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 Art

[0002] Aiming (optical axis adjustment) processing of object detection devices such as radar and lidar (Light Detection And Ranging) mounted on a vehicle is known. Patent Document 1 discloses that an aiming jig is installed at a predetermined distance in front on the front and rear axis of the vehicle, and vertical aiming is performed by detecting a reference reflector of the aiming jig.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique described in Patent Document 1, a large-scale aiming jig is required, so there is a problem 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 problems, and an object thereof is to provide a technique for realizing efficient aiming.

Means for Solving the Problems

[0006] A vehicle according to one aspect of the present invention that achieves the above object includes a rotary reference lidar, a plurality of fixed lidars, processing means for performing aiming processing of the plurality of fixed lidars using the reference lidar, and 、 The aforementioned reference lidar has a 360-degree field of view angle range in the yaw direction. Each of the aforementioned fixed lidars has a predetermined field of view angle range in the yaw direction. At least a portion of the field of view angle range of the reference lidar and the field of view angle range of each fixed lidar overlap. It is characterized by the following. [Effects of the Invention]

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

[0008] [Figure 1] This figure shows an example of the exterior configuration of a vehicle according to one embodiment. [Figure 2] There is a diagram showing an example of the vehicle configuration according to one embodiment. [Figure 3] This is an explanatory diagram of the aiming process according to one embodiment. [Figure 4] This figure shows the relationship between the detection range of the reference lighter and the fixed lighter when the stand is raised according to one embodiment. [Figure 5] This figure shows the relationship between the detection range of the reference lighter and the fixed lighter when the stand is lowered according to one embodiment. [Figure 6] This is a partially enlarged view of a vehicle according to one embodiment of the present invention. [Figure 7] This figure shows an example of a structure for attaching a reference rider to a stand according to one embodiment. [Figure 8] This figure shows an example of a structure for attaching a reference rider to a stand according to one embodiment. [Figure 9] This is a perspective view of the internal structure of a vehicle according to one embodiment. [Figure 10] This is a front view of the internal structure of a vehicle according to one embodiment. [Figure 11] This is a top view of the internal structure of a vehicle according to one embodiment. [Figure 12] This is an explanatory diagram of an example of vehicle superposition according to one embodiment (before superposition). [Figure 13] This is an explanatory diagram of an example of vehicle superposition according to one embodiment (after superposition). [Modes for carrying out the invention]

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential for the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Also, the same or similar configurations are assigned the same reference numerals, and duplicate descriptions are omitted.

[0010] In each drawing, the vertical direction, the left - right direction, and the front - rear direction indicate the directions defined with respect to the vehicle.

[0011] (Embodiment 1) <Configuration> FIG. 1 is a diagram showing an example of the external configuration of a vehicle according to an embodiment. Also, FIG. 2 is a diagram showing a configuration example of a vehicle according to an embodiment. The vehicle 10 is, for example, an automated guided vehicle and is an autonomous work vehicle capable of transporting loads such as luggage.

[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 information. For example, it stores information received from other devices, computer programs 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 wireless.

[0013] Furthermore, the vehicle 10 is equipped with a reference rider 104, a front rider 105, a right front rider 106, a left front rider 107, a right rear rider 108, a left rear rider 109, a stand, and a radar 111. By positioning fixed riders at the four lower corners and the front of the vehicle, it is possible to obtain the required field of view for autonomous driving. In this embodiment, an example is described in which there are a total of five fixed riders, from the front rider 105 to the left rear rider 109, as multiple fixed riders (riders fixedly installed on the vehicle), but the number of fixed riders is not limited to five, and may be more or fewer.

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

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

[0016] Stand 110 is a GNSS (Global Navigation Satellite System) stand installed on the front of the vehicle 10. A GNSS sensor is installed on the GNSS stand, and by using this sensor, it is possible to receive GNSS data and determine the position information of the vehicle 10. A reference lidar 104 can also be attached to stand 110 in a detachable manner. Stand 110 in this embodiment has a T-shape, but is not limited to this shape. Radar 111 is, for example, a millimeter-wave radar, which uses radio waves to detect targets around the vehicle 10 and detects (measures) the distance to the targets and the direction (azimuth) of the targets relative to the vehicle 10.

