Vehicles and vehicle driving methods

Abstract

The present invention relates to a vehicle and a vehicle driving method. The vehicle includes: an external sensor configured to acquire information related to external conditions of the vehicle; a vehicle height adjustment device configured to adjust the vehicle height; and a control device configured to control the vehicle. The control device is configured to control the vehicle height adjustment device to achieve a vehicle height corresponding to boarding and alighting conditions at a predetermined parking position when the vehicle is parked at the predetermined parking position. If the external sensor detects an obstacle at the predetermined parking position, the control device is configured to control the vehicle height adjustment device based on the height of the obstacle so that the obstacle does not interfere with the vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle and a vehicle driving method. The present invention is used, for example, in an autonomous vehicle equipped with a vehicle-height adjustment device configured to adjust the vehicle height when parked. Furthermore, the present invention is used, for example, in an autonomous driving method for autonomously driving the autonomous vehicle equipped with the vehicle-height adjustment device. Background Art

[0002] As disclosed in Japanese Patent Application Laid-Open No. 09-039539, there is known a vehicle including a vehicle height adjustment device that adjusts the vehicle height so that passengers can easily get on and off the vehicle when the vehicle is parked.

[0003] Sometimes there may be obstacles such as fallen objects at the location where the vehicle is to be parked. In such a case, due to lowering the vehicle height, the obstacle may interfere with the vehicle, thereby causing damage to the vehicle. Summary of the Invention

[0004] The present invention provides a vehicle and a vehicle driving method which can park the vehicle in a manner that prevents interference between the vehicle and the obstacle and makes it easy for passengers to get on and off the vehicle when an obstacle exists in the vehicle's parking space.

[0005] A first aspect of the present invention is a vehicle. The vehicle includes: an external sensor configured to acquire information related to external conditions of the vehicle; a vehicle height adjustment device configured to adjust the vehicle height; and a control device configured to control the vehicle. The control device is configured to control the vehicle height adjustment device so that the vehicle height corresponds to boarding and alighting conditions at a predetermined parking position when the vehicle is parked at the predetermined parking position. If an obstacle is detected by the external sensor at the predetermined parking position, the control device is configured to control the vehicle height adjustment device based on the height of the obstacle so that the obstacle does not interfere with the vehicle.

[0006] According to the first aspect, if an obstacle exists at a predetermined parking position where the vehicle is to be parked, the vehicle height is adjusted so that the obstacle does not interfere with the vehicle. This allows the vehicle to be parked at the predetermined parking position while preventing interference between the vehicle and the obstacle and making it easier for passengers to get on and off the vehicle.

[0007] In the first aspect, the control device may be configured to change the parking position of the vehicle from the specified parking position to a position within the parking permission area that does not interfere with the obstacle when the height of the obstacle is greater than a specified upper limit. The control device may be configured to control the vehicle height adjustment device so that the vehicle height is adjusted to meet the boarding and alighting conditions at the changed parking position.

[0008] According to the above configuration, even if passengers get on and off the vehicle at a location different from the predetermined parking position, the vehicle height is adjusted to a height corresponding to the boarding and alighting conditions at the changed parking position, thereby providing passengers with comfortable boarding and alighting.

[0009] In the first aspect, the control device may be configured to determine the type of obstacle based on information obtained from an external sensor. If the obstacle is an object that can interfere with the vehicle, the control device may be configured to stop the vehicle at a predetermined parking position. The control device may also be configured to control the vehicle height adjustment device so that the vehicle height is consistent with boarding and alighting conditions at the predetermined parking position.

[0010] According to the above configuration, it is possible to provide passengers with comfortable boarding and alighting at their original position where they want to get on and off the vehicle without having to avoid the obstacle intentionally depending on the type of the obstacle.

[0011] In the first aspect, the vehicle may also include a communication interface configured to communicate with an operator. If the type of the obstacle cannot be determined, the control device may be configured to provide an image of the obstacle to the operator and obtain information related to the type of the obstacle from the operator.

[0012] According to the above configuration, accurate judgment regarding the type of obstacle can be made by receiving assistance from the operator.

[0013] In the first aspect, the vehicle may include an interface configured to communicate with an operator. If the vehicle cannot be parked in the parking permission area without interfering with obstacles, the control device may be configured to request assistance from the operator and operate the vehicle in accordance with instructions from the operator.

[0014] According to the above configuration, the autonomous vehicle can receive assistance from the operator in situations where the autonomous vehicle cannot handle itself, thereby preventing the vehicle from being trapped in front of an obstacle.

[0015] In the first solution, the vehicle may also be an autonomous driving vehicle.

[0016] A second aspect of the present invention is a vehicle driving method for driving a vehicle equipped with a vehicle height adjustment device. The vehicle driving method includes controlling the vehicle height adjustment device to achieve a vehicle height corresponding to boarding and alighting conditions at the predetermined parking location when the vehicle is parked at the predetermined parking location. The vehicle driving method also includes controlling the vehicle height adjustment device based on the height of an obstacle in the predetermined parking location so that the obstacle does not interfere with the vehicle, if the obstacle exists.

[0017] In the second solution, the vehicle may also be an autonomous driving vehicle, and the vehicle driving method may also be executed to enable the autonomous driving vehicle to perform autonomous driving.

[0018] As described above, according to the first and second aspects of the present invention, when an obstacle exists at a predetermined parking location, the vehicle height is adjusted so that the obstacle does not interfere with the vehicle. This allows the vehicle to be parked at the predetermined parking location, preventing interference between the vehicle and the obstacle and making it easier for passengers to get on and off. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0020] Figure 1A It is a diagram for explaining the outline of the first embodiment of the present invention.

[0021] Figure 1B It is a diagram for explaining the outline of the first embodiment of the present invention.

[0022] Figure 2 This is a block diagram showing the configuration of an autonomous driving vehicle according to the first embodiment of the present invention.

[0023] Figure 3 This is a flowchart of vehicle control during parking according to the first embodiment of the present invention.

[0024] Figure 4A It is a diagram for explaining the outline of the second embodiment of the present invention.

