, the notch of the first positioning groove and the notch of the second positioning groove are both vertically upward.

[0033] Optionally, the vehicle frame further comprises a base, the base is arranged on the base frame, and the base is used for fixing and installing a fire extinguisher.

[0034] Optionally, the open vehicle further comprises a shell, wherein the shell is disposed between the seat and the frame, the shell is provided with a receiving groove penetrating the shell along the height direction, and the base is disposed at a lower end of the receiving groove.

[0035] In a second aspect, an embodiment of the present application also provides a vehicle control method.

[0036] The vehicle control method provided by the embodiment of the present application is based on the open vehicle described in any of the above embodiments. The vehicle control method includes:

[0037] Based on the target travel end point selected by the user, determine the target travel path corresponding to the target travel end point;

[0038] Through the detection component of the open vehicle, continuously monitor the obstacles within the target monitoring range of the open vehicle and the target distance between the open vehicle and the obstacles;

[0039] Based on the target distance interval to which the target distance belongs among different distance intervals, determine the target travel speed and the target reminder method; wherein, different distance intervals correspond to different travel speeds and reminder methods, and the reminder method is used to remind the obstacles to avoid the open vehicle and to remind relevant personnel to assist the obstacles in avoiding the open vehicle;

[0040] Control the open vehicle to travel along the target travel path according to the target travel speed and the target reminder method until reaching the travel end point.

[0041] The vehicle control method provided by the embodiment of the present application determines the target travel path corresponding to the target travel end point selected by the user, controls the open vehicle to travel along the automatically determined target travel path, and during the travel process, continuously monitors the obstacle situation, realizes the adaptive adjustment of the travel speed and reminder method of the open vehicle, so that the open vehicle can maintain the best travel state, travel to the target travel end point, improves the travel efficiency, the user only needs to input the target travel end point, enhances the smoothness and comfort of the user's travel, and greatly improves the autonomous driving ability of the open vehicle.

[0042] Optionally: The determining the target travel speed and the target reminder method based on the target distance interval to which the target distance belongs among different distance intervals includes:

[0043] Compare the target distance with multiple distance intervals to determine the target distance interval to which the target distance belongs;

[0044] When the target distance interval is the first distance interval, determine the first travel speed as the target travel speed and do not give sound and light reminders; or,

[0045] When the target distance interval is the second distance interval, determine the second travel speed as the target travel speed and give sound reminders; or,

[0046] When the target distance interval is the third distance interval, determine the third driving speed as the target driving speed and give an audible and visual reminder; or,

[0047] When the target distance interval is the fourth distance interval, determine the fourth driving speed as the target driving speed and give an audible and visual reminder;

[0048] Among them, the distances corresponding to the first distance interval, the second distance interval, the third distance interval, and the fourth distance interval decrease in sequence, the first driving speed, the second driving speed, the third driving speed, and the fourth driving speed decrease in sequence, and the fourth driving speed is 0. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0050] Figure 1 Structural schematic of the vehicle provided by the embodiment of the present application Figure 1 ;

[0051] Figure 2 Structural schematic of the vehicle provided by the embodiment of the present application Figure 2 ;

[0052] Figure 3 Along Figure 1 Cross-sectional view taken along line A-A in

[0053] Figure 4 Partial enlarged schematic view of B in the vehicle provided by the embodiment of the present application when the second carrier is in the deployed position Figure 3 ;

[0054] Figure 5 Partial enlarged schematic view of B in the vehicle provided by the embodiment of the present application when the second carrier is in the folded position Figure 3 ;

[0055] Figure 6 Field of view schematic of the first navigation radar of the vehicle provided by the embodiment of the present application

[0056] Figure 7 Field of view schematic of the front view obstacle avoidance camera and the rear view obstacle avoidance camera of the vehicle provided by the embodiment of the present application

[0057] Figure 8 Outline light projection schematic of the vehicle provided by the embodiment of the present application

[0058] Figure 9 This is a schematic diagram of the fields of view of the second radar and the third radar provided by the embodiments of the present application.

[0059] Among them, the reference numerals in the figure are as follows:

[0060] 100, open vehicle;

[0061] 10, vehicle frame; 11, underframe; 12, top frame; 121, inclined section; 122, horizontal section; 123, outline lamp; 1231, outline pattern; 13, column;

[0062] 20, load-bearing assembly; 21, seat; 211, first armrest; 212, second armrest; 22, luggage rack; 221, first load-bearing member; 2211, first load-bearing portion; 2212, first positioning groove; 222, second load-bearing member; 2221, second load-bearing portion; 2222, second positioning groove; 23, pedal;

[0063] 30, detection assembly; 31, first detection unit; 311, first navigation radar; 312, front vision obstacle avoidance camera; 313, rear vision obstacle avoidance camera; 32, second detection unit; 321, second radar; 3211, first shield; 322, second radar; 3221, second shield;

[0064] 40, drive assembly; 41, driving wheel set; 411, first wheel; 412, second wheel; 42, first driven wheel set; 421, third wheel; 422, fourth wheel; 43, second driven wheel set; 421, fifth wheel; 422, sixth wheel;

[0065] 50, housing; 51, accommodation groove;

[0066] 60, input module;

[0067] 200, passenger limb activity space;

[0068] 300, luggage compartment. Detailed implementation manners

[0069] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0070] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0071] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0072] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0073] The embodiments of the present application provide an open vehicle, and the open vehicle can be a vehicle with an obstacle detection function such as an automatic guided ferry or an autonomous driving ferry.

[0074] The following will describe the open vehicle provided by the embodiments of the present application in conjunction with the attached Figures 1 to 3 drawings.

[0075] It should be noted that the first direction in the following text is the x direction shown in the figure, the second direction is the y direction shown in the figure, and the height direction is the z direction shown in the figure.

