CN214607425U - Vehicle with a steering wheel - Google Patents

Abstract

The utility model discloses a vehicle, the vehicle includes: a vehicle control unit; the anti-theft system is electrically connected with the vehicle control unit; the driving system is electrically connected with the vehicle control unit, and the vehicle control unit is configured to control the driving system to be started when detecting that the anti-theft system is started, and control the driving system to be stopped when detecting that the anti-theft system is stopped. The utility model discloses a vehicle, through will driving the system and being connected with the vehicle control unit electricity, can drive the system through the vehicle control unit control when detecting anti-theft system and open, reduce unnecessary and drive the dog operation to reduce and drive the required energy consumption cost of system, and can protect the tire not corroded by animal urine, improve the life of tire, and do benefit to the intellectuality that realizes driving the system, be convenient for reduce the energy consumption that drives the system.

Description

Vehicle with a steering wheel

Technical Field

The utility model belongs to the technical field of the vehicle manufacturing technique and specifically relates to a vehicle is related to.

Background

During the placement of the vehicle, especially in a community or roadside parking area without management personnel, the tires of the vehicle are easily corroded by urine of small animals (such as dogs and the like), resulting in the reduction of the service life of the tires. And in prior art, the sound wave that the dog device was driven to ultrasonic wave sent has certain influence to people, and is triggered by artifical manual, can't realize its intelligent operation, simultaneously, drives the dog device on the vehicle and be independent part, connects solitary power, does not connect with whole car for it is in the operation of vehicle in-process or when the vehicle stops, all can the continuation work, leads to its energy consumption too high, and its power needs often to be changed, exists the space of improvement.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, an object of the utility model is to provide a vehicle, can protect the tire not corroded by animal urine, improve the life of tire, and do benefit to the intellectuality that realizes the system of driving, be convenient for reduce the energy consumption of the system of driving.

According to the utility model discloses vehicle, include: a vehicle control unit; the anti-theft system is electrically connected with the vehicle control unit; the driving system is electrically connected with the vehicle control unit, and the vehicle control unit is configured to control the driving system to be started when detecting that the anti-theft system is started, and control the driving system to be stopped when detecting that the anti-theft system is stopped.

According to the utility model discloses the vehicle is through driving the system and being connected with the vehicle control unit electricity, can drive the system through the vehicle control unit control when detecting anti-theft system and opening and open, reduces unnecessary and drives the dog operation to reduce and drive the required energy consumption cost of system, and can protect the tire not corroded by animal urine, improve the life of tire, and do benefit to the intellectuality that realizes driving the system, be convenient for reduce the energy consumption that drives the system.

According to the utility model discloses vehicle of some embodiments still includes: the vehicle power supply, the driving system with the vehicle power supply is electrically connected, and the vehicle controller is set to control the vehicle power supply to face the driving system when detecting that the anti-theft system is started.

According to the utility model discloses the vehicle of some embodiments, the system of driving includes detection module, ultrasonic wave generating device, detection module with ultrasonic wave generating device all with the vehicle control unit electricity is connected, detection module is used for detecting the peripheral life body of vehicle, vehicle control unit is used for the basis the characteristic control of life body ultrasonic wave generating device orientation the life body sends out the expulsion sound.

According to the utility model discloses the vehicle of some embodiments, the characteristic of live body includes the high characteristic of live body, just vehicle control unit is configured to be according to high characteristic discernment the live body is control when the toy the ultrasonic wave generating device orientation the live body sends the expulsion sound.

According to the utility model discloses vehicle of some embodiments, detection module includes transmitter, receiver and the control unit, the transmitter with the receiver all with the control unit electricity is connected, the control unit with the vehicle control unit electricity is connected, vehicle control unit configures to be in when anti-theft system opens the orientation the control unit output opening signal, the control unit basis opening signal control the transmitter transmission detection signal, the receiver is used for detecting receive the light pulse signal during the life body.