[0025] Figure 4B It is a diagram for explaining the outline of the second embodiment of the present invention.

[0026] Figure 4C It is a diagram for explaining the outline of the second embodiment of the present invention.

[0027] Figure 5 This is a flowchart of vehicle control during parking according to the second embodiment of the present invention.

[0028] Figure 6A It is a diagram for explaining the outline of the third embodiment of the present invention.

[0029] Figure 6B It is a diagram for explaining the outline of the third embodiment of the present invention.

[0030] Figure 6C It is a diagram for explaining the outline of the third embodiment of the present invention.

[0031] Figure 7 This is a flowchart of vehicle control during parking according to the third embodiment of the present invention.

[0032] Figure 8A It is a diagram for explaining the outline of the fourth embodiment of the present invention.

[0033] Figure 8B It is a diagram for explaining the outline of the fourth embodiment of the present invention.

[0034] Figure 9 This is a flowchart of vehicle control during parking according to the fourth embodiment of the present invention.

[0035] Figure 10A It is a diagram for explaining the outline of the fifth embodiment of the present invention.

[0036] Figure 10B It is a diagram for explaining the outline of the fifth embodiment of the present invention.

[0037] Figure 11 This is a block diagram showing the configuration of an autonomous driving vehicle according to a fifth embodiment of the present invention.

[0038] Figure 12 This is a flowchart of vehicle control during parking according to the fifth embodiment of the present invention.

[0039] Figure 13A It is a diagram for explaining the outline of the sixth embodiment of the present invention.

[0040] Figure 13B It is a diagram for explaining the outline of the sixth embodiment of the present invention.

[0041] Figure 14 This is a flowchart of vehicle control during parking according to the sixth embodiment of the present invention. DETAILED DESCRIPTION

[0042] In the various embodiments described below, the same reference numerals are used for common elements in the various figures, and repeated descriptions are omitted or simplified. In addition, when numerical values ​​such as the number, quantity, amount, and range of each element are mentioned in the embodiments shown below, the invention is not limited to the numerical values ​​mentioned, except for cases where it is specifically stated or clearly determined in principle to be such numerical values. In addition, with respect to the structures described in the embodiments shown below, except for cases where it is specifically stated or clearly determined in principle to be such structures, they are not essential to the invention.

[0043] 1. First Implementation

[0044] 1-1. Overview

[0045] First, use Figure 1A and Figure 1B The outline of the first embodiment will be described.

[0046] Figure 1A FIG. 4 depicts a bus 2 traveling on a two-lane road 40 divided by a lane boundary 44 into a driving lane 41 and a passing lane 42. Hereinafter, bus 2 will be referred to simply as vehicle 2. A bus bay 43 is located outside driving lane 41. Within bus bay 43, a parking area 50 where vehicle 2 is permitted to park is depicted by a rectangular frame. In principle, vehicle 2 is permitted to park only within parking area 50. Herein, parking area 50 where vehicle 2 can park is referred to as bus stop 50.

[0047] Vehicle 2 is an autonomous vehicle capable of autonomous driving. Vehicle 2 senses a sensing area SA in front of the vehicle in the direction of travel using external sensors described later, and travels along a route TL generated based on the target route. Route TL is the trajectory of vehicle 2 as it moves along the target route. If an obstacle is detected in front of vehicle 2 through sensing, route TL is generated in such a way that vehicle 2 avoids the obstacle. Figure 1A and Figure 1B In the example shown, the vehicle 2 is traveling in the driving lane 41 along a route TL from the driving lane 41 to the bus bay 43. The route TL is generated so that the vehicle 2 stops at the bus stop 50.

[0048] Vehicle 2 basically parks at a designated parking position close to the station platform where passengers are waiting. Furthermore, when vehicle 2 is parked, the lowest ground level, or vehicle height, is adjusted based on the boarding and alighting conditions at the designated parking position, making it easy for passengers to get on and off the vehicle. Specifically, the vehicle height is adjusted based on the height of the station platform. If the station platform is low, or if there is no station platform and the station platform is at the same height as the road surface at bus stop 50, the vehicle height of vehicle 2 is lowered to its lowest position. As a vehicle height adjustment device for adjusting the vehicle height, for example, an air suspension system or a lift system can be used.

[0049] Vehicle 2 also detects obstacles ahead of it and performs avoidance maneuvers at bus stop 50. At bus stop 50, fallen objects 60 may occasionally fall. These objects may be belongings left behind by passengers or cargo dropped from other vehicles. These objects may become obstacles to vehicle 2 while it is parked at bus stop 50.

[0050] However, if the route TL is generated to avoid the fallen object 60, the vehicle 2 cannot stop at the bus stop 50. If the vehicle 2 cannot stop at the bus stop 50, passengers on the vehicle 2 cannot get off, and passengers waiting at the boarding platform cannot board the vehicle 2.

[0051] Therefore, in the first embodiment, the route TL is not generated in a manner to avoid the falling object 60, but Figure 1B As shown, a route TL is generated to stop vehicle 2 at a predetermined parking position. Furthermore, vehicle 2 is parked at a predetermined parking position within bus stop 50 in a manner that prevents interference between vehicle 2 and dropped object 60 and facilitates boarding and alighting for passengers. Specifically, when vehicle 2 is parked at the predetermined parking position, the vehicle height is adjusted based on the height of dropped object 60, minimizing interference between the vehicle 2 and the bottom of the vehicle 2. Specifically, interference between dropped object 60 and the bottom of vehicle 2 means that dropped object 60 hits the bottom of vehicle 2, resulting in the dropped object 60 being pressed against the bottom. The height of dropped object 60 is estimated based on information obtained through sensing by external sensors.

[0052] 1-2. Components of Autonomous Driving Vehicles

[0053] Figure 2 1 is a block diagram showing the configuration of a vehicle 2 as an autonomous driving vehicle according to the first embodiment. Figure 2 The configuration of the illustrated vehicle 2 is also common to the automated driving vehicles of the second, third, fourth, and sixth embodiments described below. Vehicle 2 includes a vehicle control device 10 that controls vehicle 2, onboard sensors that input information to vehicle control device 10, and actuators that operate in response to signals output from vehicle control device 10.

