CN113281722A - Vehicle with a steering wheel - Google Patents

Abstract

The application provides a vehicle, the vehicle comprises a vehicle body, a laser radar and a shield, the vehicle body comprises a framework and a shell, the shell is mounted on the framework, the shell comprises a shell body and a containing cavity protruding outwards, the containing cavity comprises a mounting opening facing the inside of a vehicle body and an opening facing the front lower part of the vehicle body, the shell body is provided with an expanding port, and the expanding port extends from the joint of the opening and the shell body along the direction of the opening; the laser radar is connected with the framework and positioned in the accommodating cavity, a lens of the laser radar is aligned to the opening of the accommodating cavity, and the view expanding port is used for enabling the sight range of the laser radar to be within a preset range; the protective cover is covered on the lens of the laser radar, and the outer wall of the protective cover is matched with the inner wall of the opening of the containing cavity. The design of the vehicle can meet the requirements of the width and the appearance of the vehicle body and can ensure the sight range of the laser radar.

Description

Vehicle with a steering wheel

Technical Field

The application relates to the technical field of vehicles, in particular to a vehicle.

Background

The laser radar is a product combining a laser technology and a radar technology, has the main functions of accurately measuring the position (distance and angle), the motion state (speed, vibration and attitude) and the shape of a target, detecting, identifying, distinguishing and tracking the target, and is widely applied to various fields.

Along with the development of science and technology and transportation requirements, unmanned vehicles and automatic driving vehicles are also gradually developed. The laser radar ranging and positioning method is widely applied to the field of vehicles. Among the prior art, based on the distance measurement demand, generally can dispose lidar on the automobile body, in order to satisfy automobile body width and outward appearance requirement, the smaller the better the distance that lidar kept away from the automobile body, but this will cause the automobile body probably to shelter from lidar's sight range, influences lidar detection result.

Disclosure of Invention

An object of the embodiment of this application is to provide a vehicle, and the design of this vehicle both can satisfy the requirement of automobile body width and outward appearance, can guarantee laser radar's sight range again.

The embodiment of the application provides a vehicle, which comprises a vehicle body, a laser radar and a shield, wherein the vehicle body comprises a framework and a shell, the shell is mounted on the framework, the shell comprises a shell body and an accommodating cavity protruding outwards, the accommodating cavity comprises a mounting opening facing the interior of a vehicle body and an opening facing the front lower part of the vehicle body, the shell body is provided with an expanding port, and the expanding port extends from the joint of the opening and the shell body along the direction of the opening; the laser radar is connected with the framework and positioned in the accommodating cavity, a lens of the laser radar is aligned to the opening of the accommodating cavity, and the view expanding port is used for enabling the sight range of the laser radar to be within a preset range; the protective cover is covered on the lens of the laser radar, and the outer wall of the protective cover is matched with the inner wall of the opening of the containing cavity.

In the realization process, the gap between the cavity and the lens of the laser radar is accommodated through setting up the blocking of the protective cover, and the coordination of the overall appearance of the vehicle is improved. Set up the mouth that expands that extends along the opening direction by the department of meeting of opening and casing main part simultaneously in casing main part, get rid of the part that open-ended the place ahead sheltered from laser radar sight promptly on the casing, avoid the structure of casing department of buckling or corner to cause the shelter from laser radar's sight, show the opening in bigger angular range, and then effectively enlarge laser radar's sight. Therefore, the vehicle provided by the embodiment of the application can meet the requirements of the width and the appearance of the vehicle body and can ensure the sight range of the laser radar.

In a possible implementation manner, the extending direction of the view expanding port forms an angle of 0-30 ° with the perpendicular line of the opening.

In the implementation process, when the included angle between the extending direction of the view expanding port and the perpendicular line of the opening is 0, namely the extending direction of the view expanding port is parallel to the perpendicular line of the opening, the shielding structure right in front of the opening on the shell can be removed; when the extending direction of the expanding port and the included angle of the vertical line of the opening are larger than 0, the shielding structure in front of the opening side on the shell body can be removed, and then the sight range of the laser radar at the bending part or the corner of the shell is effectively enlarged.

