Vehicle

Abstract

To achieve efficient aiming.SOLUTION: A vehicle includes a rotary-type reference rider, a plurality of fixation riders, and processing means that performs aiming processing of the plurality of fixation riders by using the reference rider.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle. [Background technology]

[0002] Aiming (optical axis adjustment) processing for an object detection device such as a radar or LiDAR (Light Detection And Ranging) mounted on a vehicle is known. Patent Document 1 discloses that an aiming jig is installed a predetermined distance ahead on the longitudinal axis of the vehicle, and vertical aiming is performed by detecting a reference reflector on the aiming jig. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-131434 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 requires a large-scale aiming jig, which poses a problem in that it is difficult to efficiently aim a plurality of sensors installed in a vehicle.

[0005] The present invention has been made in view of the above-mentioned problems, and has an object to provide a technique for realizing efficient aiming. [Means for solving the problem]

[0006] A vehicle according to one aspect of the present invention that achieves the above object comprises: a rotating reference lidar; A plurality of fixed lidars; a processing means for executing an aiming process for the plurality of fixed LIDARs using the reference LIDAR; The present invention is characterized by comprising: [Effects of the Invention]

[0007] According to the present invention, it is possible to achieve efficient aiming. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of an exterior configuration of a vehicle according to an embodiment. [Figure 2] 1 is a diagram illustrating an example of the configuration of a vehicle according to an embodiment. [Figure 3] FIG. 10 is an explanatory diagram of an aiming process according to an embodiment. [Figure 4] FIG. 10 is a diagram illustrating the relationship between the detection ranges of the reference lidar and the fixed lidar when the stand is raised according to an embodiment. [Figure 5] FIG. 10 is a diagram illustrating the relationship between the detection ranges of the reference lidar and the fixed lidar when the stand is lowered according to an embodiment. [Figure 6] FIG. 1 is a partially enlarged view of a vehicle according to an embodiment. [Figure 7] 10A and 10B are diagrams illustrating an example of a structure for attaching a reference lidar to a stand according to an embodiment. [Figure 8] 10A and 10B are diagrams illustrating an example of a structure for attaching a reference lidar to a stand according to an embodiment. [Figure 9] 1 is a perspective view of an internal structure of a vehicle according to an embodiment; [Figure 10] 1 is a front view of an internal structure of a vehicle according to an embodiment. [Figure 11] FIG. 1 is a top view of an internal structure of a vehicle according to an embodiment. [Figure 12] FIG. 2 is an explanatory diagram of an example of vehicle superimposition according to an embodiment (before superimposition). [Figure 13] FIG. 10 is an explanatory diagram of an example of vehicle superimposition according to one embodiment (after superimposition). DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. Furthermore, the same reference numerals are used to designate identical or similar components, and redundant descriptions will be omitted.

[0010] In each drawing, the up-down direction, left-right direction, and front-rear direction refer to directions defined relative to the vehicle.

[0011] (Embodiment 1) <Configuration> Fig. 1 is a diagram showing an example of the exterior configuration of a vehicle according to an embodiment. Fig. 2 is a diagram showing an example of the configuration of a vehicle according to an embodiment. Vehicle 10 is, for example, an unmanned transport vehicle, and is an autonomous work vehicle capable of transporting loads and other items.

[0012] The vehicle 10 includes a CPU 101, a storage device 102, and a communication unit 103. The control operation of the vehicle 10 is realized by the CPU 101 reading and executing a computer program stored in the storage device 102. The CPU 101 may be one or more CPUs. The storage device 102 is one or more memories that store various types of information. For example, the storage device 102 stores information received from other devices, computer programs that are read and executed by the CPU 101, and the like. The communication unit 103 has a function of communicating with other devices via a network, either wired or wirelessly.

[0013] The vehicle 10 also includes a reference lidar 104, a front lidar 105, a right front lidar 106, a left front lidar 107, a right rear lidar 108, a left rear lidar 109, and a stand and radar 111. By arranging fixed lidars at the four corners below the vehicle and at the front, it is possible to obtain the required field of view necessary for autonomous driving. Note that in this embodiment, an example will be described in which a total of five fixed lidars, from the front lidar 105 to the left rear lidar 109, are provided as multiple fixed lidars (lidars fixedly installed relative to the vehicle), but the number of fixed lidars is not limited to five and may be more or less.