[0054] The on-board sensors include a GPS receiving unit 6, an internal sensor 7, and an external sensor 8. The GPS receiving unit 6 determines the current position (e.g., latitude and longitude) of the vehicle 2 by receiving signals from GPS satellites. The internal sensor 7 is a sensor that detects the driving state of the vehicle 2. The internal sensor 7 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The external sensor 8 is a sensor that detects external conditions as peripheral information of the vehicle 2. The external sensor 8 includes at least one of a camera, a millimeter-wave radar, and a LiDAR. Based on the information obtained by the external sensor 8, processing such as detection of objects existing around the vehicle 2, measurement of the relative position or relative speed of the detected objects relative to the vehicle 2, and recognition of the shape of the detected objects is performed.

[0055] The actuator includes a driving actuator 4 and an air suspension system 5 related to the driving of the vehicle 2. The driving actuator 4 specifically includes a steering actuator for steering the vehicle 2, a driving actuator for driving the vehicle 2, and a braking actuator for braking the vehicle 2. The air suspension system 5 is a suspension having an actuator that can be extended by the inflow and outflow of air. The air suspension system 5 is provided for the purpose of improving the ride comfort of the vehicle 2 during driving and for the purpose of adjusting the vehicle height. According to the air suspension system 5, the vehicle height of the vehicle 2, that is, the height from the ground to the bottom 3 of the vehicle 2, can be adjusted from the maximum vehicle height h h From the lowest vehicle height h l The vehicle height is adjusted continuously or in stages within the range of . h With the minimum vehicle height h l The height of the vehicle between m .

[0056] The vehicle control device 10 is an ECU (Electronic Control Unit) having at least one processor 11 and at least one memory 12. The memory 12 includes a main memory device and an auxiliary memory device. The memory 12 stores programs that can be executed by the processor 11 and various data associated with the programs. The programs include a program for vehicle control during parking, which will be described later. By executing the programs stored in the memory 12 by the processor 11, various functions are realized in the vehicle control device 10. It should be noted that the ECU that constitutes the vehicle control device 10 can also be a collection of multiple ECUs.

[0057] The data stored in the memory 12 includes map information. This map information is managed by a map database (map DB) 21. The map information managed by the map DB 21 includes, for example, road location information, road shape information (e.g., types of curves and straight sections, and curvature of curves), information on intersection junctions, information on the target route the vehicle should travel, and information on road structures. The map DB 21 is pre-stored in an auxiliary storage device such as an SSD (Solid State Disk) or HDD (Hard Disk Drive). However, map information can also be downloaded from an external server via the Internet, and map information on an external server can be referenced.

[0058] The vehicle control device 10 includes a vehicle state / position estimation unit 22, an obstacle detection unit 23, a travel plan generation unit 24, a travel control unit 25, a vehicle height control determination unit 26, and a vehicle height control unit 27 as components related to vehicle control during parking. These components are implemented as functions of the vehicle control device 10 when the processor 11 executes a program stored in the memory 12.

[0059] The vehicle state / position estimating unit 22 identifies the driving state of the vehicle 2 based on the detection results of the internal sensors 7. The detection results of the internal sensors 7 acquired by the vehicle state / position estimating unit 22 include, for example, vehicle speed information from a vehicle speed sensor, acceleration information from an acceleration sensor, and yaw rate information from a yaw rate sensor. Furthermore, the vehicle state / position estimating unit 22 estimates the vehicle's position on a map based on the vehicle 2's position information received by the GPS receiving unit 6 and the map information in the map DB 21.

[0060] The obstacle detection unit 23 uses sensor data from the external sensors 8 and the map DB 21 to detect obstacles in a sensing area SA set outside the vehicle 2 and ahead of the vehicle 2 in its travel direction. Obstacles detected by the obstacle detection unit 23 include vehicles, motorcycles, pedestrians, animals, fallen objects, and the like.

[0061] The driving plan generation unit 24 generates a route TL for vehicle 2 based on, for example, the target route recorded in the map DB 21, the state and position of vehicle 2 identified by the vehicle state / position estimation unit 22, and obstacles outside of vehicle 2 detected by the obstacle detection unit 23. The driving plan generation unit 24 generates the route TL so that vehicle 2 appropriately travels along the target route in accordance with criteria such as safety, legal compliance, and driving efficiency.

[0062] The driving plan generation unit 24 generates a driving plan corresponding to the generated route TL. Specifically, the driving plan generation unit 24 generates a driving plan along a pre-set target route based on at least obstacle information, which represents the surrounding information of the vehicle 2, and map information from the map database 21. Preferably, the driving plan generation unit 24 outputs the generated driving plan such that the vehicle's route TL has multiple sets of coordinate coordinates (p, v), consisting of two elements: a target position p in a coordinate system fixed to the vehicle 2 and a speed v at each target point. Here, each target position p is represented by at least an x-coordinate and a y-coordinate, or equivalent information, in the vehicle's coordinate system.

[0063] Furthermore, the driving plan generation unit 24, together with the vehicle height control determination unit 26 (described later), constitutes the automated driving system 28. The driving plan and obstacle information of the vehicle 2 are shared with the vehicle height control determination unit 26. When the obstacle detection unit 23 detects an obstacle that interferes with the driving plan of the vehicle 2, the collision avoidance method that can be adopted is either avoidance by steering or deceleration or avoidance by adjusting the vehicle height. As described later, the vehicle height control determination unit 26 determines whether the obstacle can be avoided by adjusting the vehicle height. If the vehicle height control determination unit 26 determines that the obstacle cannot be avoided by vehicle height control, the driving plan generation unit 24 updates the driving plan and avoids collision with the obstacle by steering or deceleration.

[0064] The driving control unit 25 automatically controls the driving of the vehicle 2 based on the driving plan generated by the driving plan generating unit 24. The driving control unit 25 outputs a control signal corresponding to the driving plan to the driving actuator 4. Thus, the driving control unit 25 controls the driving of the vehicle 2 so that the vehicle 2 automatically drives according to the driving plan.