According to the utility model discloses some embodiments's vehicle, the control unit is configured to when not detecting the life entity every interval set time emission the probe signal.

According to the utility model discloses vehicle of some embodiments, detection module still includes: the threshold circuit is connected between the control unit and the vehicle control unit, and is externally connected with a threshold level; and a middle-stage amplifying part is arranged between the control unit and the threshold circuit, and a shaping output part is arranged between the threshold circuit and the vehicle control unit.

According to some embodiments of the vehicle of the invention, a gain control element is provided between the receiver and the control unit.

According to the utility model discloses the vehicle of some embodiments, the frequency of expulsion sound is f, satisfies: f is more than 20000Hz and less than or equal to 50000 Hz.

According to the utility model discloses the vehicle of some embodiments, detection module is a plurality of, and is a plurality of detection module correspond respectively install in a plurality of wheels of vehicle.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a logic control diagram of a driving system of a vehicle according to an embodiment of the present invention;

fig. 2 is a schematic circuit diagram of an ultrasonic wave generating apparatus of a vehicle according to an embodiment of the present invention.

Reference numerals:

the vehicle 100 is provided with a plurality of wheels,

the device comprises a vehicle control unit 1, an anti-theft system 2, a driving system 3, a detection module 31, a transmitter 311, a receiver 312, a control unit 313, a threshold circuit 314, an ultrasonic wave generating device 32, a vehicle power supply 4, a threshold level 5, a middle-stage amplifying part 6, a shaping output part 7, a gain control part 8, an optical pulse signal 9, a key lock 10 and a life body 20.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Unless otherwise specified, the front-rear direction in the present invention is the longitudinal direction of the vehicle 100, i.e., the X direction; the left-right direction is the lateral direction of the vehicle 100, i.e., the Y direction; the up-down direction is the vertical direction of the vehicle 100, i.e., the Z direction.

Referring to fig. 1-2, a vehicle 100 according to an embodiment of the present invention is described, where the vehicle 100 can control the driving system 3 to be turned on when the vehicle control unit 1 detects that the anti-theft system 2 is turned on, so as to protect the tire from being corroded by animal urine and prolong the service life of the tire.

As shown in fig. 1, a vehicle 100 according to an embodiment of the present invention includes: the vehicle control system comprises a vehicle control unit 1, an anti-theft system 2 and a driving system 3.

As shown in fig. 1, the vehicle control unit 1 is connected to the vehicle power supply 4, so that the vehicle power supply 4 supplies power to the vehicle control unit 1, and thus various electrical appliances in the vehicle 100 are controlled by the vehicle control unit 1, so that the vehicle 100 can execute various operation instructions.

The anti-theft system 2 can prevent the vehicle 100 from being stolen when the vehicle 100 is unmanned, and the anti-theft system 2 is electrically connected with the vehicle control unit 1, that is, the anti-theft system 2 and the vehicle control unit 1 can be constructed into a communicated circuit, so that the vehicle control unit 1 can control the anti-theft system 2 conveniently, and after the vehicle 100 is locked, the vehicle control unit 1 can receive state information from the anti-theft system 2 through the circuit to determine whether the vehicle 100 is in an on state.

The driving system 3 can drive the life body 20 in a certain range of the vehicle 100, so that the effect of protecting tires from being corroded by animal urine is achieved, the service life of the tires is prolonged, the driving system 3 is electrically connected with the vehicle control unit 1, namely, the driving system 3 and the vehicle control unit 1 can be constructed into a communicated circuit, the vehicle control unit 1 can directly control the driving system 3 conveniently, the intelligence of the driving system 3 is achieved, and the use experience of a user is improved.