[0014] The reference lidar 104 is, for example, a rotatable lidar (Light Detection And Ranging: LiDAR) that is detachable from the vehicle 10. The reference lidar 104 is a lidar for detecting targets around the vehicle 10 and is capable of rotating. This allows the reference lidar 104 to have a 360-degree field of view in the yaw direction.

[0015] The front lidar 105 is a fixed lidar that detects the front direction of the vehicle 10 and is disposed at the front of the vehicle 10. The right front lidar 106 is a fixed lidar that detects the right front direction of the vehicle 10 and is disposed at the right front of the vehicle 10. The left front lidar 107 is a fixed lidar that detects the left front direction of the vehicle 10 and is disposed at the left front of the vehicle 10. The right rear lidar 108 is a fixed lidar that detects the right rear direction of the vehicle 10 and is disposed at the right rear of the vehicle 10. The left rear lidar 109 is a fixed lidar that detects the left rear direction of the vehicle 10 and is disposed at the left rear of the vehicle 10. Each fixed lidar has a predetermined field of view angle range in the yaw direction.

[0016] The stand 110 is a GNSS (Global Navigation Satellite System) stand provided at the front of the vehicle 10. A GNSS sensor is installed in the GNSS stand, and by using this sensor, it is possible to receive GNSS data and ascertain position information of the vehicle 10. In addition, a reference lidar 104 can be detachably installed on the stand 110. The stand 110 according to this embodiment has a T-shape, but is not limited to this shape. The radar 111 is, for example, a millimeter-wave radar, and detects targets around the vehicle 10 using radio waves, and detects (measures) the distance to the target and the direction (azimuth) of the target relative to the vehicle 10.

[0017] <Aiming processing> 3 is an explanatory diagram of the aiming process according to one embodiment. The aiming process is a calibration process for ensuring that the electronic control device operates correctly. In this embodiment, the reference lidar 104 is used to perform the aiming process for the fixed lidar.

[0018] In FIG. 3, the control origin 31 is, for example, the axle center point of the rear tire. The target 32 ​​is an object placed at any position around the vehicle 10 for aiming. The field of view angle range 301 is the field of view angle range of the reference lidar 104 and indicates an angular range of 360 degrees. The field of view angle range 302 is the field of view angle range of the right front rider 106. The field of view angle range 301 of the reference lidar 104 and the field of view angle range 302 of the right front rider 106 overlap with each other.

[0019] Although the field of view angle ranges of the front lidar 105, the left front lidar 107, the right rear lidar 108, and the left rear lidar 109 are omitted, the field of view angle range 301 of the reference lidar 104 overlaps with the field of view angle range of each fixed lidar.

[0020] First, the reference lidar 104 detects the target 32 ​​and acquires information on the coordinates (Lx, Ly) of the target 32 ​​relative to the control origin 31. It is assumed that the reference lidar 104 has been calibrated (aimed) in advance with respect to the vehicle 10. Specifically, the reference lidar 104 is calibrated (aimed) in advance by performing an aiming process in advance on one target that is accurately positioned with respect to the vehicle 10 within the field of view angle range of the reference lidar 104.

[0021] For a target 32 ​​present within the field of view angle range 301 of the reference lidar 104 that has been calibrated in advance to the vehicle 10, the relationship with the vehicle 10 is known, and therefore, if the target 32 ​​is included within the field of view angle range 302 of the right front lidar 106, the relationship with the vehicle 10 can be given to the right front lidar 106. In other words, the right front lidar 106 can acquire the relationship with the vehicle 10 via the reference lidar 104 (i.e., can aim).

[0022] Similarly, for other fixed lidars other than the right front lidar 106, another target can be placed at a position where the field of view angle ranges of each fixed lidar and the reference lidar 104 overlap, and aiming processing can be performed by performing the same operation.

[0023] In this way, the master rotary reference lidar is aimed at the vehicle 10 with high accuracy in advance, and each slave fixed lidar corrects itself by taking the value calculated by the reference lidar as positive, making it easy to aim the fixed lidars.

[0024] <Stand raising / lowering operation and change in field of view overlap range> The stand 110 according to this embodiment may be configured to be able to rise and fall relative to the vehicle front structure. Fig. 4 is a diagram showing the relationship between the detection ranges of the reference lidar and the fixed lidar when the stand is raised according to one embodiment. Fig. 5 is a diagram showing the relationship between the detection ranges of the reference lidar and the fixed lidar when the stand is lowered according to one embodiment.