[0065] The vehicle-height control determination unit 26 uses information about obstacles detected by the obstacle detection unit 23 to determine whether there are any obstacles that interfere with the driving plan of vehicle 2 generated by the driving plan generation unit 24. If an obstacle interferes with the driving plan, the vehicle-height control determination unit 26 determines whether the obstacle can be avoided by controlling the vehicle's height. This determination uses information such as the obstacle's location, its height, and the interference position with vehicle 2 if vehicle 2 passes over the obstacle while maintaining its driving plan. If the obstacle can be avoided, the vehicle-height control determination unit 26 transmits the vehicle-height control amount to the vehicle-height control unit 27. If the obstacle cannot be avoided, the vehicle-height control determination unit 26 notifies the driving plan generation unit 24 that avoidance is not possible through vehicle-height control.

[0066] The vehicle height control determination unit 26 also determines whether the vehicle height can be lowered when parking at any location registered in the map DB 21. Locations where the vehicle height is to be lowered are pre-registered in the map DB 21. A representative example of a location where the vehicle height is to be lowered is a bus stop 50. While the location where the vehicle height is to be lowered is not limited to the bus stop 50, as described in the overview of the first embodiment, the location where the vehicle height is to be lowered is assumed to be the bus stop 50.

[0067] When the most recent travel plan generated by the travel plan generating unit 24 includes a bus stop, the vehicle height control determining unit 26 determines whether there are no obstacles near the bus stop 50. As described in the overview of the first embodiment, the obstacles that pose a problem are primarily fallen objects 60. While the obstacles are not limited to fallen objects 60, fallen objects 60 are assumed to be obstacles in this example.

[0068] If there is no fallen object 60 at the bus stop 50, the vehicle height control determination unit 26 sends the vehicle height control amount to the vehicle height control unit 27 so that the vehicle height is lowered when the vehicle stops at the bus stop 50. The vehicle height control amount may be, for example, the vehicle height itself or the vehicle height h relative to the vehicle height during normal driving. m The change in vehicle height can also be the extension of the actuator of the air suspension system 5. As the vehicle height when there is no dropped object 60 at the bus stop 50, although it also depends on the height of the platform of the boarding and alighting platform, the lowest vehicle height h is usually selected. l .

[0069] If a dropped object 60 is present at the bus stop 50, the vehicle height control determination unit 26 determines whether the dropped object 60 can be avoided by vehicle height control. If the dropped object 60 can be avoided by vehicle height control, the vehicle height control determination unit 26 sends a vehicle height control amount sufficient to avoid the dropped object 60 to the vehicle height control unit 27. In this case, the vehicle height is selected to be as close to the platform height as possible, as long as interference between the dropped object 60 and the bottom 3 of the vehicle 2 can be avoided. Therefore, depending on the positional relationship between the dropped object 60 and the vehicle 2 and the height of the dropped object 60, the vehicle height when parked may be higher than the vehicle height h during normal driving. m Lower, and sometimes higher.

[0070] On the other hand, if the dropped object 60 cannot be avoided by vehicle-height control, the vehicle-height control determination unit 26 notifies the travel plan generation unit 24 that the dropped object 60 cannot be avoided by vehicle-height control. The location of the bus stop 50 is pre-registered in the map DB 21. Therefore, before arriving at the bus stop 50, the external sensor 8 is used to detect obstacles at the bus stop 50, thereby determining whether avoidance by vehicle-height control is possible.

[0071] The vehicle height control unit 27 controls the air suspension system 5 as a vehicle height adjustment device based on the vehicle height control amount received from the vehicle height control determination unit 26. Specifically, the vehicle height control unit 27 controls the actuator of the air suspension system 5 based on the vehicle height control amount to adjust the vehicle height.

[0072] 1-3. Vehicle Control During Parking

[0073] Next, use Figure 3 The details of the vehicle control during parking according to the first embodiment will be described. Figure 3 The flowchart in FIG. 1 shows the process of vehicle control by the vehicle control device 10 when the vehicle 2 stops at the bus stop 50. It should be noted that, for the sake of simplicity, it is assumed that the number of dropped objects 60 dropped at the bus stop 50 is at most one. This assumption also applies to other embodiments described later. In addition, in the flowchart, h hDefined as the highest vehicle height that can be adjusted through vehicle height control, h m Defined as the vehicle height during normal driving, h l The vehicle height is defined as the lowest vehicle height that can be adjusted by vehicle height control, and m (≥ 0) is defined as the height of the clearance to be ensured between the dropped object 60 and the bottom 3 of the vehicle 2. This definition also applies to other embodiments described below.

[0074] according to Figure 3 As shown in the flowchart, the vehicle control device 10 first obtains the status and position of the vehicle 2 (step S101) and updates the driving plan (step S102). Next, the vehicle control device 10 determines whether a bus stop 50 exists on the driving plan (step S103). If no bus stop 50 exists, vehicle control during parking is terminated.

[0075] If there is a bus stop 50, the vehicle control device 10 detects the surrounding dropped objects through the external sensor 8 (step S104). Based on the detection result, the vehicle control device 10 determines whether there is a dropped object at a height of h in the bus stop 50. l -m or more of dropped objects (step S105). If there is no such dropped object, the vehicle control device 10 makes the vehicle 2 arrive at the bus stop 50 and stops the vehicle 2 at the prescribed parking position (step S106). Then, the vehicle control device 10 reduces the vehicle height from h m Change to h l , so that passengers can easily get on and off the vehicle (step S107).

[0076] There is a height h within 50 meters of the bus stop l -m or more of the falling object 60, the height of the falling object 60 is stored as the parameter h d (Step S108) The vehicle control device 10 determines whether the following relational expression (1) is satisfied at h d With h h Whether the relationship is established (step S109).

[0077] h h <h d +m……(1)

[0078] Equation (1) is a formula used to determine whether interference with dropped object 60 can be avoided by vehicle height control. If Equation (1) holds true, interference with dropped object 60 cannot be avoided even if the vehicle height is raised to the maximum by vehicle height control. However, if Equation (1) does not hold true, interference with dropped object 60 can be avoided.