Wherein the vehicle control unit 1 is configured to control the driving system 3 to be turned on when detecting that the anti-theft system 2 is turned on, and to control the driving system 3 to be turned off when detecting that the anti-theft system 2 is turned off. That is to say, the driving system 3 is opened and closed according to the opening and closing of the anti-theft system 2, the opening and closing of the two systems are performed synchronously, when the anti-theft system 2 is opened, the vehicle control unit 1 controls the driving system 3 to be opened, and when the anti-theft system 2 is closed, the vehicle control unit 1 controls the driving system 3 to be closed, so that the driving system 3 is intelligently controlled to be opened and closed, and the labor is saved. It can be understood that, at the normal course of traveling of vehicle 100, anti-theft system 2 is the off-state, and at this moment, drives system 3 and also is the off-state, and when vehicle 100 was locked, system 3 driven opened along with anti-theft system 2's opening to needn't set up solitary control structure to driving system 3, do benefit to reduction in production cost, and be convenient for drive system 3 open and close and selectively control, do benefit to and reduce system 3's energy consumption of driving.

It should be noted that, in the utility model, as shown in fig. 1, the anti-theft system 2 and the driving system 3 are electrically connected to the whole vehicle, the anti-theft system 2, the driving system 3 and the whole vehicle controller 1 can be constructed into a communicated whole circuit, when the vehicle 100 stops, the user locks the vehicle 100 through the key lock 10, the anti-theft system 2 receives the information from the key lock 10 and opens to prevent the vehicle 100 from being stolen, at this time, the whole vehicle controller 1 receives the information that the anti-theft system 2 has been opened and controls the driving system 3 to open, thereby driving the life 20 in a certain range of the vehicle 100, protecting the tire from being corroded by animal urine, so as to prolong the service life of the tire, and the driving system 3 performs the dog driving operation after the vehicle 100 is locked, thereby preventing the driving system 3 from driving dogs under any condition, and facilitating the intelligentization of the driving system 3, is beneficial to reducing energy consumption.

According to the utility model discloses vehicle 100 is connected through driving system 3 and vehicle control unit 1 electricity, can drive system 3 and open when detecting anti-theft system 2 and open through vehicle control unit 1 control, reduces unnecessary and drives the dog operation to reduce and drive the required energy consumption cost of system 3, and can protect the tire not corroded by animal urine, improve the life of tire, and do benefit to the intellectuality that realizes driving system 3, be convenient for reduce the energy consumption that drives system 3.

In some embodiments, as shown in fig. 1, the vehicle 100 further includes: the whole vehicle power supply 4 and the driving system 3 are electrically connected with the whole vehicle power supply 4, that is, the power supply of the driving system 3 is the whole vehicle power supply 4, so that other power supplies do not need to be independently arranged for the driving system 3, the installation space in a vehicle is saved, the production cost is reduced conveniently, a built-in battery does not need to be frequently replaced for many times in the later use process, the use and operation of users are reduced, and the use convenience is improved.

Wherein, vehicle control unit 1 sets up to control whole car power 4 towards the system 3 power supplies of driving when detecting that anti-theft system 2 opens, that is to say, when anti-theft system 2 opens, vehicle control unit 1 controls whole car power 4 towards the system 3 power supplies of driving, in order to open actuating system, thereby drive the organism 20 in the vehicle 100 certain limit, prevent that the urine of organism 20 from corroding the tire, and when anti-theft system 2 closed, vehicle control unit 1 controls whole car power 4 and stops to the system 3 power supplies of driving, do benefit to the electric quantity of saving whole car power 4, reduce the energy consumption of the system 3 of driving.

As shown in fig. 1, in some embodiments, the driving system 3 includes a detection module 31 and an ultrasonic wave generation device 32.

The detection module 31 and the ultrasonic wave generation device 32 are both electrically connected with the vehicle control unit 1, so that the vehicle control unit 1 can receive the information detected by the detection module 31 and control the ultrasonic wave generation device 32 to output the driving sound wave according to the information. The detection module 31 is used for detecting the living body 20 around the vehicle 100.