[0076] The open vehicle 100 provided by the embodiments of the present application includes a vehicle frame 10, a carrying component 20, and a detection component 30.

[0077] The vehicle frame 10 includes a bottom frame 11 and a top frame 12 that are spaced apart along its height direction z.

[0078] As Figures 1 to 3 shown, the bottom frame 11 extends along the first direction x and the second direction y shown in the figure, at least part of the top frame 12 extends along the first direction x and the second direction y, and the bottom frame 11 is located below the top frame 12.

[0079] The carrying component 20 is used to fix the carried object. The carrying component 20 is provided on the vehicle frame 10, and the carrying component 20 is located between the bottom frame 11 and the top frame 12.

[0080] As Figures 1 to 3As shown, the bearing assembly 20 is connected to the vehicle frame 10. The bearing assembly 20 is located between the top frame 12 and the bottom frame 11 in the height direction z. The object to be carried can include the driver and passengers and / or the luggage compartment 300. The object to be carried is fixed to the vehicle frame 10 through the bearing assembly 20, so as to carry the object to be carried by the open vehicle 100 provided by the embodiment of the present application.

[0081] The detection assembly 30 is used to detect obstacles around the open vehicle 100. The detection assembly 30 includes a first detection unit 31 and a second detection unit 32. The first detection unit 31 is arranged on the upper side of the top frame 12, and the second detection unit 32 is arranged on the lower side of the bottom frame 11.

[0082] The first detection unit 31 may include one or more of detection devices such as lidar, ultrasonic sensors, millimeter-wave radars, and depth cameras. The second detection unit may include one or more of detection devices such as lidar, ultrasonic sensors, millimeter-wave radars, and depth cameras.

[0083] As Figures 1 to 3 shown, the first detection unit 31 is arranged on the upper side of the top frame 12 so that the first detection unit 31 can obtain a larger field of view. The second detection unit 32 is arranged on the lower side of the bottom frame 11 to detect obstacles in the near-ground area through the second detection unit 32, making up for the blind area of the field of view of the first detection unit 31. The first detection unit 31 and the second detection unit 32 work together to obtain the distance information of the obstacles around the open vehicle 100 provided by the embodiment of the present application.

[0084] During the operation of the detection devices of the existing autonomous vehicles, they are easily blocked by the limb movements of the driver and passengers, resulting in misjudgment of the distances of the obstacles around the vehicle by the detection devices and affecting the vehicle driving. In the present application, the first detection unit 31 and the bearing assembly 20, that is, the object to be carried, are isolated by the top frame 12, and the second detection unit 32 and the bearing assembly 20, that is, the object to be carried, are isolated by the bottom frame 11, so as to avoid the influence of the driver, passengers or luggage on the detection effect of the detection assembly 30 when the open vehicle provided by the embodiment of the present application is working.

[0085] In the open vehicle 100 provided by the embodiment of the present application, a part of the detection assembly 30 is arranged on the upper side of the top frame 12, and another part of the detection assembly 30 is arranged on the lower side of the bottom frame 11. The objects to be carried such as the driver and passengers are located between the top frame 12 and the bottom frame 11, so as to avoid the objects to be carried entering the detection field of view of the detection assembly 30 during the operation of the vehicle and affecting the accuracy of the judgment of the detection assembly 30. Furthermore, the open vehicle 100 provided by the embodiment of the present application has the advantage that the detection function is not affected by the driver and passengers.

[0086] In some embodiments provided by the present application, the vehicle frame 10 further includes a column 13. The column 13 is connected between the underframe 11 and the top frame 12. The load-bearing assembly 20 includes at least one seat 21. The seat 21 is located on one side of the column 13 in the first direction x, and the first direction x is orthogonal to the height direction z.

[0087] As Figures 1 to 3 shown, the column 13 extends along the height direction z. The upper end of the column 13 is connected to the top frame 12, and the lower end of the column 13 is connected to the underframe 11. The load-bearing assembly 20 includes one or more seats 21. The seats 21 are arranged horizontally with the column 13. The orientation of the seat 21 is the front direction when a passenger is sitting on the seat 21. The seat 21 can face any one or more of the front, rear, left, and right directions of the traveling direction of the open vehicle 100.

[0088] The column 13 can be located in any one or more of the front, rear, left, and right directions of the seat 21.

[0089] In some embodiments, there is one column 13.

[0090] In some other embodiments, there are multiple columns 13, and the multiple columns 13 are located on the same side of the seat 21.

[0091] In some other embodiments, there are multiple columns 13, and the seat 21 is located between the multiple columns 13.

[0092] In some embodiments, the column 13 is integrally bent and formed with at least one of the top frame 12 and the underframe 11.

[0093] The vehicle frame 10 has a first opening in the direction away from the column 13 along the first direction x of the seat 21, and the vehicle frame 10 has second openings on both sides of the seat 21 along the second direction y. The second direction y is orthogonal to the height direction z and the second direction y is orthogonal to the first direction x. The first opening and the second openings are in communication.

[0094] As Figures 1 to 3 shown, there are multiple columns 13, and the multiple columns 13 are all located on the same side of the seat 21 in the first direction x. The vehicle frame 10 is an open structure, so that both sides of the seat 21 in the direction away from the column 13 in the first direction x and both sides in the second direction y are open structures, facilitating the boarding and alighting of passengers from multiple directions, or facilitating the loading and unloading of the carried object into the load-bearing assembly 20 from multiple directions.

[0095] In some embodiments provided by the present application, the first detection unit 31 includes a first navigation radar 311, at least one front vision obstacle avoidance camera 312, and at least one rear vision obstacle avoidance camera 313. The top frame 12 is located below the lower edge of the field of view a of the first navigation radar 311. The front vision obstacle avoidance camera 312 is located below the lower edge of the field of view a of the first navigation radar 311. The rear vision obstacle avoidance camera 313 is located below the lower edge of the field of view a of the first navigation radar 311.