In a possible implementation manner, the housing main body includes a main body shell and an assembly shell, an assembly port is formed on the main body shell, the assembly shell is spliced with the main body shell to seal the assembly port, and the accommodating cavity is formed in the assembly shell.

At above-mentioned realization in-process, owing to set up detachable assembly shell, vehicle in this application can realize vehicle main part earlier then lidar's installation order. The assembly shell is connected to the main body shell or the framework instead of the laser radar, namely, no relevant matching connection exists between the assembly shell and the laser radar, so that the position precision of the laser radar can not be influenced by the assembly shell in the disassembly process, and unnecessary repeated calibration of the laser radar can be avoided.

In a possible implementation manner, the vehicle further comprises a water baffle, the water baffle is located between the framework and the assembling shell, and the water baffle is tightly attached to the inner wall of the main body shell to cover the assembling port; and a connecting hole is formed in the position, corresponding to the containing cavity, of the water baffle plate so that the laser radar is connected to the framework.

In the implementation process, the water baffle is arranged to shield the assembly opening, only a small connecting hole is reserved for connecting the laser radar, and external rainwater can be prevented from entering the vehicle body through the containing cavity in daily operation, so that the effect of protecting internal parts of the vehicle body is achieved.

In a possible implementation, the vehicle that provides in this application still includes the support and sets up angle adjusting device on the support, the leg joint in the skeleton, lidar installs angle adjusting device is last, angle adjusting device is used for adjusting lidar's installation angle.

In the above-mentioned realization process, install the mounting means on the skeleton with laser radar through the support, can compensate the distance between laser radar and the skeleton, simplify mounting structure, and support and angle adjusting device can assist laser radar's heat dissipation, reduce laser radar to the inside leading-in heat of vehicle main part. The angle adjusting device can adjust the installation angle of the laser radar, so that the lens of the laser radar can be aligned to the opening of the accommodating cavity.

In a possible implementation manner, the laser radar is detachably mounted on the angle adjusting device.

In the implementation process, the laser radar and the angle adjusting device are detachably mounted, so that the laser radar can be maintained or replaced conveniently.

In one possible implementation, the support is a thermally conductive frame.

In the implementation process, the support is a heat conduction frame, so that the heat dissipation of the laser radar can be accelerated, and the heat dissipation efficiency is improved.

In a possible implementation manner, an exposure port for exposing a lens of the laser radar is formed in the shield.

At above-mentioned realization in-process, the camera lens department at laser radar covers the guard shield, can improve the leakproofness of the cooperation of laser radar and the whole outward appearance of vehicle and laser radar installation, and the guard shield direct mount can reduce the assembly deviation between laser radar and the guard shield on laser radar, guarantees laser radar's normal sight range. Set up on the guard shield and show the mouth, show laser radar's camera lens, can avoid the guard shield to cause the sheltering from to laser radar's sight scope.

In a possible implementation manner, the protective cover is clamped on the lens of the laser radar.

In the implementation process, the protective cover is detachably connected with the laser radar in a clamping mode, and the protective cover is simple in structure and convenient to install and operate.

In one possible embodiment, the receiving space is located on the vehicle body side.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is an exploded view of a part of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a block diagram of an assembly housing provided by an embodiment of the present application;

fig. 3 is an assembly structure diagram of a vehicle part according to an embodiment of the present application.