[0017] <Aiming process> Figure 3 is an explanatory diagram of the aiming process according to one embodiment. The aiming process is a calibration process to ensure that the electronic control unit operates correctly. In this embodiment, the aiming process of the fixed lidar is performed using the reference lidar 104.

[0018] In Figure 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 rider 104 and represents a 360-degree angle range. 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 rider 104 and the field of view angle range 302 of the right front rider 106 overlap.

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

[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 pre-calibrated (aimed) with respect to the vehicle 10. Specifically, the reference lidar 104 is pre-calibrated (aimed) by performing an aiming process on one target precisely positioned relative to the vehicle 10 within the field of view angle range of the reference lidar 104.

[0021] Since the relationship between target 32, which is located within the field of view angle range 301 of the reference rider 104 that has been pre-calibrated for vehicle 10, and vehicle 10 is known, if target 32 ​​is included within the field of view angle range 302 of the right front rider 106, the relationship between target 32 ​​and vehicle 10 can be given to the right front rider 106. In other words, the right front rider 106 can acquire the relationship with vehicle 10 via the reference rider 104 (= aim).

[0022] Similarly, for the other fixed riders besides the right front rider 106, aiming can be performed by placing another target at a position where the respective field of view angles of each fixed rider and the reference rider 104 overlap, and performing the same operation.

[0023] In this way, by pre-aiming the rotating reference rider, which acts as the master, with high precision relative to the vehicle 10, and by having each fixed rider, which acts as a slave, correct itself using the value calculated by the reference rider as positive, the aiming of the fixed riders can be easily performed.

[0024] <Changes in stand height adjustment and field of view overlap> The stand 110 according to this embodiment may be configured to be able to move up and down relative to the front structure of the vehicle. Here, Figure 4 is a diagram showing the relationship between the detection range of the reference rider and the fixed rider when the stand is raised according to one embodiment. Figure 5 is a diagram showing the relationship between the detection range of the reference rider and the fixed rider 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. 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. 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 utilized efficiently.

[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. Further, 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, with reference to Figures 6 to 8, an example of a mounting structure for attaching the fixed rider 104 to the stand 110 will be described. Figure 6 is a partially enlarged view of a vehicle according to one embodiment. Figure 7 is a diagram showing an example of a structure for attaching a reference rider to a stand according to one embodiment. Figure 8 is a diagram showing an example of a structure for attaching a reference rider to a stand according to one embodiment.

[0031] In Figure 6, the stand 110 is a T-shaped stand comprising a vertical member 1101 extending vertically and a horizontal member 1102 extending horizontally at the upper part of the vertical member 1101. The horizontal member 1102 is equipped with a removable cover portion 1102a. The stand 110 is fixed to the front of the vehicle structure by a plurality of screws 401 to 404 via the rear surface 130 of the front of the vehicle structure when it is raised vertically relative to the upper surface 120 of the front of the vehicle structure. By removing these screws 401 to 404, the vertical member 1101 of the stand 110 can be lowered, as shown in Figure 7. The state in Figure 7 shows the lowest position, in which the stand is not fixed to the front of the vehicle structure. Therefore, it is possible to raise the stand 110 by grasping it and lifting it upwards.

[0032] As shown in Figure 7, with the cover portion 1102a removed, a fixing member 501 for mounting the reference lighter 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 part for mounting the reference lighter 104.

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

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

[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 an internal structure of the vehicle that extends from the lower part of the front structure of the vehicle 10 to the rear structure of the vehicle, which corresponds to the cargo bed that extends from the lower part toward the rear of the vehicle.

[0036] 901 and 911 are a pair of upper frame members extending in the longitudinal direction of the vehicle in the front structure. Upper frame member 901 and upper frame member 911 are arranged in parallel. 902 and 912 are a pair of upper frame members extending in the longitudinal direction of the vehicle in the rear structure. Upper frame member 902 and upper frame member 912 are arranged in parallel.

[0037] Members 1001 and 1002 are cylindrical members extending in the left-right direction of the vehicle, connecting upper frame member 901 and upper frame member 911. Cylindrical members 1001 and 1002 are arranged parallel to each other. In this embodiment, cylindrical members 1001 and 1002 intersect perpendicularly with upper frame members 901 and 911. Furthermore, cylindrical member 1002 is also connected to upper frame member 902 and upper frame member 912.