[0079] When the relational expression (1) does not hold, the vehicle control device 10 determines that the following relational expression (2) holds true at h d With hm Whether the relationship is established (step S110).

[0080] h d +m>h m ……(2)

[0081] Relational equation (2) is a calculation formula for determining whether interference with dropped object 60 can be avoided while maintaining the vehicle height during normal travel. If relational equation (2) holds true, interference with dropped object 60 cannot be avoided while maintaining the vehicle height during normal travel. However, if relational equation (2) does not hold true, interference with dropped object 60 can be avoided while maintaining the vehicle height during normal travel.

[0082] If the relational expression (1) and the relational expression (2) do not hold, the vehicle control device 10 causes the vehicle 2 to arrive at the bus stop 50 and stops the vehicle 2 at the prescribed parking position (step S111). m Change to h d +m (step S112). In this case, although the vehicle height cannot be lowered to h l , but the changed vehicle height h d +m is higher than the vehicle before the change h m The height of the vehicle is low, so the ride and alighting characteristics will at least be improved in proportion to the degree to which the vehicle height is lowered.

[0083] When the relational expression (1) does not hold and the relational expression (2) holds, the vehicle control device 10 first reduces the vehicle height from h m Change to h d +m (step S113). Then, the vehicle control device 10 keeps the vehicle height at h d +m, the vehicle 2 arrives at the bus stop 50 and stops at the specified parking position (step S114). d +m is higher than the vehicle before the change h m Although the height is high, the vehicle 2 can be parked at a predetermined parking position in a manner that allows passengers to easily get on and off the vehicle.

[0084] If equation (1) holds true, the vehicle control device 10 stops the vehicle 2 immediately before the fallen object 60 (step S115). In this case, the vehicle control device 10 may request assistance from passengers or people around the vehicle 2 to remove the fallen object 60 from in front of the vehicle 2. Another method is to request assistance from the operator, but this method will be described in another embodiment.

[0085] When the vehicle 2 stops at the bus stop 50, the vehicle control device 10 performs vehicle control according to the above process, thereby preventing the vehicle 2 from interfering with the fallen objects 60 and making it easy for passengers to get on and off the vehicle, so that the vehicle 2 can be parked at the specified parking position.

[0086] 2. Second Implementation

[0087] 2-1. Overview

[0088] use Figure 4A 、 Figure 4B as well as Figure 4C The outline of the second embodiment will be described.

[0089] In the first embodiment, as Figure 4A As shown, vehicle 2 is parked at a predetermined parking position 52 within bus stop 50, and the vehicle height is adjusted so as not to interfere with dropped object 60. However, by shifting the parking position of vehicle 2 from predetermined parking position 52 according to the location of dropped object 60, the vehicle height can be lowered to the lowest possible height so as not to interfere with dropped object 60. Therefore, in the second embodiment, the parking position of vehicle 2 within bus stop 50 is changed according to the location of dropped object 60, and the vehicle height is adjusted to a height appropriate for boarding and alighting conditions at the changed parking position so as to facilitate boarding and alighting for passengers.

[0090] For example, Figure 4B As shown, a dropped object 60 may land in front of the bus stop 50. In this case, in the second embodiment, if the height of the dropped object 60 is high enough to be overcome by vehicle height control, the parking position 53 is changed to a position further inward than the predetermined parking position 52. The vehicle 2 passes over the dropped object 60 and moves to the parking position 53 inward of the bus stop 50, where the vehicle height is lowered. At the parking position 53, the vehicle height can be lowered to the minimum vehicle height.

[0091] In addition, if Figure 4C As shown, dropped object 60 may land on the inner side of bus stop 50. In this case, in the second embodiment, parking position 53 is changed to a position closer to the front of predetermined parking position 52. Parking position 53 is also closer to the front of dropped object 60. Vehicle 2 moves to parking position 53 and lowers its vehicle height at parking position 53. At parking position 53, the vehicle height can be lowered to the minimum vehicle height.

[0092] 2-2. Vehicle Control During Parking

[0093] Next, use Figure 5 The details of the vehicle control during parking according to the second embodiment will be described. Figure 51 and 2 show a flow chart of a vehicle control process performed by the vehicle control device 10 when the vehicle 2 stops at the bus stop 50 .

[0094] according to Figure 5 As shown in the flowchart, the vehicle control device 10 first obtains the status and position of the vehicle 2 (step S201) and updates the driving plan (step S202). Next, the vehicle control device 10 determines whether a bus stop 50 exists on the driving plan (step S203). If no bus stop 50 exists, vehicle control during parking is terminated.

[0095] If there is a bus stop 50, the vehicle control device 10 sets the target parking position within the bus stop 50 (step S204). The initially set target parking position is the designated parking position 52 that is easiest for passengers to get on and off. In addition, the vehicle control device 10 detects dropped objects in the surrounding area using the external sensor 8 (step S205). Based on the detection results, the vehicle control device 10 determines whether there is a height h at the target parking position. l -m or more of dropped objects (step S206). If there is no such dropped object, the vehicle control device 10 makes the vehicle 2 reach the target parking position and stops the vehicle 2 there (step S207). Then, the vehicle control device 10 increases the vehicle height from h m Change to h l , so that passengers can easily get on and off the vehicle (step S208).

[0096] There is a height h at the target parking position l If the object 60 is larger than -m, the vehicle control device 10 determines whether the object 60 can be avoided by moving the target parking position closer to the bus stop 50 (step S209). That is, the vehicle control device 10 determines whether the current situation is Figure 4C If the current situation meets the condition shown in Figure 4C Then, the vehicle control device 10 moves the target parking position to the front side within the bus stop 50 to a position where the fallen object 60 can be avoided (step S210). Then, the vehicle control device 10 moves the vehicle 2 to the changed target parking position and parks the vehicle 2 there (step S207), and increases the vehicle height from h m Change to h l (Step S208).

[0097] Not in line with the status quo Figure 4C In the case of the situation shown, the height of the falling object 60 is stored as parameter h d (Step S211) The vehicle control device 10 determines whether the above-mentioned relational expression (1) is satisfied at h d With h hIf the relational expression (1) holds, the vehicle control device 10 stops the vehicle 2 immediately before the fallen object 60 (step S223).