[0096] The first navigation radar 311 is a navigation radar, and the first navigation radar 311 has a field of view a as shown in Figure 6 to scan the distances of obstacles around the open vehicle 100 provided by the embodiments of the present application through the first navigation radar 311, and then obtain the distribution of obstacles around the vehicle.

[0097] The front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313 can be one or more of a TOF light or structured light ranging camera and a binocular vision depth camera. The front vision obstacle avoidance camera 312 has a conical field of view b as shown in Figure 7 and the rear vision obstacle avoidance camera 313 has a conical field of view b as shown in 1 to assist the first navigation radar 311 in obtaining the distribution of obstacles around the open vehicle 100 provided by the embodiments of the present application through the rear vision obstacle avoidance camera 313. Figure 7 to assist the first navigation radar 311 in obtaining the distribution of obstacles around the open vehicle 100 provided by the embodiments of the present application through the rear vision obstacle avoidance camera 313. 2 to assist the first navigation radar 311 in obtaining the distribution of obstacles around the open vehicle 100 provided by the embodiments of the present application through the rear vision obstacle avoidance camera 313.

[0098] As shown in Figure 1 and Figure 6 the first navigation radar 311 is located above the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313. The top frame 12 and the obstacle avoidance camera 312 are both located below the lower edge of the field of view a of the first navigation radar 311, that is, in the blind area of the first navigation radar 311. On the one hand, it avoids the top frame 12, the front vision obstacle avoidance camera 312, and the rear vision obstacle avoidance camera 313 from blocking the first navigation radar 311, thereby ensuring the detection accuracy and reliability of the first navigation radar 311. On the other hand, the field of view b of the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313 1 / b 2 is located below the lower edge of the field of view a of the first navigation radar 311 to supplement the detection field of view range of the detection component 30 through the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313.

[0099] In some embodiments, as shown in Figure 6 the viewing angle of the first navigation radar 311 in the height direction z is 59°.

[0100] In some embodiments provided by the present application, the seat 21 correspondingly has a passenger limb activity space 200.

[0101] As shown in Figure 6As shown, the passenger limb movement space 200 is the maximum movement range of the passenger's limbs when sitting on the seat 21. The passenger limb movement space 200 includes the upper limb movement range, lower limb movement range, and head movement range as shown in Figure 6 the upper limb movement range, lower limb movement range, and head movement range as shown in

[0102] In some embodiments, the fields of view b of the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313 1 / b 2 are spaced from the passenger limb movement space 200 in the height direction z.

[0103] In some embodiments, the passenger limb movement space 200 and the field of view b of the front vision obstacle avoidance camera 312 1 and the field of view b of the rear vision obstacle avoidance camera 313 2 have a set distance in the height direction z at the lower edge, thereby increasing the movement space of the passenger.

[0104] In some embodiments, the field of view b of the front vision obstacle avoidance camera 312 1 and the field of view b of the rear vision obstacle avoidance camera 313 2 are spaced from the passenger limb movement space 200 in the first direction x, and the field of view b of the front vision obstacle avoidance camera 312 1 and the field of view b of the rear vision obstacle avoidance camera 313 2 are spaced from the passenger limb movement space 200 in the second direction y.

[0105] As Figure 7 shown, the field of view b of the front vision obstacle avoidance camera 312 1 and the field of view b of the rear vision obstacle avoidance camera 313 2 are Figure 7 the conical regions shown in 1 and the upper edge of the passenger limb movement space 200 is located below the lower edge of the field of view b of the front vision obstacle avoidance camera 312 2 and the field of view b of the rear vision obstacle avoidance camera 313, that is, in the blind areas of the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313.

[0106] Thus, the influence of the passenger limb movement on the detection component 30 is further reduced.

[0107] In some embodiments provided by the present application, one end of the top frame 12 is connected to the column 13, and the other end of the top frame 12 extends along the first direction x to the upper side of the seat 21.

[0108] As shown in the figure, the top frame 12 extends along the first direction x and is located above the seat 21, so that the seat 21 is in the blind areas of the fields of view of the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313 on the top frame 12, reducing the influence of the seat 21 and the passengers on the seat 21 on the front vision obstacle avoidance camera 312 and the rear vision obstacle avoidance camera 313.

[0109] In some embodiments, the forward obstacle avoidance camera 312 is disposed at the front end of the top frame 12 , and the forward obstacle avoidance camera 312 is arranged toward the forward direction of the open vehicle 100 .

[0110] As shown in the figure, the forward obstacle avoidance camera 312 is arranged toward the front side of the open vehicle 100 in the traveling direction, so that the distance of obstacles in front of the vehicle in the traveling direction can be detected by the forward obstacle avoidance camera 312 .

[0111] Thus, the front end of the top frame 12 in the first direction x is located above the seat 21, and the field of view b of the forward obstacle avoidance camera 312 is 1 like Figure 7 As shown in FIG. 1 , the seat 21 is located in the field of view b of the forward obstacle avoidance camera 312. 1 The lower side of the lower edge is within the blind spot of the forward obstacle avoidance camera 312 .

[0112] In some embodiments, the top frame 12 includes an inclined section 121, the inclined section 121 is connected to the column 13, the height dimension of any point on the inclined section 121 gradually increases in the direction away from the column 13, the rear view obstacle avoidance camera 313 is arranged on the inclined section 121, the rear view obstacle avoidance camera 313 is arranged toward the column 13, and the inclined section 121 and the column 13 are both located in the field of view b of the rear view obstacle avoidance camera 313 2 The lower side of the lower edge.