[0038] Furthermore, 1003 and 1004 are cylindrical members extending in the left-right direction of the vehicle, 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 intersect the upper frame members 902 and 912 perpendicularly. 1011 and 1012 are reinforcing members extending in the left-right direction of the vehicle.

[0039] Members 981 and 991 are cylindrical members, one of which extends in the longitudinal direction of the vehicle, and the other which extends in a direction that intersects the longitudinal direction of the vehicle at an angle. 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] 951 and 961 are 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. 971 and 972 are cylindrical members extending in the lateral direction of the vehicle, connecting the lower frame member 951 and the lower frame member 961. 1021 and 1022 are cylindrical members connecting the upper frame member 902, the lower frame member 951, the lower frame member 961, and the upper frame member 912. Cylindrical members 1021 and 1022 are partially bent and have an L-shape. 973 is a reinforcing member extending in the lateral direction of the vehicle and is connected to the lower frame members 951 and 961.

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

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

[0043] 1155 and 1165 are a pair of vertical frame members extending in the vertical direction of the vehicle. Vertical frame member 1155 and vertical frame member 1165 are parallel to each other. Vertical frame member 1155 connects cylindrical member 1003 and reinforcing member 973. Vertical frame member 1165 connects cylindrical member 1003 and reinforcing member 973.

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

[0045] 1152 is a reinforcing member that connects the upper frame member 901 and the vertical frame member 1151 and extends diagonally to both members. 1162 is a reinforcing member that connects the upper frame member 911 and the vertical frame member 1161 and extends diagonally to both members. 1154 is a reinforcing member that connects the upper frame member 901 and the vertical frame member 1153 and extends diagonally to both members. 1164 is a reinforcing member that connects the upper frame member 911 and the vertical frame member 1163 and extends diagonally to both members.

[0046] Member 1156 is a reinforcing member that connects the upper frame member 902 and the vertical frame member 1155, and extends diagonally to both members. On the left side of the vehicle, reinforcing member 1166 is also positioned symmetrically to reinforcing member 1156, and reinforcing member 1166 connects the upper frame member 912 and the vertical frame member 1165, and extends diagonally to both members.

[0047] A battery (not shown) can be housed in the central space of the internal structure 90. More specifically, the battery (not shown) is housed 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 placed on or off the vehicle through the openings defined by the upper frame members 902, 912 and the cylindrical members 1002, 1003. This makes it possible to place or remove the battery without lifting 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 with a narrower lower section and a wider upper section. This allows for efficient support of the load of cargo placed on the rear cargo bed of the vehicle, and also allows internal components such as the battery to be placed on high-strength lower frame members 951, 961, etc. Thus, the battery can be protected from bumps and jolts when driving on rough roads.

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

[0051] As shown in Figure 12, the rack 1251 is placed on the cargo bed of the vehicle 10a, and the ladder rail 1252 is connected to the rack 1251. With the vehicle 10b in this state, it drives onto the ladder rail 1252 and moves forward, and after overlapping, the ladder rail 1252 is removed. This results in the overlapped state as shown in Figure 13. Furthermore, after overlapping, the vehicle 10b may be fixed to the rack 1251.

[0052] In this system, a rack is used that allows another vehicle of the same model to be loaded and secured on the cargo bed of a vehicle. This allows two vehicles to be placed in the footprint of one vehicle, thereby reducing storage and transportation costs. Furthermore, if one vehicle becomes immobile due to a breakdown or lack of power, another vehicle can provide assistance. Therefore, when a vehicle is not in operation (non-operational), it can be operated efficiently and at a low cost.

[0053] <Summary of Embodiments> 1. The vehicle (10) according to the above embodiment is Rotary reference ridiculum (104), Multiple fixed riders (105-109), Processing means (102) that performs aiming processing of the plurality of fixed riders using the reference rider, It is equipped with.

[0054] This makes it easier for fixed riders to aim. Therefore, it becomes possible to achieve efficient aiming.

[0055] 2. In the vehicle (10) according to the above embodiment, The aforementioned reference lidar has a 360-degree field of view angle range (301) in the yaw direction. Each of the aforementioned fixed lidars has a predetermined field of view angle range (302) in the yaw direction, At least a portion of the field of view angle range of the reference lidar and the field of view angle range of each fixed lidar overlap.