[0098] If the relational expression (1) does not hold, the vehicle control device 10 determines whether the dropped object 60 can be avoided by moving the target parking position to the inner side of the bus stop 50 (step S213). That is, the vehicle control device 10 determines whether the current situation is Figure 4B If the current situation meets the conditions shown Figure 4B The vehicle control device 10 moves the target parking position to the inner side of the bus stop 50 to a position where the fallen object 60 can be avoided (step S214). m or h d The vehicle 2 is caused to pass over the fallen object 60 by the larger value of h+m (step S215). Then, the vehicle control device 10 causes the vehicle 2 to reach the changed target parking position and stops the vehicle 2 there (step S216), and reduces the vehicle height from h to m or h d +m changed to h l (Step S217).

[0099] Not in line with the status quo Figure 4B In the case of the situation shown in FIG. 1 , the vehicle control device 10 determines that the above-mentioned relational expression (2) is satisfied at h d With h m Whether the relationship is established (step S218).

[0100] If the relational expression (2) does not hold, the vehicle control device 10 causes the vehicle 2 to reach the original target parking position and stops the vehicle 2 there (step S219). m Change to h d On the other hand, if the relational expression (2) holds, the vehicle control device 10 first reduces the vehicle height from h m Change to h d +m (step S221). Then, the vehicle control device 10 keeps the vehicle height at h d +m, while the vehicle 2 is brought to the original target parking position and parked there (step S222).

[0101] When the vehicle 2 stops at the bus stop 50, the vehicle control device 10 performs vehicle control according to the above-described process, and passengers may get on and off the vehicle at a location different from the designated parking position 52. However, the vehicle height is adjusted to a height that corresponds to the boarding and alighting conditions at the changed parking position 53. This prevents interference between the vehicle 2 and fallen objects 60, and provides comfortable boarding and alighting for passengers.

[0102] 3. Third Implementation

[0103] 3-1. Overview

[0104] use Figure 6A 、 Figure 6B as well as Figure 6C The outline of the third embodiment will be described.

[0105] In the first embodiment, as Figure 6A As shown, vehicle 2 is parked at a designated parking position 52 within bus stop 50, and the vehicle height is adjusted to prevent interference with dropped object 60. In the third embodiment, similar to the second embodiment, the parking position of vehicle 2 within bus stop 50 is changed based on the dropped object 60, and the vehicle height is adjusted to a height appropriate for boarding and alighting conditions at the changed parking position, making it easier for passengers to board and alight. However, whereas in the second embodiment, the parking position of vehicle 2 is moved to the rear or front of designated parking position 52, in the third embodiment, the parking position of vehicle 2 is moved to the left or right of designated parking position 52.

[0106] For example, Figure 6B As shown, a dropped object 60 may land on the left side of bus stop 50. In this case, in the third embodiment, parking position 53 is changed to the right side of designated parking position 52. Parking position 53 is also located to the right of dropped object 60. Vehicle 2 moves to parking position 53 and lowers its vehicle height at parking position 53. At parking position 53, the vehicle height can be lowered to the minimum vehicle height.

[0107] In addition, if Figure 6C As shown, a dropped object 60 may land on the right side of bus stop 50. In this case, in the third embodiment, parking position 53 is changed to the left of designated parking position 52. Parking position 53 is also located to the left of dropped object 60. Vehicle 2 moves to parking position 53 and lowers its vehicle height at parking position 53. At parking position 53, the vehicle height can be lowered to the minimum vehicle height.

[0108] 3-2. Vehicle Control During Parking

[0109] Next, use Figure 7The details of the vehicle control during parking according to the third embodiment will be described. Figure 7 1 and 2 show a flow chart of a vehicle control process performed by the vehicle control device 10 when the vehicle 2 stops at the bus stop 50 .

[0110] according to Figure 7 As shown in the flowchart, the vehicle control device 10 first obtains the status and position of the vehicle 2 (step S301) and updates the driving plan (step S302). Next, the vehicle control device 10 determines whether a bus stop 50 exists on the driving plan (step S303). If no bus stop 50 exists, vehicle control during parking is terminated.

[0111] If there is a bus stop 50, the vehicle control device 10 sets the target parking position to be within the bus stop 50 (step S304). In addition, the vehicle control device 10 detects the surrounding dropped objects through the external sensor 8 (step S305). Based on the detection result, the vehicle control device 10 determines whether there is a height h at the target parking position. l -m or more of dropped objects (step S306). If there is no such dropped object, the vehicle control device 10 makes the vehicle 2 reach the target parking position and stops the vehicle 2 there (step S307). Then, the vehicle control device 10 increases the vehicle height from h m Change to h l , so that passengers can easily get on and off the bus (step S308).

[0112] There is a height h at the target parking position l If a dropped object 60 is larger than -m, the vehicle control device 10 determines whether the dropped object 60 can be avoided by moving the target parking position to the left or right within the bus stop 50 (step S309). That is, the vehicle control device 10 determines whether the current situation is Figure 6B or Figure 6C If the current situation meets the conditions shown Figure 6B or Figure 6C Then, the vehicle control device 10 moves the target parking position to the left or right within the bus stop 50 to a position where the fallen object 60 can be avoided (step S310). Then, the vehicle control device 10 moves the vehicle 2 to the changed target parking position and parks the vehicle 2 there (step S307), and increases the vehicle height from h m Change to h l (Step S308).

[0113] The current situation does not conform to Figure 6B The modality shown does not conform to Figure 6C In the case of the situation shown, the height of the falling object 60 is stored as parameter h d(Step S311) The vehicle control device 10 determines whether the above-mentioned relational expression (1) is satisfied at h d With h h If the relational expression (1) holds, the vehicle control device 10 stops the vehicle 2 immediately before the fallen object 60 (step S318).

[0114] When the relational expression (1) does not hold, the vehicle control device 10 determines that the relational expression (2) mentioned above holds at h d With h m Whether the relationship is established (step S313).