Icon: 100-a vehicle body; 110-a framework; 111-a body frame; 112-side wall frame; 120-a housing body; 121-a receiving cavity; 122-an opening; 200-laser radar; 210-lens; 123-a body shell; 124-assembling the shell; 125-assembly port; 126-expand the view port; 300-a water baffle; 310-connecting hole; 220-a bracket; 230-a shield; 231 — exposing the port.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 and 3, fig. 1 is a partial explosion structure diagram of a vehicle according to an embodiment of the present disclosure; fig. 3 is an assembly structure diagram of a vehicle part according to an embodiment of the present application. The vehicle comprises a vehicle body 100, a laser radar 200 and a shield 230, wherein the vehicle body 100 comprises a framework 110 and a shell, the shell is mounted on the framework 110, the shell comprises a shell body 120 and a containing cavity 121 protruding outwards, the containing cavity 121 comprises a mounting opening facing the interior of the vehicle body and an opening 122 facing the front lower part of the vehicle body, the shell body 120 is provided with an expanding port 126, and the expanding port 126 extends from the joint of the opening 122 and the shell body 120 along the direction of the opening 122; the laser radar 200 is connected to the framework 110 and located in the accommodating cavity 121, the lens 210 of the laser radar 200 is aligned with the opening 122 of the accommodating cavity 121, and the view expanding port 126 is used for enabling the sight range of the laser radar 200 to be within a preset range; the shroud 230 is mounted over the lens 210 of the lidar 200, with the outer wall of the shroud 230 fitting the inner wall of the cavity 121 at the opening 122.

In the implementation process, when the vehicle is assembled, the framework 110 is generally installed, the laser radar 200 is installed on the framework 110, and then the accommodating cavity 121 on the housing is aligned with the laser radar 200 and installed on the framework 110. However, there is a certain deviation in the fitting of the housing 121 to the laser radar 200, which may result from the manufacturing process of the housing 121 or from the mounting of the housing. Therefore, in order to accommodate laser radar 200 in accommodating cavity 121, the internal dimension of accommodating cavity 121 is generally designed to be larger than the internal dimension of laser radar 200, and opening 122 of accommodating cavity 121 is designed to be larger than lens 210 of laser radar 200, so as to prevent lens 210 of laser radar 200 from being obstructed by accommodating cavity 121 due to installation deviation. But hold simultaneously and will form the gap between the inner wall of the opening 122 department of chamber 121 and laser radar 200's camera lens 210, influence the harmony of the whole outward appearance of vehicle, consequently the vehicle of this application is covered with guard shield 230 on laser radar 200's camera lens 210, and the outer wall of guard shield 230 and the inner wall looks adaptation that holds chamber 121, and then can block up the gap between the camera lens 210 that holds chamber 121 and laser radar 200, improve the harmony of the whole outward appearance of vehicle.

Meanwhile, in order to meet the requirements of the width and the appearance of the vehicle body, the accommodation cavity 121 is generally arranged as close as possible to the vehicle body, but this may cause the structure of the vehicle body to block the realization range of the laser radar 200, especially the bending structure or the corner structure of the vehicle body, therefore, the vehicle of the present application sets the view expanding port 126 extending from the joint of the opening 122 and the housing main body 120 along the direction of the opening 122 on the housing main body 120, namely, the part of the housing upper opening 122 blocking the sight of the laser radar 200 in front of the opening is removed, the structure at the bending part or the corner of the housing is prevented from blocking the sight of the laser radar 200, the opening 122 is exposed in a larger angle range, and further, the sight of the laser radar 200 is effectively enlarged.

It should be understood that the direction of the opening 122 refers to a direction away from the extending surface of the opening 122, i.e., a direction outward from the opening 122 of the accommodating chamber 121.

It should be understood that the predetermined range includes the range defined by the opening 122 and the view expanding port 126. When the casing has no view-extending port 126, the line-of-sight of the laser radar 200 passing through the opening 122 is the line-of-sight of the opening 122, and the preset range is larger than the line-of-sight of the opening 122.

In the prior art, the laser radar 200 is generally installed by arranging an installation shell on a vehicle body shell and then installing the laser radar 200 in the installation shell. However, the mounting shell is directly mounted on the shell of the vehicle body, and the mounting shell cannot be smoothly connected with the vehicle body, so that the overall appearance of the vehicle body is not coordinated. Compare in laser radar 200 mounting means among the prior art, the direct chamber 121 that holds that disposes one end opening 122 on the casing of vehicle main body 100 of this application embodiment sets up laser radar 200 in holding chamber 121 to connect laser radar 200 on skeleton 110 in order to realize the fixed mounting between laser radar 200 and vehicle main body 100. It is thus clear that its laser radar 200's of vehicle installation that this application provided forms the chamber 121 that holds laser radar 200 through casing itself, need not to set up the installation shell in addition on the casing, has effectively guaranteed the harmony of the whole outward appearance of vehicle, and compares in being connected with the casing, and laser radar 200 is direct to be connected with the skeleton 110 of vehicle, can guarantee the steadiness of laser radar 200 installation better.