[0056] This makes it possible to aim a fixed rider using data from a reference rider by placing a target at any position within the overlapping range and acquiring data.

[0057] 3. The vehicle (10) according to the above embodiment is It also features a height-adjustable stand (110), The aforementioned reference rider is fixed to the stand, The reference rider is movable up and down in accordance with the raising and lowering operation of the stand.

[0058] This allows aiming to be performed closer to the vehicle by lowering the stand, making it possible to aim even in narrow spaces.

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

[0060] This prevents blind spots caused by the vehicle itself when detecting the reference rider.

[0061] 5. In the vehicle (10) according to the above embodiment, The processing means performs aiming processing on the plurality of fixed riders while the reference rider is lowered.

[0062] This allows aiming to be performed at a position closer to the vehicle by lowering the reference rider, making it possible to aim even in narrow spaces.

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

[0064] This allows aiming to be performed at a position closer to the vehicle when the reference rider is lowered, making it possible to aim even in narrow spaces.

[0065] 7. In the vehicle (10) according to the above embodiment, The aforementioned multiple fixed lids are, A forward-facing rider (105) positioned in front of the vehicle and having a predetermined field of view angle range centered on the front, A right-front rider (106) positioned to the right front of the vehicle and having a predetermined field of view angle range centered on the right front direction, A left-front rider (107) positioned to the left front of the vehicle and having a predetermined field of view angle range centered on the left front direction, A right rear rider (108) positioned at the right rear of the vehicle and having a predetermined field of view angle range centered on the right rear direction, A left rear rider (109) positioned at the left rear of the vehicle and having a predetermined field of view angle range centered on the left rear direction, It is equipped with.

[0066] This makes it possible to ensure sufficient detection accuracy for autonomous driving of vehicles using self-controlled systems.

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

[0068] This allows the reference rider to be removed when working on a vehicle and reattached when aiming the fixed rider. By using the generally expensive and often unreliable reference rider for adjusting other fixed riders and removing it during actual vehicle work, one reference rider can be used for aiming the fixed riders of multiple vehicles.

[0069] <Other Embodiments> Furthermore, a program that implements one or more functions described in each embodiment is supplied to a system or device via a network or storage medium, and one or more processors in the computer of the system or device can read and execute this program. The present invention can also be realized in this manner.

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

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

Claims

1. It is a vehicle, A rotary reference lid, Multiple fixed riders, Processing means for performing aiming processing of the plurality of fixed riders using the reference rider, Equipped with, The aforementioned reference lidar has a 360-degree field of view angle range in the yaw direction. Each of the aforementioned fixed lidars has a predetermined field of view angle range in the yaw direction. A vehicle characterized in that at least a portion of the field of view angle range of the reference rider and the field of view angle range of each fixed rider overlap.

2. It also features a height-adjustable stand, The aforementioned reference rider is fixed to the stand, The vehicle according to claim 1, characterized in that the reference rider is movable up and down in accordance with the raising and lowering operation of the stand.

3. The vehicle according to claim 2, characterized in that the stand is installed on the front and top of the vehicle.

4. The vehicle according to claim 2, characterized in that the processing means performs aiming processing of the plurality of fixed riders while the reference rider is lowered.

5. The vehicle according to claim 2, characterized in that the position of the overlapping region between the field of view angle range of the reference rider and the field of view angle range of each fixed rider when the reference rider is in a lowered state is closer to the reference rider than the position of the overlapping region between the field of view angle range of the reference rider and the field of view angle range of each fixed rider when the reference rider is in a raised state.

6. The aforementioned multiple fixed lids are, A forward-facing rider positioned in front of the vehicle and having a predetermined field of view angle range centered on the front, A right-front rider positioned to the right front of the vehicle and having a predetermined field of view angle range centered on the right front direction, A left-front rider positioned on the left front of the vehicle and having a predetermined field of view angle range centered on the left front direction, A right rear rider positioned at the right rear of the vehicle and having a predetermined field of view angle range centered on the right rear direction, A left rear rider positioned at the left rear of the vehicle and having a predetermined field of view angle range centered on the left rear direction, The vehicle according to claim 1, characterized by comprising the above.

7. The vehicle according to any one of claims 1 to 6, characterized in that the reference rider is detachable from the vehicle.

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