[0025] As shown in FIG. 4, when the stand 110 is in the raised state (during lifting and lowering) with respect to the vehicle front structure, the distance from the center of the vehicle 10 to the overlapping position where the vertical field of view 701 of the reference rider 104 and the vertical field of view range 702 of the fixed rider start to overlap is L1. Also, the vertical overlapping range is indicated by 703. On the other hand, as shown in FIG. 5, when the stand 110 is in the lowered state (during lowering) with respect to the vehicle front structure, the distance from the center of the vehicle 10 to the overlapping position where the vertical field of view 801 of the reference rider 104 and the vertical field of view range 802 of the fixed rider start to overlap is L2. Also, the vertical overlapping range is indicated by 803.

[0026] As is clear from FIGS. 4 and 5, L2 < L1. That is, by lowering the reference rider 104, it becomes possible to arrange the target at a position closer to the vehicle 10, and it becomes possible to perform aiming processing in a narrow space. Therefore, the surrounding space can be efficiently utilized.

[0027] In this way, by executing the aiming processing of the plurality of fixed riders in the state where the reference rider 104 is lowered, the execution of the processing becomes easy.

[0028] As described above, according to the present embodiment, as long as the target is arranged within the visual angle range of the reference rider and the fixed rider, it is possible to execute the aiming processing of the fixed rider without requiring the accuracy of the position of the target with respect to the vehicle. Also, by using a rotary reference rider, it is possible to execute the aiming processing of the plurality of fixed riders in a short time by rotating the reference rider once to acquire data in the state where the target is arranged for each fixed rider.

[0029] In this way, by using a rotary reference rider, it becomes possible to easily perform the aiming of the fixed rider not only at the time of factory shipment but also at the time of maintenance at the work site of the vehicle.

[0030] (Embodiment 2) Next, an example of a mounting structure for mounting the fixed lidar 104 to the stand 110 will be described with reference to Figs. 6 to 8. Fig. 6 is a partially enlarged view of a vehicle according to one embodiment. Fig. 7 is a diagram showing an example of a structure for mounting a reference lidar to a stand according to one embodiment. Fig. 8 is a diagram showing an example of a structure for mounting a reference lidar to a stand according to one embodiment.

[0031] In FIG. 6, the stand 110 is a T-shaped stand including a vertical member 1101 extending vertically and a horizontal member 1102 extending horizontally above the vertical member 1101. The horizontal member 1102 includes a removable cover 1102a. The stand 110 is fixed to the vehicle front structure with a plurality of screws 401-404 via the rear surface 130 of the vehicle front structure while being raised vertically relative to the upper surface 120 of the vehicle front structure. By removing these screws 401-404, the vertical member 1101 of the stand 110 can be lowered as shown in FIG. 7. The state in FIG. 7 shows the most lowered state, in which the stand 110 is not fixed to the vehicle front structure. Therefore, the stand 110 can be raised by grasping and lifting the stand 110 upward.

[0032] 7, with the cover 1102a removed, a fixing member 501 for attaching the reference lidar 104 is attached to the mounting surface 1102b via a plurality of screws 551 and 552. The fixing member 501 has a mounting plate 501a on its upper portion for mounting the reference lidar 104.

[0033] Then, bracket 502 is attached to surface 120a of upper surface 120 of the vehicle front structure via a plurality of screws 553, 554, and is also attached to fixing member 501 via a plurality of screws 555, 556. By attaching bracket 502, fixing member 501 can be more stably fixed to stand 110. As shown in FIG. 8 , reference rider 104 can be placed on mounting plate 501a of fixing member 501 and attached via screws 601.

[0034] As described above, according to this embodiment, the reference lidar can be easily removed from the vehicle, and the reference lidar can be attached to the vehicle with high accuracy.

[0035] (Embodiment 3) Next, an example of the internal structure of a vehicle according to one embodiment will be described with reference to Figures 9 to 11. Figure 9 is a perspective view of the internal structure of a vehicle according to one embodiment. Figure 10 is a front view of the internal structure of a vehicle according to one embodiment. Figure 11 is a top view of the internal structure of a vehicle according to one embodiment. The internal structure 90 is a vehicle internal structure spanning a lower portion of the vehicle front structure of the vehicle 10 and a vehicle rear structure corresponding to a cargo bed portion extending from the lower portion toward the rear of the vehicle.