Alternatively, the shape of the receiving cavity 121 may be designed according to the shape of the laser radar 200 and the overall appearance of the vehicle body, such as square, round, or a horn shape as shown in fig. 1.

Alternatively, if the housing is integrally formed, when assembling the vehicle, the frame 110 may be assembled first, then the laser radar 200 is mounted on the frame 110, and finally the accommodating cavity 121 of the housing is aligned with the laser radar 200 and mounted on the frame 110.

In one possible implementation, the extending direction of the view expanding port 126 is at an angle of 0 ° to 30 ° from the perpendicular of the opening 122.

In the implementation process, when the included angle between the extending direction of the view expanding port 126 and the perpendicular line of the opening 122 is 0, that is, the extending direction of the view expanding port 126 is parallel to the perpendicular line of the opening 122, the shielding structure right in front of the opening 122 on the housing can be removed; when the included angle between the extending direction of the view expanding port 126 and the perpendicular line of the opening 122 is greater than 0, the shielding structure in front of the side of the opening 122 on the housing can be removed, and the sight range of the laser radar 200 at the bending position or the corner of the housing can be further effectively enlarged.

It should be understood that the perpendicular to the opening 122 is a perpendicular to the plane of extension of the opening 122.

Alternatively, the extending direction of the view expanding port 126 may be at an angle of 0 from the perpendicular of the opening 122, i.e., the extending direction of the view expanding port 126 extending outward may be parallel to the perpendicular of the opening 122, as shown in fig. 1-3. The extending direction of the expanding port 126 extending outward may also be 5 °, 10 °, 20 °, or 30 ° from the perpendicular of the opening 122.

In a possible implementation manner, please refer to fig. 1-3, wherein fig. 2 is a structural diagram of an assembly shell 124 provided in an embodiment of the present application, the housing main body 120 includes a main body shell 123 and the assembly shell 124, the main body shell 123 is provided with an assembly port 125, the assembly shell 124 is spliced with the main body shell 123 to close the assembly port 125, and the accommodating cavity 121 is disposed on the assembly shell 124.

In the implementation process, when the vehicle is assembled, the main body shell 123 may be directly mounted on the framework 110, the assembly port 125 on the main body shell 123 exposes the framework 110, the laser radar 200 is mounted on the framework 110 through the assembly port 125, and finally the assembly shell 124 is assembled, the accommodating cavity 121 on the assembly shell 124 is aligned with the laser radar 200 and mounted on the vehicle main body 100, and the assembly shell 123 is spliced to form the coordinated and unified shell body 120.

In this implementation, the vehicle in the present application can realize the mounting order of the vehicle main body 100 and then the laser radar 200, due to the provision of the detachable attachment case 124. The assembling shell 124 is connected to the main body shell 123 or the framework 110, but not to the laser radar 200, that is, there is no relevant matching connection between the assembling shell 124 and the laser radar 200, so that the position accuracy of the laser radar 200 is not affected by the assembling shell 124 in the disassembling process, and unnecessary repeated calibration of the laser radar 200 can be avoided.

Optionally, the assembly shell 124 is detachably connected to the main body shell 123 or detachably connected to the framework 110, for example, the assembly shell 124 is fastened to the main body shell 123, or the assembly shell 124 is detachably mounted to the framework 110 by fasteners such as screws and bolts, which is not limited in the embodiments of the present application.

In some embodiments, the frame 110 includes a body frame 111 and a side frame 112, the body frame 111 is disposed inside the casing main body 120 for supporting the casing main body 120, the side frame 112 is connected to the body frame 111, the side frame 112 extends into the assembling opening 125 to cover the edge portion of the assembling opening 125, and the assembling shell 124 is detachably mounted on the side frame 112.