[0113] like Figure 1 and Figure 7 As shown, the portion where the top frame 12 is connected to the column 13 is the inclined section 121, and the portion of the top frame 12 away from the column 13 extends in the horizontal direction to form a horizontal section 122. The first navigation radar 311 and the forward obstacle avoidance camera 312 are arranged in the horizontal section 122. The inclined section 121 gradually decreases in the direction close to the column 13, and the rear-view obstacle avoidance camera 313 is arranged in the inclined section 121. The field of view of the rear-view obstacle avoidance camera 313 is b 2 like Figure 7 As shown in FIG. 1 , the inclined section 121 is completely located in the field of view b of the rear view obstacle avoidance camera 313 2 The lower side of the lower edge is within the blind spot of the rear-view obstacle avoidance camera 313 .

[0114] In some embodiments provided in this application, Figure 7 As shown, the field of view b of the forward obstacle avoidance camera 312 1 The projection on the ground has a first buffer distance from the front end of the open vehicle 100 provided in the present application in the first direction x, and the field of view b of the rear-view obstacle avoidance camera 313 is 2 The projection on the ground has a second buffer distance from the rear end of the open vehicle 100 provided in the present application in the first direction x, and the first buffer distance is greater than the second buffer distance.

[0115] In some embodiments, the first buffer distance is 1530 mm and the second buffer distance is 1318 mm.

[0116] In some other embodiments (not shown in the figures), the obstacle avoidance camera can also be disposed at the end of the top frame 12 in the second direction y, and the obstacle avoidance camera is arranged to face away from the top frame 12, so as to detect the obstacle distance of the vehicle frame 10 in the second direction y through the obstacle avoidance camera.

[0117] In some embodiments provided by the present application, such as Figure 2 and Figure 8 As shown, a plurality of outline lights 123 are further provided on the top frame 12. The plurality of outline lights 123 are respectively arranged to face the ground on both sides of the vehicle frame 10 in the first direction x and the ground on both sides of the vehicle frame 10 in the second direction y, so as to project an outline pattern 1231 around the open vehicle 100. The outline pattern 1231 has a safety distance from the vehicle frame, thereby reminding pedestrians around the open vehicle 100 to pay attention to avoidance.

[0118] In some embodiments provided by the present application, the open vehicle 100 further includes a driving assembly for driving the vehicle frame 10 to move, and the driving assembly is located below the bottom frame 11;

[0119] The second detection unit 32 is located on the side of the driving assembly facing the first opening in the first direction x. The second detection unit 32 includes a second radar 321 and a third radar 322. The second radar 321 and the third radar 322 are arranged back to back in the second direction y. The field of view c of the second radar 321 includes one side of the vehicle frame 10 in the first direction x and one side of the vehicle frame 10 in the second direction y. The field of view d of the third radar 322 includes one side of the vehicle frame 10 in the first direction x and the other side of the vehicle frame 10 in the second direction y.

[0120] Such as Figure 2 As shown, the driving assembly includes a plurality of driving wheels. The plurality of driving wheels are arranged at the lower end of the bottom frame 11. Both the second radar 321 and the third radar 322 are located at the front side of the plurality of driving wheels, and the second radar 321 is arranged close to the edge of the bottom plate on one side in the second direction y, and the third radar 322 is arranged close to the edge of the bottom plate on the other side in the second direction y.

[0121] The field of view c of the second radar 321 is as shown in Figure 9 As shown in, the field of view d of the third radar 322 is as shown in Figure 9 As shown in. The field of view c of the second radar 321 covers the front side in the traveling direction of the open vehicle 100 and one side in the second direction y, and the field of view d of the third radar 322 covers the front side in the traveling direction of the open vehicle 100 and the other side in the second direction y.

[0122] Thus, on the one hand, the second radar 321 and the third radar 322 complement the field of view of the detection component 30 near the ground, improving the detection accuracy and reliability of the detection component 30. On the other hand, the driving component is located within the blind areas of both the second radar 321 and the third radar 322, preventing the driving component from blocking the fields of view of the second radar 321 and the third radar 322 and enhancing the detection accuracy and reliability of the second detection unit 32.

[0123] In some embodiments, as Figure 9 shown, the viewing angle of the second radar 321 is 175° at the left side of the open vehicle 100 and 45° at the front-right side of the open vehicle 100. That is, the total viewing angle range of the second radar 321 is 220°. The viewing angle of the third radar 322 is 175° at the right side of the open vehicle 100 and 45° at the front-left side of the open vehicle 100. That is, the total viewing angle range of the third radar 322 is 220°.

[0124] In some embodiments provided by the present application, as Figure 2 shown, the second detection unit 32 further includes a first shield 3211 and a second shield 3221. The first shield 3211 covers the side of the second radar 321 facing the third radar 322 and the lower side of the second radar 321. The second shield 3221 covers the side of the third radar 322 facing the second radar 321 and the lower side of the third radar 322.

[0125] Thus, by providing the first shield 3211, the second radar 321 can be protected from rubbing against the ground and malfunctioning. By providing the second shield 3221, the third radar 322 can be protected from rubbing against the ground and malfunctioning.

[0126] In some embodiments provided by the present application, the driving component 40 includes:

[0127] A driving wheel set 41, which includes a first wheel 411 and a second wheel 412 arranged along the second direction y. The differential between the first wheel 411 and the second wheel 412 is adjustable;

[0128] At least one first driven wheel set 42, which is arranged in front of the driving wheel set 41. The first driven wheel set 42 includes a third wheel 421 and a fourth wheel 422. The third wheel 421 and the fourth wheel 422 are arranged at intervals along the second direction y, and both the third wheel 421 and the fourth wheel 422 are universal wheels;

[0129] At least one second passive wheel set 43 is provided at the rear side of the active wheel set 41. The second passive wheel set 43 includes a fifth wheel 431 and a sixth wheel 432. The fifth wheel 431 and the sixth wheel 432 are arranged at intervals along the second direction y, and both the fifth wheel 431 and the sixth wheel 432 are universal wheels.