[0036] Reference numerals 901 and 911 denote a pair of upper frame members that extend in the fore-and-aft direction of the vehicle in the vehicle front structure. Upper frame member 901 and upper frame member 911 are arranged in parallel. Reference numerals 902 and 912 denote a pair of upper frame members that extend in the fore-and-aft direction of the vehicle in the vehicle rear structure. Upper frame member 902 and upper frame member 912 are arranged in parallel.

[0037] Reference numerals 1001 and 1002 denote cylindrical members that extend in the left-right direction of the vehicle and connect the upper frame member 901 and the upper frame member 911. The cylindrical members 1001 and 1002 are arranged in parallel. In this embodiment, the cylindrical members 1001 and 1002 perpendicularly intersect the upper frame members 901 and 911. The cylindrical member 1002 is also connected to the upper frame member 902 and the upper frame member 912.

[0038] Further, reference numerals 1003 and 1004 denote cylindrical members extending in the left-right direction of the vehicle and connecting the upper frame member 902 and the upper frame member 912. The cylindrical members 1003 and 1004 are arranged in parallel. In this embodiment, the cylindrical members 1003 and 1004 perpendicularly intersect the upper frame members 902 and 912. Reference numerals 1011 and 1012 denote reinforcing members extending in the left-right direction of the vehicle.

[0039] Reference numerals 981 and 991 denote cylindrical members that extend partly in the vehicle longitudinal direction and partly in a direction obliquely intersecting the vehicle longitudinal direction. One end of cylindrical member 981 is connected to cylindrical member 1001 and extends through reinforcing member 1011, and the other end is connected to upper frame member 901. One end of cylindrical member 991 is connected to cylindrical member 1001 and extends through reinforcing member 1011, and the other end is connected to upper frame member 911.

[0040] Reference numerals 951 and 961 denote a pair of lower frame members extending in the longitudinal direction of the vehicle. The lower frame members 951 and 961 are parallel to the upper frame members 901, 902, 911 and 912. Reference numerals 971 and 972 denote cylindrical members extending in the transverse direction of the vehicle and connecting the lower frame member 951 and the lower frame member 961. Reference numerals 1021 and 1022 denote cylindrical members connecting the upper frame member 902, the lower frame member 951, the lower frame member 961 and the upper frame member 912. The cylindrical members 1021 and 1022 are partially bent and have an L-shape. Reference numeral 973 denotes a reinforcing member extending in the transverse direction of the vehicle and connected to the lower frame member 951 and the lower frame member 961.

[0041] Reference numerals 1151 and 1161 denote a pair of vertical frame members extending in the vertical direction of the vehicle. The vertical frame member 1151 and the vertical frame member 1161 are parallel to each other. The vertical frame member 1151 connects the cylindrical member 1001 and the lower frame member 951. The vertical frame member 1161 connects the cylindrical member 1001 and the lower frame member 961.

[0042] Reference numerals 1153 and 1163 denote a pair of vertical frame members extending in the vertical direction of the vehicle. The vertical frame member 1153 and the vertical frame member 1163 are parallel to each other. The vertical frame member 1153 connects the cylindrical member 1002 and the lower frame member 951. The vertical frame member 1163 connects the cylindrical member 1002 and the lower frame member 961.

[0043] Reference numerals 1155 and 1165 denote a pair of vertical frame members extending in the up-down direction of the vehicle. The vertical frame member 1155 and the vertical frame member 1165 are parallel to each other. The vertical frame member 1155 connects the cylindrical member 1003 and the reinforcing member 973. The vertical frame member 1165 connects the cylindrical member 1003 and the reinforcing member 973.

[0044] Reference numerals 952 and 962 denote a pair of middle frame members extending in the longitudinal direction of the vehicle. The middle frame members 952 and 962 are located between the upper and lower frame members in the vertical direction of the vehicle. One end of the middle frame member 952 is connected to a vertical frame member 1155. One end of the middle frame member 962 is connected to a vertical frame member 1165.

[0045] Reinforcing member 1152 connects upper frame member 901 and vertical frame member 1151 and extends diagonally relative to both members. Reinforcing member 1162 connects upper frame member 911 and vertical frame member 1161 and extends diagonally relative to both members. Reinforcing member 1154 connects upper frame member 901 and vertical frame member 1153 and extends diagonally relative to both members. Reinforcing member 1164 connects upper frame member 911 and vertical frame member 1163 and extends diagonally relative to both members.