In the above embodiment, the side frame 112 is disposed at the assembling opening 125, so that the distance between the assembling shell 124 and the frame 110 can be reduced, and the assembling shell 124 can be conveniently installed.

In a possible implementation manner, a mounting opening (not shown in the figure) is formed in the mounting shell 124, the mounting shell 124 extends outward from the mounting opening by a predetermined distance to form an accommodating cavity 121, and the laser radar 200 passes through the mounting opening and is located in the accommodating cavity 121.

In the implementation process, when the assembly shell 124 is installed, the installation opening is aligned with the laser radar 200 to be installed, so that the laser radar 200 enters the accommodating cavity 121 through the installation opening, finally, the laser radar 200 is accommodated in the accommodating cavity 121, and the lens 210 of the laser radar 200 is aligned with the opening 122 of the accommodating cavity 121.

It should be understood that the above-mentioned predetermined distance refers to a distance that enables laser radar 200 to be accommodated within accommodation chamber 121 with lens 210 aligned with opening 122.

It should be noted that the mounting opening 125 is adapted to the mounting shell 124, that is, the size of the mounting opening 125 is adapted to the size of the mounting shell 124, and the mounting opening is opened on the mounting shell 124, and it is obvious that the mounting opening 125 is larger than the mounting opening, see fig. 1 specifically.

Alternatively, the position of the opening 122 on the accommodating cavity 121 may be opposite to the mounting opening, and may also be specifically set according to the actual line of sight requirement of the laser radar 200, for example, the opening 122 faces to the rear lower part, the front lower part, the rear upper part, or the front upper part of the vehicle, and the embodiment of the present application is not limited thereto.

In one possible implementation manner, the vehicle further comprises a water baffle 300, the water baffle 300 is located between the framework 110 and the assembling shell 124, and the water baffle 300 is attached to the inner wall of the main body shell 123 to cover the assembling port 125; the water guard 300 is provided with a coupling hole 310 at a position corresponding to the receiving cavity 121 to couple the laser radar 200 to the frame 110.

In the implementation process, the water baffle 300 is arranged to shield the assembly port 125, only a small connecting hole 310 is reserved for connecting the laser radar 200, and therefore external rainwater can be prevented from entering the interior of the vehicle main body 100 through the accommodating cavity 121 in daily operation, and the effect of protecting the internal components of the vehicle main body 100 is achieved.

When the laser radar 200 is mounted on the frame 110 by using bolts or screws, the size of the connection holes 310 may be set according to the specific outer diameter of the bolts or screws.

In a possible implementation manner, the vehicle provided in the present application further includes a bracket 220 and an angle adjusting device (not shown in the figure) disposed on the bracket 220, wherein the bracket 220 is connected to the framework 110, the laser radar 200 is mounted on the angle adjusting device, and the angle adjusting device is used for adjusting a mounting angle of the laser radar 200.

In the above-mentioned implementation process, the mounting means of installing laser radar 200 on skeleton 110 through support 220 can compensate for the distance between laser radar 200 and skeleton 110, simplifies the mounting structure, and support 220 and angle adjusting device can assist laser radar 200's heat dissipation, reduces laser radar 200 to the inside leading-in heat of vehicle main body 100. The angle adjustment device can adjust the installation angle of laser radar 200 so that lens 210 of laser radar 200 can be aligned with opening 122 of accommodating chamber 121.

Optionally, the angle adjusting device may adopt an existing angle adjuster or an angle adjusting disc, and the structure of the angle adjusting device is not limited in the embodiment of the present application.

In one possible implementation, lidar 200 may be removably mounted to an angle adjustment device.

In the implementation process, the laser radar 200 and the angle adjusting device are detachably mounted, so that the laser radar 200 can be conveniently maintained or replaced.

In one possible implementation, the bracket 220 is a thermally conductive bracket.

In the implementation process, the support 220 is a heat conduction frame, so that the heat dissipation of the laser radar 200 can be accelerated, and the heat dissipation efficiency is improved.