It should be noted that, in the present invention, the living body 20 may be a dog or other small animal, wherein urine from the dog may corrode tires of the vehicle 100, and the detection module 31 may identify whether there is a living body 20 in the surroundings of the vehicle 100, and when the detection module 31 finds the living body 20, the detecting module 31 will transmit the vital sign information of the living being 20 to the vehicle control unit 1, and at this time, the vehicle control unit 1 is configured to control the ultrasonic wave generating device 32 to emit an expelling sound toward the living body 20 according to the characteristics of the living body 20, that is, when the vehicle control unit 1 receives the information from the detection module 31, the vehicle control unit 1 controls the ultrasonic wave generating device 32 to emit the expelling sound to the living body 20 according to the information, thereby repelling the living body 20 to prevent the urine from corroding the tires of the vehicle 100, and facilitating the improvement of the service life of the tires.

In the present invention, as shown in fig. 2, in the circuit control of the ultrasonic wave generator 32, the vdd is connected to the 9V dc power supply, the GND is grounded, and after the vehicle control unit 1 sends the activation signal, the signal is input from S1, and S2 is output, and at this time, the ultrasonic wave generator 32 is connected to the horn to send out the ultrasonic wave. The emission mode of the ultrasonic wave generator 32 is: every 3 sound ~ 5 sound, every sound lasts 1 second ~ 2 seconds, and the time interval of two continuous sounds is 1 second to be convenient for drive the dog fast, cause the corruption to the tire in order to prevent the urine of dog, in order to improve the life of tire.

The characteristics of the living body 20 include height characteristics of the living body 20, and the vehicle control unit 1 is configured to control the ultrasonic wave generating device 32 to emit the expelling sound towards the living body 20 when the living body 20 is recognized as a small animal according to the height characteristics, that is, the height of the living body 20 is detected by the detecting module 31, the vehicle control unit 1 determines whether the living body 20 is a small animal or not according to the height characteristics, and if the living body 20 is a small animal, the vehicle control unit 1 controls the ultrasonic wave generating device 32 to emit the expelling sound towards the living body 20, so that the accuracy of the determination is improved.

As shown in fig. 1, the detection module 31 includes a transmitter 311, a receiver 312, and a control unit 313.

The transmitter 311 and the receiver 312 are both electrically connected to the control unit 313, and the control unit 313 is electrically connected to the vehicle control unit 1, that is, the transmitter 311 and the receiver 312 are both electrically connected to the vehicle control unit 1 through the control unit 313, so that the vehicle control unit 1 controls the transmitter 311 and the receiver 312 through the control unit 313.

Wherein, the transmitter 311 can emit infrared rays of 2-48 beams, and the receiver 312 can receive corresponding infrared rays of 2-48 beams. When the height of the living body 20 reaches 20cm and an object passes through the object and blocks any two beams (can be used as 1 beam) of infrared rays, the detection module 31 can output a detection signal, and therefore the accuracy of the detection module 31 is improved.

The hybrid vehicle controller 1 is configured to output an on signal to the control unit 313 when the anti-theft system 2 is turned on, the control unit 313 controls the transmitter 311 to transmit a detection signal according to the on signal, and the receiver 312 is configured to receive the optical pulse signal 9 when the living body 20 is detected. That is, when the anti-theft system 2 is turned on, the vehicle control unit 1 receives a signal that the anti-theft system 2 is turned on and transmits the signal to the control unit 313, and at this time, the control unit 313 controls the transmitter 311 to transmit a detection signal so as to detect whether there is a living body 20 around the vehicle 100, and if a living body 20 is detected, the receiver 312 receives the returned light pulse signal 9.

The control unit 313 is configured to transmit the detection signal at set time intervals when the living body 20 is not detected, and it should be noted that, when the detection module 31 does not detect the living body 20, the control unit 313 controls the transmitter 311 to detect the transmitted detection signal again after 10 minutes (time adjustable, such as 5 minutes) so as to determine whether there is a living body 20 around the vehicle 100, and transmits the detection signal at the time intervals so as to reduce the energy consumption of the detection module 31.

In some embodiments, as shown in fig. 1, the detection module 31 further includes: a threshold circuit 314.