[0115] If the relational expression (2) does not hold, the vehicle control device 10 causes the vehicle 2 to reach the original target parking position and stops the vehicle 2 there (step S314). m Change to h d On the other hand, if the relational expression (2) holds, the vehicle control device 10 first reduces the vehicle height from h m Change to h d +m (step S316). Then, the vehicle control device 10 keeps the vehicle height at h d +m, while the vehicle 2 is brought to the original target parking position and parked there (step S317).

[0116] When the vehicle 2 stops at the bus stop 50, the vehicle control device 10 performs vehicle control according to the above-described process, and passengers may get on and off the vehicle at a location different from the designated parking position 52. However, the vehicle height is adjusted to a height that corresponds to the boarding and alighting conditions at the changed parking position 53. This prevents interference between the vehicle 2 and fallen objects 60, and provides comfortable boarding and alighting for passengers.

[0117] 4. Fourth embodiment

[0118] 4-1. Overview

[0119] use Figure 8A and Figure 8B The outline of the fourth embodiment will be described.

[0120] In the first embodiment, as Figure 8A As shown, vehicle 2 is parked at designated parking spot 52 within bus stop 50, and the vehicle height is adjusted so as not to interfere with fallen object 60. However, there may be objects that are safe to step on, even if there is fallen object 60 at designated parking spot 52. Objects that are safe to step on include, for example, empty plastic bags, empty paper bags, grass, balloons, and other items that will not cause any damage to vehicle 2.

[0121] In the fourth embodiment, it is determined based on information from an external sensor whether the dropped object 60 is an item that can be stepped on without causing any problem. Figure 8B As shown, the vehicle 2 is parked at a predetermined parking position 52 within a bus stop 50. The vehicle height is then adjusted to a vehicle height appropriate for boarding conditions at the predetermined parking position 52 without avoiding interference with fallen objects 60. At the predetermined parking position 52, the vehicle height can be lowered to the minimum vehicle height.

[0122] 4-2. Vehicle Control During Parking

[0123] Next, use Figure 9 The details of the vehicle control during parking according to the fourth embodiment will be described. Figure 9 1 and 2 show a flow chart of a vehicle control process performed by the vehicle control device 10 when the vehicle 2 stops at the bus stop 50 .

[0124] according to Figure 9 As shown in the flowchart, the vehicle control device 10 first obtains the status and position of the vehicle 2 (step S401) and updates the driving plan (step S402). Next, the vehicle control device 10 determines whether a bus stop 50 exists on the driving plan (step S403). If no bus stop 50 exists, vehicle control during parking is terminated.

[0125] If there is a bus stop 50, the vehicle control device 10 detects the surrounding dropped objects through the external sensor 8 (step S404). Based on the detection result, the vehicle control device 10 determines whether there is any dropped object in the bus stop 50. l -m or more of dropped objects (step S405). If there is no such dropped object, the vehicle control device 10 makes the vehicle 2 arrive at the bus stop 50 and stops the vehicle 2 at the prescribed parking position 52 (step S406). Then, the vehicle control device 10 reduces the vehicle height from h m Change to h l , so that passengers can easily get on and off the bus (step S407).

[0126] There is a height h within 50 meters of the bus stop l -m or more of the falling object 60, the height of the falling object 60 is stored as the parameter h d(Step S408). The vehicle control device 10 identifies the type of the dropped object 60 based on the information obtained from the external sensor 8 (Step S409). The type of the dropped object 60 is identified using, for example, image recognition using pattern matching or deep learning. When the type of the dropped object 60 is identified, the vehicle control device 10 determines whether the dropped object 60 is an item that can be stepped on without any problem based on the identification result (Step S410).

[0127] If the dropped object 60 is an item that can be stepped on, the vehicle control device 10 causes the vehicle 2 to arrive at the bus stop 50 and stops the vehicle 2 at the predetermined parking position 52 (step S406). m Change to h l , so that passengers can get on and off the vehicle easily (step S407). At this time, the fallen object 60 may be stepped on by the tires of the vehicle 2 or flattened by the bottom 3 of the vehicle 2. However, since it is known in advance that the fallen object 60 is an item that can be stepped on, no malfunction will occur.

[0128] If the dropped object 60 is an object that cannot be stepped on or if the type of the dropped object 60 is unknown, the dropped object 60 cannot be stepped on. In this case, the vehicle control device 10 determines whether the above-mentioned relational expression (1) satisfies h. d With h h If the relational expression (1) holds, the vehicle control device 10 stops the vehicle 2 immediately before the fallen object 60 (step S417).

[0129] When the relational expression (1) does not hold, the vehicle control device 10 determines that the relational expression (2) mentioned above holds at h d With h m Whether the relationship is established (step S412).

[0130] If the relational expression (2) does not hold, the vehicle control device 10 causes the vehicle 2 to arrive at the bus stop 50 and stops the vehicle 2 at the predetermined parking position 52 (step S413). m Change to h d On the other hand, if the relational expression (2) holds, the vehicle control device 10 first reduces the vehicle height from h m Change to h d +m (step S415). Then, the vehicle control device 10 keeps the vehicle height at h d +m, the vehicle 2 arrives at the bus stop 50 and stops the vehicle 2 at the prescribed parking position 52 (step S416).

[0131] When the vehicle 2 stops at the bus stop 50, the vehicle control implemented by the vehicle control device 10 is performed according to the above process, thereby providing passengers with comfortable boarding and alighting at the original position where they want to get on and off the vehicle without deliberately avoiding the dropped object 60 depending on the type of the dropped object 60.

[0132] 5. Fifth embodiment

[0133] 5-1. Overview

[0134] use Figure 10A and Figure 10B The outline of the fifth embodiment will be described.

[0135] In the fourth embodiment, the type of the dropped object 60 is identified based on information from an external sensor, and in the case of a dropped object 60 that is not a problem even if stepped on, the Figure 10A As shown, vehicle 2 is parked at a designated parking position 52 within bus stop 50 and lowered to the minimum vehicle height. However, dropped objects are assumed to be of various types, and the direction, shape, color, etc. of the dropped objects cannot be predicted. Therefore, it is not always easy to identify the type of dropped objects using existing technologies such as image recognition.