[0046] Reinforcing member 1156 connects upper frame member 902 and vertical frame member 1155 and extends obliquely relative to both members. Reinforcing member 1166 is also arranged symmetrically to reinforcing member 1156 on the left side of the vehicle, and reinforcing member 1166 connects upper frame member 912 and vertical frame member 1165 and extends obliquely relative to both members.

[0047] A battery (not shown) can be stored in the central space of the internal structure 90. More specifically, the battery (not shown) is stored in the internal space defined by the upper frame members 902, 912, the lower frame members 951, 961, the cylindrical members 1002, 1003, the cylindrical members 1021, 1022, and the vertical frame members 1153, 1163, 1155, 1165. The battery can be loaded onto or unloaded from above the vehicle through the opening defined by the upper frame members 902, 912 and the cylindrical members 1002, 1003. This allows the battery to be loaded onto or unloaded from above the vehicle 10 without lifting up the vehicle 10.

[0048] Furthermore, by providing L-shaped cylindrical members 1021 and 1022 on the sides of the battery (not shown), the rigidity of the vehicle body can be ensured and the battery can be protected from the impact of a side collision.

[0049] Furthermore, when viewed from the front of the vehicle 10, the internal structure 90 has a trapezoidal shape that is narrow at the bottom and wide at the top. This allows the weight of luggage (cargo) placed on the luggage bed at the rear of the vehicle to be supported efficiently, and allows the battery and other internal components to be placed on the lower frame members 951, 961, etc., which have high strength. This makes it possible to protect the battery from running over or being pushed up when driving on rough roads.

[0050] (Embodiment 4) Furthermore, an example of vehicle superimposition according to one embodiment will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is an explanatory diagram of a vehicle before superimposition according to one embodiment, and Fig. 13 is an explanatory diagram of a vehicle after superimposition according to one embodiment.

[0051] As shown in Fig. 12, rack 1251 is placed on the bed of vehicle 10a, and ladder rail 1252 is connected to rack 1251. In this state, vehicle 10b climbs onto ladder rail 1252 and moves forward, and after being superimposed, ladder rail 1252 is removed. This results in the superimposed state shown in Fig. 13. Furthermore, after being superimposed, vehicle 10b may be fixed to rack 1251.

[0052] In this way, a rack is used that can load and secure another vehicle of the same model on top of the loading platform of a vehicle. This allows two vehicles to be placed in the footprint of one vehicle, reducing storage and transportation costs. Also, if one vehicle becomes unable to run due to a breakdown or lack of power, another vehicle can be used to rescue it. Therefore, when the vehicle is not in use as a work vehicle (when not in operation), it can be operated efficiently and at low cost.

[0053] <Summary of the embodiment> 1. The vehicle (10) according to the above embodiment is a rotating reference lidar (104); Multiple fixed riders (105-109) a processing means (102) for executing an aiming process for the plurality of fixed LIDARs using the reference LIDAR; Equipped with.

[0054] This allows the fixed rider to easily aim, thereby realizing efficient aiming.

[0055] 2. In the vehicle (10) according to the above embodiment, The reference lidar has a field of view angle range (301) of 360 degrees in the Yaw direction, Each of the plurality of fixed lidars has a predetermined field of view angle range (302) in the Yaw direction, The field of view angle range of the reference lidar and the field of view angle range of each fixed lidar at least partially overlap.

[0056] This makes it possible to place a target at any position within the overlapping range and acquire data, thereby enabling the fixed lidar to be aimed using the data from the reference lidar.

[0057] 3. The vehicle (10) according to the above embodiment is Further provided with a height-adjustable stand (110), the reference lidar is fixed to the stand; The reference rider can be raised and lowered in response to the raising and lowering operation of the stand.

[0058] This allows the aiming process to be performed with the stand lowered, making it possible to perform the aiming process at a position closer to the vehicle, and making it possible to perform aiming even in a narrow space.

[0059] 4. The vehicle (10) according to the above embodiment is The stand is installed at the front and top of the vehicle.

[0060] This makes it possible to prevent blind spots caused by the vehicle itself when detecting the reference lidar.

[0061] 5. In the vehicle (10) according to the above embodiment, The processing means executes the aiming process for the plurality of fixed lidars with the reference lidar lowered.

[0062] This allows the aiming process to be performed with the reference rider lowered, making it possible to perform the aiming process at a position closer to the vehicle, and enabling aiming to be performed even in a narrow space.