The threshold circuit 314 is connected between the control unit 313 and the vehicle control unit 1, so that the threshold circuit 314 determines the intensity of the signal transmitted to the vehicle control unit 1 from the control unit 313, that is, determines the size of the living body 20 according to the signal, thereby enhancing the accuracy of the detection module 31.

The threshold circuit 314 is externally connected with a threshold level 5, and the minimum height of the living body 20 can be defined by adjusting the threshold level 5, so that the detection module 31 can be flexibly adjusted according to specific use requirements.

The intermediate-stage amplifying part 6 is arranged between the control unit 313 and the threshold circuit 314, so that the signal transmitted to the vehicle control unit 1 by the control unit 313 is amplified, the accuracy of signal identification is improved, and the shaping output part 7 is arranged between the threshold circuit 314 and the vehicle control unit 1, so that the signal after judgment is shaped after the signal is judged by the threshold circuit 314, the vehicle control unit 1 receives the shaped signal, and the accuracy of signal identification is improved.

As shown in fig. 1, a gain control unit 8 is disposed between the receiver 312 and the control unit 313, so that the gain control unit 8 can gain the optical pulse signal 9 received by the receiver 312, that is, enhance the signal to improve the accuracy of signal identification.

The frequency of the expelling sound is f, and the following conditions are satisfied: 20000Hz < f is not more than 50000Hz, such as f 25000Hz, or f 35000Hz, or f 45000Hz, when the frequency of the expelling sound is selected from the above range, the dog around the vehicle 100 can be expelled without generating noise, thereby avoiding the influence on the pedestrians around the vehicle 100 and being beneficial to improving the use experience of the user.

It should be noted that, the hearing scope of people is 20Hz-20000Hz, and the hearing scope of dog is 15Hz-50000Hz, in the utility model discloses in, the frequency of expulsion sound is 25000Hz, utilized the high frequency sound that the dog can hear but the people can't hear, send out "explosion" nature expulsion sound that is strong in the twinkling of an eye to amazing the sense of hearing and the nervous system of dog, let the dog feel the fear, in order to realize driving the purpose of dog, and this expulsion sound surpasss the hearing scope of people, make people around vehicle 100 unable to hear this sound, thereby avoid producing the influence to the pedestrian around vehicle 100, do benefit to promoting user's use experience.

In a specific implementation, as shown in fig. 1, when the vehicle 100 is locked, the anti-theft system 2 is turned on by receiving the information from the key lock 10, and after the anti-theft system 2 is turned on, the vehicle control unit 1 sends a signal to enable the detection module 31 to start detecting whether there is a living body 20 in the recognizable range of the vehicle 100, and if no living body 20 is found, the detection module 31 detects again after 10 minutes (with adjustable time, for example, 5 minutes). When the detection module 31 finds the living body 20, a light pulse signal 9 is fed back to the receiver 312, the signal is gained by the gain control component 8 and then transmitted to the control unit 313, the control unit 313 transmits the information to the intermediate stage amplification component 6 for signal amplification, and transmits the amplified signal to the threshold circuit 314, so as to identify the intensity of the light pulse signal 9 (i.e. the size of the living body 20) fed back, the signal is transmitted to the shaping output part 7 through the threshold circuit 314 for shaping, the shaping output part 7 transmits the shaped information to the vehicle control unit 1, and after the vehicle control unit 1 receives the signal, the vehicle control unit 1 will send a signal to activate the ultrasonic wave generating device 32 to send out ultrasonic waves (25000Hz), thereby reach the effect of driving the dog, and can not exert an influence to pedestrian on every side, be convenient for promote user's experience and feel.

In some embodiments, the number of the detection modules 31 is multiple, and the plurality of detection modules 31 are respectively installed on the plurality of wheels of the vehicle 100 correspondingly, that is, the plurality of detection modules 31 correspond to the plurality of wheels of the vehicle 100 one by one, and one detection module 31 is installed on each wheel, so that the detection module 31 can detect the periphery of each wheel, and the tire is prevented from being corroded by urine of the living body 20, thereby prolonging the service life of the tire.