Specifically, the bracket 220 may be made of a metal material or an alloy material, such as an aluminum alloy material with light weight, high strength, and high dimensional accuracy, which is not limited in the embodiments of the present application.

In some embodiments, shield 230 is a transparent enclosure that is covered at opening 122, thereby isolating lens 210 of lidar 200 within cavity 121, preventing damage to lens 210 of lidar 200 from external elements, and preventing rainwater from entering the interior of vehicle body 100 through opening 122.

In one possible implementation, the shield 230 has an exposing opening 231 for exposing the lens 210 of the laser radar 200.

In the implementation process, the lens 210 of the laser radar 200 is covered with the protective cover 230, so that coordination between the laser radar 200 and the overall appearance of the vehicle and the installation tightness of the laser radar 200 can be improved, the protective cover 230 is directly installed on the laser radar 200, assembly deviation between the laser radar 200 and the protective cover 230 can be made up, and the normal sight range of the laser radar 200 is ensured. The shield 230 is provided with an exposure opening 231 for exposing the lens 210 of the laser radar 200, so that the shield 230 can prevent the view range of the laser radar 200 from being blocked.

In one possible implementation, the shroud 230 is engaged with the lens 210 of the lidar 200.

In the implementation process, the protective cover 230 is detachably connected with the laser radar 200 in a clamping manner, and the laser radar device is simple in structure and convenient to install and operate.

In one possible embodiment, the receiving space 121 is located on the vehicle body side.

Optionally, the accommodating cavity 121 is located at a portion of the side of the vehicle body close to the rear of the vehicle, or the accommodating cavity 121 is located at the rear of the vehicle body, and the position of the accommodating cavity 121 may be specifically selected according to the design of the vehicle body 100, the performance and the functional requirements of the laser radar 200, and the like, which is not limited in this embodiment of the application.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims (10)

1. A vehicle, characterized by comprising:

the vehicle body comprises a framework and a shell, the shell is mounted on the framework, the shell comprises a shell body and an accommodating cavity protruding outwards, the accommodating cavity comprises a mounting opening facing the inside of the vehicle body and an opening facing the front lower part of the vehicle body, the shell body is provided with an expanding opening, and the expanding opening extends from the joint of the opening and the shell body along the direction of the opening;

the laser radar is connected with the framework and positioned in the accommodating cavity, a lens of the laser radar is aligned to the opening of the accommodating cavity, and the view expanding port is used for enabling the sight range of the laser radar to be within a preset range;

the protective cover covers the lens of the laser radar, and the outer wall of the protective cover is matched with the inner wall of the opening of the accommodating cavity.

2. The vehicle of claim 1, wherein the extended direction of the view expanding port is at an angle of 0 ° -30 ° to a perpendicular to the opening.

3. The vehicle of claim 1, wherein the housing body comprises a body shell and a fitting shell, the body shell is provided with a fitting opening, the fitting shell is spliced with the body shell to seal the fitting opening, and the accommodating cavity is arranged on the fitting shell.

4. The vehicle of claim 3, further comprising a water baffle, wherein the water baffle is positioned between the framework and the assembly shell, and the water baffle is attached to the inner wall of the main body shell to cover the assembly opening;

and a connecting hole is formed in the position, corresponding to the containing cavity, of the water baffle plate so that the laser radar is connected to the framework.

5. The vehicle according to any one of claims 1 to 4, characterized by further comprising a bracket and an angle adjusting device provided on the bracket, the bracket being connected to the framework, the lidar being mounted on the angle adjusting device, the angle adjusting device being configured to adjust a mounting angle of the lidar.

6. The vehicle of claim 5, characterized in that the lidar is removably mounted to the angle adjustment device.

7. The vehicle of claim 5, characterized in that the bracket is a thermally conductive frame.

8. The vehicle according to any one of claims 1 to 4, wherein an exposure port for exposing a lens of the laser radar is opened in the cover.

9. The vehicle of claim 8, wherein the shroud snaps onto a lens of the lidar.

10. Vehicle according to any of claims 1-4, characterized in that the receiving cavity is located on the side of the body.

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