[0063] 6. In the vehicle (10) according to the above embodiment, When the reference lidar is lowered, the position (L2) of the overlapping area (803) between the field of view angle range (801) of the reference lidar and the field of view angle range (802) of each fixed lidar occurs at a position closer to the reference lidar than the position (L1) of the overlapping area (703) between the field of view angle range (701) of the reference lidar and the field of view angle range (702) of each fixed lidar when the reference lidar is raised.

[0064] This makes it possible to perform the aiming process at a position closer to the vehicle when the reference rider is lowered, and makes it possible to perform aiming even in a narrow space.

[0065] 7. In the vehicle (10) according to the above embodiment, The plurality of fixed lidars include: a front lidar (105) disposed in front of the vehicle and having a predetermined range of viewing angles centered on the front; a right front lidar (106) disposed at the right front of the vehicle and having a predetermined range of viewing angles centered on the right front direction; a left front lidar (107) disposed on the left front of the vehicle and having a predetermined viewing angle range centered on the left front direction; a right rear lidar (108) disposed at the right rear of the vehicle and having a predetermined range of viewing angles centered on the right rear direction; a left rear lidar (109) disposed at the left rear of the vehicle and having a predetermined range of viewing angles centered on the left rear direction; Equipped with.

[0066] This makes it possible to ensure sufficient detection accuracy for automatic driving of the vehicle through autonomous control.

[0067] 8. In the vehicle (10) according to the above embodiment, The reference lidar is detachable from the vehicle.

[0068] This allows the reference lidar to be removed when working with a vehicle and attached when aiming a fixed lidar. The reference lidar, which is generally expensive and does not easily satisfy durability requirements, is used for adjusting other fixed lidars and is removed when working on the vehicle, making it possible to use one reference lidar for aiming the fixed lidars of multiple vehicles.

[0069] <Other embodiments> Furthermore, a program for realizing one or more functions described in each embodiment can be supplied to a system or device via a network or a storage medium, and one or more processors in the computer of the system or device can read and execute the program. The present invention can also be realized in such an embodiment.

[0070] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0071] 10: Vehicle, 101: CPU, 104: Reference lidar, 105: Front lidar, 106: Right front lidar, 107: Left front lidar, 108: Right rear lidar, 109: Left rear lidar, 110: Stand, 111: Radar

Claims

1. A vehicle, a rotating reference lidar; A plurality of fixed lidars; a processing means for executing an aiming process for the plurality of fixed LIDARs using the reference LIDAR; A vehicle characterized by comprising:

2. the reference lidar has a field of view angle range of 360 degrees in the Yaw direction; Each of the plurality of fixed lidars has a predetermined field of view angle range in the Yaw direction, 2. The vehicle according to claim 1, wherein the field of view angle range of the reference lidar and the field of view angle range of each fixed lidar at least partially overlap.

3. It also comes with a height adjustable stand, the reference lidar is fixed to the stand; 3. The vehicle according to claim 2, wherein the reference rider is movable up and down in response to an up and down movement of the stand.

4. 4. The vehicle according to claim 3, wherein the stand is installed at the front and upper part of the vehicle.

5. 4. The vehicle according to claim 3, wherein the processing means executes the aiming process for the plurality of fixed lidars in a state in which the reference lidar is lowered.

6. The vehicle described in claim 3, characterized in that the position of the overlapping area between the field of view angle range of the reference lidar and the field of view angle range of each fixed lidar when the reference lidar is lowered occurs at a position closer to the reference lidar than the position of the overlapping area between the field of view angle range of the reference lidar and the field of view angle range of each fixed lidar when the reference lidar is raised.

7. The plurality of fixed lidars include: a front lidar disposed in front of the vehicle and having a predetermined range of viewing angles centered on the front; a right front lidar disposed on the right front side of the vehicle and having a predetermined range of viewing angles centered on the right front direction; a left front lidar disposed on the left front side of the vehicle and having a predetermined range of viewing angles centered on the left front direction; a right rear lidar disposed at the right rear of the vehicle and having a predetermined field of view angle range centered in the right rear direction; a left rear lidar disposed at the left rear of the vehicle and having a predetermined range of viewing angles centered in the left rear direction; 2. The vehicle according to claim 1, further comprising:

8. 8. The vehicle according to claim 1, wherein the reference lidar is detachable from the vehicle.

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