It should be noted that, in the utility model discloses, the front wheel monitoring: the two front wheels are respectively provided with a detection module 31, and the detection modules 31 are arranged at the positions above the front wheels, which can sense the side edges; monitoring the rear wheel: respectively adorn a detection module 31 on two rear wheels, and detection module 31 installs in the position that the rear wheel rear upper place can respond to the side, and each detection module 31 all passes through the bolt fastening on the automobile body of vehicle 100 to prevent that detection module 31 from droing, strengthen detection module 31's stability, and be convenient for detection module 31 to the homoenergetic realization around every wheel detects, avoid the tire to receive the corruption of the urine of life body 20, thereby improve the life of tire.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A vehicle (100), characterized by comprising:

a vehicle control unit (1);

the anti-theft system (2), the anti-theft system (2) is electrically connected with the vehicle control unit (1);

the driving system (3), the driving system (3) is electrically connected with the vehicle control unit (1), and the vehicle control unit (1) is configured to control the driving system (3) to be turned on when the anti-theft system (2) is detected to be turned on, and control the driving system (3) to be turned off when the anti-theft system (2) is detected to be turned off.

2. The vehicle (100) of claim 1, further comprising: the vehicle driving system comprises a vehicle power supply (4), wherein the driving system (3) is electrically connected with the vehicle power supply (4), the vehicle controller (1) is arranged to detect when the anti-theft system (2) is started, the vehicle power supply (4) faces the driving system (3).

3. Vehicle (100) according to claim 1 or 2, wherein the driving system (3) comprises a detection module (31), an ultrasonic generation device (32), the detection module (31) and the ultrasonic generation device (32) are both electrically connected to the vehicle control unit (1), the detection module (31) is used for detecting a living body (20) around the vehicle (100), and the vehicle control unit (1) is used for controlling the ultrasonic generation device (32) to emit a driving sound towards the living body (20) according to the characteristics of the living body (20).

4. The vehicle (100) according to claim 3, wherein the characteristic of the living body (20) includes a height characteristic of the living body (20), and the hybrid controller (1) is configured to control the ultrasonic wave generating device (32) to emit an expulsion sound toward the living body (20) when the living body (20) is identified as a small animal according to the height characteristic.

5. Vehicle (100) according to claim 3, wherein the detection module (31) comprises a transmitter (311), a receiver (312) and a control unit (313), the transmitter (311) and the receiver (312) are both electrically connected with the control unit (313), the control unit (313) is electrically connected with the vehicle control unit (1), the vehicle control unit (1) is configured to output a turn-on signal towards the control unit (313) when the anti-theft system (2) is turned on, the control unit (313) controls the transmitter (311) to transmit a detection signal according to the turn-on signal, and the receiver (312) is configured to receive a light pulse signal (9) when the living being (20) is detected.

6. Vehicle (100) according to claim 4, characterized in that the control unit (313) is configured to emit the probe signal every set time interval when the living being (20) is not detected.

7. The vehicle (100) according to claim 4, characterized in that the detection module (31) further comprises: the threshold circuit (314), the threshold circuit (314) is connected between the control unit (313) and the vehicle control unit (1), and the threshold circuit (314) is externally connected with a threshold level (5); wherein the content of the first and second substances,

an intermediate-stage amplifying part (6) is arranged between the control unit (313) and the threshold circuit (314), and a shaping output part (7) is arranged between the threshold circuit (314) and the vehicle control unit (1).

8. Vehicle (100) according to claim 4, characterised in that a gain control (8) is provided between the receiver (312) and the control unit (313).

9. The vehicle (100) of claim 3, wherein the frequency of the expelling sound is f, satisfying: f is more than 20000Hz and less than or equal to 50000 Hz.

10. The vehicle (100) according to claim 3, wherein the detection module (31) is provided in plurality, and the plurality of detection modules (31) are respectively mounted to a plurality of wheels of the vehicle (100).

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