[0130] As Figure 2 shown, the axles of the first wheel 411 and the second wheel 412 extend along the second direction y to drive the open vehicle 100 provided by the present application to move in the first direction x through the rotation of the first wheel 411 and the second wheel 412. The rotational speed or rotational direction of the first wheel 411 and the rotational speed or rotational direction of the second wheel 412 can be adjusted relatively independently, so that the differential speed between the first wheel 411 and the second wheel 412 is adjustable. By adjusting the differential speed between the first wheel 411 and the second wheel 412, the open vehicle 100 provided by the present application can be rotated towards any one of the second direction y to achieve vehicle steering.

[0131] In some embodiments provided by the present application, a plurality of wheel covers are provided on the upper side of the chassis 11. The wheel covers are provided on the upper sides of the active wheel set 41, the first passive wheel set 42, and the second passive wheel set 43 to protect the drive assembly 40 through the plurality of wheel covers.

[0132] In some embodiments provided by the present application, the seat 21 faces along the first direction x and away from the column 13. First armrests 211 and second armrests 212 are respectively provided on both sides of the seat 21 along the second direction y. At least one of the first armrest 211 and the second armrest 212 on each seat 21 is rotatably provided on the seat 21.

[0133] As Figures 1 to 3 shown, there are a plurality of columns 13. The plurality of columns 13 are arranged along the second direction y and are all located on the back side of the seat 21. On the one hand, it can reduce the occlusion of the view of the passengers on the seat 21 by the columns 13, and on the other hand, it can avoid the columns 13 affecting the getting on and off of passengers.

[0134] In some embodiments provided by the present application, there are a plurality of seats 21. The plurality of seats 21 are arranged along the first direction x. The plurality of seats 21 include a first seat 21 and a second seat 21 that are adjacent to each other along the first direction x. The first armrest 211 on one side of the first seat 21 in the second direction y is rotatably provided on the first seat 21, and the second armrest 212 on the other side of the second seat 21 in the second direction y is rotatably provided on the second seat 21.

[0135] As Figures 1 to 3As shown, there are two seats 21, and a first armrest 211 located on one side of the second direction y on the one of the two seats 21 close to the pillar 13 can be lifted up to facilitate passengers getting on and off from one side of the second direction y, and a second armrest 212 located on the other side of the second direction y on the one of the two seats 21 far from the pillar 13 can be lifted up to facilitate passengers getting on and off from the other side of the second direction y, and the one of the two seats 21 far from the pillar 13 can be used for passengers to get on and off from the front side of the open vehicle 100.

[0136] Thus, two adjacent seats 21 are respectively used for passengers to get on and off from both sides of the second direction y, so that when the open vehicle 100 provided in the present application carries multiple passengers, it is avoided that the passengers interfere with each other when getting on and off the vehicle.

[0137] In some embodiments provided in the present application, the supporting assembly 20 also includes a plurality of pedals 23, which are arranged one by one on the front side of the seat 21, and the pedals 23 are located between the seat 21 and the second detection unit 32, so as to limit the lower edge of the passenger's lower limb activity space through the pedals 23, thereby avoiding interference between the passenger's limb activity space 200 and the field of view of the second detection unit 32.

[0138] In some embodiments provided in the present application, the open vehicle 100 also includes: a drive component 40 and a control component, the control component includes an input module 60, the input module 60 is used for a user to input control instructions, the drive component 40 and the detection component 30 are both electrically connected to the control component, and the control component is arranged on at least one of the first armrest 211 and the second armrest 212.

[0139] like Figure 1 and Figure 2 As shown, the control component includes an input module 60 and a navigation module (not shown in the figure), the input module 60 is arranged on the first armrest 211 or the second armrest 212 of the seat 21, the input module 60 is electrically connected to the navigation module, the navigation module is electrically connected to the drive component 40, and the navigation module is electrically connected to the detection component 30, so as to input user instructions to the navigation module through the input module 60, the navigation module controls the drive component 40 to work according to the user instructions, and the navigation module obtains the moving direction of the open vehicle 100 and the moving speed of the open vehicle 100 according to the target distance corresponding to the open vehicle 100 and the obstacle detected by the detection component 30, the drive component 40 performs actions according to the moving direction of the open vehicle 100 and the moving speed of the open vehicle 100, so that the open vehicle 100 provided in the embodiment of the present application can realize automatic navigation and obstacle avoidance functions.

[0140] In some embodiments provided in the present application, the load-bearing assembly 20 further includes a luggage rack 22 , which is disposed on the frame 10 , and the luggage rack 22 is located on a side of the column 13 away from the seat 21 in the first direction x.

[0141] As shown Figures 1 to 3 in FIG. 2, the seat 21 is located on the front side of the column 13 in the first direction x, and the luggage rack 22 is located on the rear side of the column 13 in the first direction x, so as to load items such as the suitcase 300 that passengers need to carry through the luggage rack 22.

[0142] Thus, the luggage rack 22 is provided on the rear side of the traveling direction of the open vehicle 100. On the one hand, the influence of the luggage rack 22 on the passenger limb movement space 200 is reduced, and the user experience is improved. On the other hand, the influence of the luggage items loaded in the suitcase 300 on the detection accuracy and detection reliability of the detection component 30 is reduced.

[0143] In some embodiments provided by the present application, the luggage rack 22 includes a first carrier 221 and a second carrier 222.

[0144] The first carrier 221 is used to be connected to the vehicle frame 10. As shown Figures 3 to 5 in FIG. 3, the first carrier 221 extends in the horizontal direction. The first carrier 221 can be fixedly connected to the vehicle frame 10. The connection manner between the first carrier 221 and the vehicle frame 10 can be one or more of welding, bolt connection, riveting, snap connection and other connection manners.

[0145] The second carrier 222 is swingably provided on the first carrier 221, and both ends of the swing stroke of the second carrier 222 relative to the first carrier 221 have a deployed position and a folded position. As shown Figure 4 in FIG. 4, in the deployed position, the first carrier 221 and the second carrier 222 are arranged in the horizontal direction to place the object to be carried on the upper sides of the first carrier 221 and the second carrier 222. As shown Figure 5 in FIG. 5, in the folded position, at least part of the second carrier 222 is located on one side of the first carrier 221 in the height direction z.

[0146] As shown Figure 4 and Figure 5 in FIGS. 6 and 7, one end of the second carrier 222 and the first carrier 221 in the first direction x are rotatably connected, so that the second carrier 222 can swing relative to the first carrier 221, and the second carrier 222 has a deployed position and a folded position relative to the first carrier 221.

[0147] When the second carrier 222 is in the deployed position, both the second carrier 222 and the first carrier 221 extend in the horizontal direction to place objects to be carried such as the suitcase 300 on the upper sides of the first carrier 221 and the second carrier 222. When the second carrier 222 is in the folded position, the second carrier 222 extends in the height direction z to reduce the size of the second carrier 222 in the first direction x.

[0148] Compared with the prior art, in the embodiment of the present application, the second bearing member 222 of the roof rack 22 of the open vehicle 100 can be flipped relative to the first bearing member 221. When the second bearing member 222 is flipped to the unfolded position, load-bearing objects such as the luggage case 300 can be placed on the upper sides of the first bearing member 221 and the second bearing member 222. When the second bearing member 222 is flipped to a position where a part of the second bearing member 222 is located on one side of the second bearing member 222 in the up-and-down direction, the size of the second bearing member 222 in the horizontal direction can be reduced, so that the roof rack 22 has the advantage of being foldable to reduce its occupied space.

[0149] In some embodiments provided by the present application, the first bearing member 221 includes a first bearing portion 2211, the first bearing portion 2211 extends in the horizontal direction, a first positioning groove 2212 is provided on the first bearing portion 2211, the second bearing member 222 includes a second bearing portion 2221, the second bearing portion 2221 extends in the radial direction of the second bearing member 222 rotating around the first bearing portion 2211, a second positioning groove 2222 is provided on the second bearing portion 2221, and in the unfolded position, the openings of the first positioning groove 2212 and the second positioning groove 2222 both face upward in the height direction z.

[0150] As Figure 4 shown, in the unfolded position, the openings of the first positioning groove 2212 and the second positioning groove 2222 both extend upward, so that the rollers of the luggage case 300 can be respectively assembled in the first positioning groove 2212 and the second positioning groove 2222, thereby restricting the rotation of the rollers of the luggage case 300, and further preventing the luggage case 300 from slipping on the first bearing portion 2211 and the second bearing portion 2221, improving the driving safety of the open vehicle 100 and enhancing the user experience.

[0151] In some embodiments provided by the present application, the vehicle frame 10 further includes a base 14, the base 14 is provided on the chassis 11, and the base 14 is used for fixedly installing a fire extinguisher.

[0152] As Figure 1 shown, both the base 14 and the seat 21 are provided on the upper side of the chassis 11, and the upper end of the base 14 is suitable for installing a fire extinguisher, so that the driver and passengers on the seat 21 can easily access the fire extinguisher.

[0153] In some embodiments provided by the present application, the open vehicle 100 further includes a housing 50, the housing 50 is provided between the seat 21 and the chassis 11, the housing 50 is provided with a receiving groove 51 extending in the height direction z, and the base 14 is provided on the lower side of the receiving groove 51.

[0154] As Figure 1 shown, the housing 50 is provided on the lower side of the seat 21 and the housing 50 is provided on the upper side of the chassis 11. The housing 50 covering the upper side of the chassis 11 can prevent the driver and passengers from directly contacting the chassis 11.

[0155] The receiving groove 51 extends along the height direction z, and the base 14 is arranged at the lower end of the receiving groove 51 in the height direction z, so that the base 14 can support the fire extinguisher in the receiving groove 51.

[0156] The vehicle control method provided by the embodiments of the present application will be described below.

[0157] The vehicle control method provided by the embodiments of the present application is based on the open vehicle 100 in any of the above embodiments. The vehicle control method provided by the embodiments of the present application includes:

[0158] Based on the selected target travel end point of the user, determine the target travel path corresponding to the target travel end point;

[0159] Through the detection component of the open vehicle 100, continuously monitor the obstacles within the target monitoring range of the open vehicle 100 and the target distance between the open vehicle 100 and the obstacles;

[0160] Based on the target distance interval to which the target distance belongs among different distance intervals, determine the target travel speed and the target reminder method; wherein, different distance intervals correspond to different travel speeds and reminder methods, and the reminder method is used to remind the obstacles to avoid the open vehicle 100 and to remind relevant personnel to assist the obstacles to avoid the open vehicle 100;

[0161] Control the open vehicle 100 to travel along the target travel path according to the target travel speed and the target reminder method until reaching the travel end point.

[0162] The vehicle control method provided by the embodiments of the present application determines the target travel path corresponding to the travel end point according to the selected target travel end point of the user, controls the open vehicle 100 to travel along the automatically determined target travel path, and continuously monitors the obstacle situation during the travel, realizes the adaptive adjustment of the travel speed and the reminder method of the open vehicle 100, so that the open vehicle 100 can maintain the best travel state, travel to the target travel end point, improves the travel efficiency, the user only needs to input the target travel end point, enhances the smoothness and comfort of the user's travel, and greatly improves the autonomous travel ability of the open vehicle 100.

[0163] In some embodiments provided by the present application, based on the target distance interval to which the target distance belongs among different distance intervals, determining the target travel speed and the target reminder method includes:

[0164] Compare the target distance with multiple distance intervals to determine the target distance interval to which the target distance belongs;

[0165] When the target distance interval is the first distance interval, the first driving speed is determined as the target driving speed, and no sound and light reminder is made; or,

[0166] When the target distance interval is the second distance interval, the second driving speed is determined as the target driving speed, and a sound reminder is made; or,

[0167] When the target distance interval is the third distance interval, the third driving speed is determined as the target driving speed, and a sound and light reminder is made; or,

[0168] When the target distance interval is the fourth distance interval, the fourth driving speed is determined as the target driving speed, and a sound and light reminder is made;

[0169] Wherein, the distances corresponding to the first distance interval, the second distance interval, the third distance interval and the fourth distance interval decrease in sequence, the first driving speed, the second driving speed, the third driving speed and the fourth driving speed decrease in sequence, and the fourth driving speed is 0.

[0170] In the vehicle control method provided in the embodiment of the present application, during the driving process of the open vehicle 100, the first navigation radar 311, the front view obstacle avoidance camera 312, the rear view obstacle avoidance camera 313, the second radar 321 and the third radar 322 in the detection component continuously work to continuously detect the distance between the obstacles around the open vehicle 100 and the open vehicle. When the distance between the obstacles around the open vehicle 100 gradually approaches the fourth distance, the driving speed of the open vehicle 100 gradually decreases to a stop state, and a sound and light reminder is turned on to let the surrounding pedestrians avoid, and continue to pass after waiting for the surrounding pedestrians of the open vehicle to avoid.

[0171] Thus, by means of parking and avoidance, it is avoided that the open vehicle collides with the surrounding pedestrians due to changing the driving route when encountering obstacles, thereby improving the safety of the vehicle control method provided in the embodiment of the present application.

[0172] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An open vehicle, characterized in that: include: A frame, the frame comprising a bottom frame and a top frame spaced apart in a height direction thereof; A load-bearing assembly, used for fixing the object to be carried, the load-bearing assembly is arranged on the frame, and the load-bearing assembly is located between the bottom frame and the top frame; a detection component, for detecting obstacles around the open vehicle and target distances between the open vehicle and the obstacles; Wherein, the detection assembly includes a first detection unit and a second detection unit, the first detection unit is arranged on the upper side of the top frame, and the second detection unit is arranged on the lower side of the bottom frame.

2. The open vehicle according to claim 1, characterized in that: The frame further comprises a column connected between the bottom frame and the top frame, the bearing assembly comprises at least one seat, the seat is located on one side of the column in a first direction, the first direction being orthogonal to the height direction; The frame has a first opening in the direction of the seat away from the pillar along the first direction, and the frame has second openings on both sides of the seat along the second direction, the second direction is orthogonal to the height direction and the second direction is orthogonal to the first direction, and the first opening and the second opening are connected.

3. The open vehicle according to claim 2, characterized in that: The first detection unit includes a first navigation radar, at least one forward obstacle avoidance camera and at least one rearward obstacle avoidance camera. The top frame is located at the lower side of the lower edge of the field of view of the first navigation radar. The open vehicle has a forward direction and a backward direction in the first direction. The forward obstacle avoidance camera is arranged on the side of the top frame facing the forward direction. The field of view of the forward obstacle avoidance camera is toward the forward direction, and the forward obstacle avoidance camera is located at the lower side of the lower edge of the field of view of the first navigation radar. The rearward obstacle avoidance camera is arranged on the side of the top frame facing the backward direction. The field of view of the rearward obstacle avoidance camera is toward the backward direction, and the rearward obstacle avoidance camera is located at the lower side of the lower edge of the field of view of the first navigation radar.

4. An open vehicle according to claim 3, characterized in that: The seat has a corresponding space for passengers to move their limbs; The field of view of the forward obstacle avoidance camera and the passenger's limb activity space are spaced apart in the height direction, and the field of view of the rearward obstacle avoidance camera and the passenger's limb activity space are spaced apart in the height direction; And / or, the field of view of the forward obstacle avoidance camera and the field of view of the rear obstacle avoidance camera are both spaced apart from the passenger's limb movement space in the first direction, and the field of view of the forward obstacle avoidance camera and the field of view of the rear obstacle avoidance camera are both spaced apart from the passenger's limb movement space in the second direction.

5. The open vehicle according to claim 3, characterized in that: The top frame is provided with a plurality of clearance lights, wherein: At least one of the clearance lights is arranged on a side of the top frame facing the forward direction to project a clearance pattern onto the ground on the forward direction side of the open vehicle; And / or, at least one of the position lights is arranged on a side of the top frame facing the backward direction to project a position light pattern onto the ground on the backward direction side of the open vehicle; And / or, at least one of the clearance lights is arranged on a side of the top frame facing the second direction to project a clearance pattern onto the ground on one side of the open vehicle in the second direction; And / or, at least one of the position marker lights is arranged on the other side of the top frame facing the second direction to project a position marker pattern onto the ground on the other side of the open vehicle in the second direction.

6. The open vehicle according to claim 2, characterized in that: The open vehicle further comprises a driving assembly, the driving assembly being used to drive the frame to move and the driving assembly being located at the lower side of the chassis; The second detection unit is located on the side of the driving assembly facing the first opening along the first direction, and the second detection unit includes a second radar and a third radar. The second radar and the third radar are arranged opposite to each other along the second direction. The field of view of the second radar includes one side of the frame in the first direction and one side of the frame in the second direction, and the field of view of the third radar includes one side of the frame in the first direction and the other side of the frame in the second direction.

7. An open vehicle according to claim 6, characterized in that The second detection unit also includes a first shield and a second shield, the first shield covers a side of the second radar facing the third radar and a lower side of the second radar, and the second shield covers a side of the third radar facing the second radar and a lower side of the third radar.

8. The open vehicle according to claim 6, characterized in that The drive assembly comprises: A driving wheel group, the driving wheel group comprising a first wheel and a second wheel arranged along the second direction, and a differential speed between the first wheel and the second wheel is adjustable; At least one first passive wheel group, the first passive wheel group is arranged on one side of the active wheel group in the first direction, the first passive wheel group includes a third wheel and a fourth wheel, the third wheel and the fourth wheel are arranged at intervals along the second direction, and the third wheel and the fourth wheel are universal wheels; At least one second passive wheel group, the second passive wheel group is arranged on the other side of the active wheel group in the first direction, the second passive wheel group includes a fifth wheel and a sixth wheel, the fifth wheel and the sixth wheel are arranged at intervals along the second direction, and the fifth wheel and the sixth wheel are universal wheels.

9. The open vehicle according to claim 2, characterized in that: The seat is oriented along the first direction and away from the column. The seat is provided with a first armrest and a second armrest on both sides thereof along the second direction, respectively. At least one of the first armrest and the second armrest on each seat is rotatably provided on the seat.

10. An open vehicle according to claim 9, characterized in that: There are multiple seats, and the multiple seats are arranged along the first direction. The multiple seats include a first seat and a second seat arranged adjacent to each other along the first direction. A first armrest on the first seat on one side of the second direction is rotatably provided on the first seat, and a second armrest on the second seat on the other side of the second direction is rotatably provided on the second seat.

11. The open vehicle according to claim 9, characterized in that The open vehicle also includes: a drive component and a control component, the control component includes an input module, the input module is used for a user to input control instructions, the drive component and the detection component are both electrically connected to the control component, and the input module is provided on at least one of the first armrest and the second armrest.

12. An open vehicle according to claim 11, characterized in that The control component also includes a navigation module, which is electrically connected between the input module and the drive component, and the navigation module is electrically connected to the input module. The navigation module is used to obtain the travel direction and travel speed of the open vehicle according to the control instruction and the target distance.

13. An open vehicle as claimed in any one of claims 2 to 12, characterized in that: The bearing assembly further comprises a luggage rack, which is arranged on the vehicle frame and is located on a side of the column away from the seat in the first direction.

14. An open vehicle as claimed in claim 13, characterised in that The luggage rack comprises: A first bearing member, used to be connected to the vehicle frame; The second carrier is swingably disposed on the first carrier, and the second carrier has an unfolded position and a folded position at two ends of a swing stroke relative to the first carrier. In the unfolded position, the first carrier and the second carrier are arranged in a horizontal direction to place the carried objects on the upper sides of the first carrier and the second carrier. In the folded position, at least a portion of the second carrier is located on one side of the first carrier in the vertical direction.

15. An open vehicle according to claim 14, characterized in that: The first bearing member includes a first bearing portion, which extends in a horizontal direction and is provided with a first positioning groove. The second bearing member includes a second bearing portion, which extends in a radial direction of the second bearing member rotating around the first bearing portion and is provided with a second positioning groove. In the expanded position, the notch of the first positioning groove and the notch of the second positioning groove are both facing upward in a vertical direction.

16. An open vehicle as claimed in any one of claims 2 to 12, characterized in that: The vehicle frame also includes a base, which is arranged on the base frame and is used for fixing and installing a fire extinguisher.

17. An open vehicle as claimed in claim 16, characterised in that: The open vehicle further comprises a shell, which is arranged between the seat and the frame, and the shell is provided with a receiving groove which penetrates the shell along the height direction, and the base is arranged at the lower end of the receiving groove.

18. A vehicle control method, based on the open vehicle according to any one of claims 1 to 17, characterized in that: include: Based on the target travel destination selected by the user, determining a target driving path corresponding to the target travel destination; Monitoring obstacles within a target monitoring range of the open vehicle and target distances between the open vehicle and the obstacles in real time through the detection component of the open vehicle; Determine a target driving speed and a target reminder method based on the target distance interval to which the target distance belongs in different distance intervals; wherein different distance intervals correspond to different driving speeds and reminder methods, and the reminder method is used to remind the obstacle to avoid the open vehicle and to remind relevant personnel to assist the obstacle to avoid the open vehicle; The open vehicle is controlled to travel along the target travel path according to the target travel speed and the target reminder method until it reaches the travel end point.

19. The vehicle control method according to claim 18, characterized in that: The determining of the target driving speed and the target reminder method based on the target distance interval to which the target distance belongs in different distance intervals includes: Comparing the target distance with a plurality of the distance intervals to determine the target distance interval to which the target distance belongs; When the target distance interval is the first distance interval, the first driving speed is determined as the target driving speed, and no sound or light reminder is performed; or, When the target distance interval is the second distance interval, the second driving speed is determined as the target driving speed, and a sound reminder is given; or, When the target distance interval is the third distance interval, the third driving speed is determined as the target driving speed, and an audible and visual reminder is performed; or, When the target distance interval is the fourth distance interval, determining the fourth driving speed as the target driving speed, and performing an audible and visual reminder; The distances corresponding to the first distance interval, the second distance interval, the third distance interval and the fourth distance interval decrease in sequence, and the first driving speed, the second driving speed, the third driving speed and the fourth driving speed decrease in sequence, and the fourth driving speed is 0.

Images