[0136] Therefore, in the fifth embodiment, when the type of the dropped object 60 cannot be identified by information from an external sensor, as shown in FIG. Figure 10B As shown, vehicle 2 is stopped at a location where a dropped object 60 is detected by an external sensor. A human operator 70 then communicates with vehicle 2, asking operator 70 to determine whether dropped object 60 is an object that can be stepped on without causing any harm. Operator 70 can be a staff member waiting inside the vehicle in case of a malfunction, or a remote assistance operator providing assistance remotely via a wireless communication network.

[0137] 5-2. Components of Autonomous Driving Vehicles

[0138] Figure 11 This is a block diagram showing the structure of the vehicle 2 which is the autonomous driving vehicle of the fifth embodiment. The vehicle 2 of the fifth embodiment differs from the autonomous driving vehicles of the other embodiments in that it includes an HMI (Human Machine Interface) 72. The HMI 72 is an interface for inputting and outputting information between the operator 70 and the autonomous driving system 28. For example, the HMI 72 includes a display panel for displaying image information to the operator 70, a speaker for sound output, and operation buttons or a touch panel for the operator 70 to perform input operations. In the case where the operator 70 located in the remote assistance center is to handle the situation, the HMI 72 is arranged in the remote assistance center, and the HMI 72 also includes a communication unit for communicating between the vehicle 2 and the remote assistance sensor.

[0139] 5-3. Vehicle Control During Parking

[0140] Next, use Figure 12 The details of the vehicle control during parking according to the fifth embodiment will be described. Figure 12 1 and 2 show a flow chart of a vehicle control process performed by the vehicle control device 10 when the vehicle 2 stops at the bus stop 50 .

[0141] according to Figure 12 As shown in the flowchart, the vehicle control device 10 first obtains the status and position of the vehicle 2 (step S501) and updates the driving plan (step S502). Next, the vehicle control device 10 determines whether a bus stop 50 exists on the driving plan (step S503). If no bus stop 50 exists, vehicle control during parking is terminated.

[0142] If there is a bus stop 50, the vehicle control device 10 detects the surrounding dropped objects through the external sensor 8 (step S504). Based on the detection result, the vehicle control device 10 determines whether there is a height h in the bus stop 50. l -m or more of dropped objects (step S505). If there is no such dropped object, the vehicle control device 10 makes the vehicle 2 arrive at the bus stop 50 and stops the vehicle 2 at the prescribed parking position 52 (step S506). Then, the vehicle control device 10 reduces the vehicle height from h m Change to h l , so that passengers can easily get on and off the bus (step S507).

[0143] There is a height h within 50 meters of the bus stop l -m or more of the falling object 60, the height of the falling object 60 is stored as the parameter h d (Step S508). The vehicle control device 10 identifies the type of the dropped object 60 based on the information obtained from the external sensor 8 (Step S509). When the type of the dropped object 60 is identified, the vehicle control device 10 determines whether the dropped object 60 is an item that can be stepped on without any problem based on the identification result (Step S512).

[0144] If the type of dropped object 60 cannot be identified, the vehicle control device 10 sends the image of the dropped object 60 to the operator 70 and requests the operator 70's assistance in identifying the type of dropped object 60 (step S510). The operator 70 identifies the type of dropped object 60 based on the image of the dropped object 60 displayed on the display of the HMI 72 (step S511). The identification result of the dropped object 60 obtained by the operator 70 is input to the vehicle control device 10 via the HMI 72. When the identification result of the dropped object 60 obtained by the operator 70 is input, the vehicle control device 10 determines whether the dropped object 60 is an object that can be stepped on without any problem (step S512).

[0145] If the dropped object 60 is an item that can be stepped on, the vehicle control device 10 causes the vehicle 2 to arrive at the bus stop 50 and stops the vehicle 2 at the predetermined parking position 52 (step S506). m Change to h l , so that passengers can easily get on and off the bus (step S507).

[0146] When the dropped object 60 is an object that cannot be stepped on, the vehicle control device 10 determines that the above-mentioned relationship (1) is d With h h If the relationship (1) is not established, the vehicle control device 10 determines whether the relationship (2) is established in h d With h m Whether the relationship is established (step S514).

[0147] If the relational expression (2) does not hold, the vehicle control device 10 causes the vehicle 2 to arrive at the bus stop 50 and stops the vehicle 2 at the predetermined parking position 52 (step S515). m Change to h d On the other hand, if the relational expression (2) holds, the vehicle control device 10 first reduces the vehicle height from h m Change to h d +m (step S517). Then, the vehicle control device 10 keeps the vehicle height at h d +m, the vehicle 2 arrives at the bus stop 50 and stops the vehicle 2 at the prescribed parking position 52 (step S518).

[0148] If equation (1) holds true, the vehicle control device 10 stops the vehicle 2 immediately before the fallen object 60 (step S519) and requests assistance from the operator 70 regarding the movement of the vehicle 2 (step S520). The operator 70 assists the vehicle control device 10 based on information related to the external conditions of the vehicle 2 transmitted from the vehicle control device 10. Examples of assistance that the operator 70 can provide include selection of a go / no-go button, selection of an action plan, and remote operation of the steering wheel.

[0149] When the vehicle 2 stops at the bus stop 50, the vehicle control device 10 controls the vehicle according to the above-described process. Thus, even when the type of the dropped object 60 cannot be determined, the vehicle control device 10 can make an accurate determination of the type of the dropped object 60 by receiving assistance from the operator 70. Furthermore, since the vehicle control device 10 can receive assistance from the operator 70 in situations that the vehicle control device 10 cannot handle, it can prevent the vehicle from becoming trapped in front of the dropped object 60.

[0150] 6. Sixth Implementation

[0151] 6-1. Overview

[0152] use Figure 13A and Figure 13B The outline of the sixth embodiment will be described.

[0153] In the first embodiment, as Figure 13A As shown, vehicle 2 is parked at a designated parking location 52 within bus stop 50, and the vehicle height is adjusted to prevent interference with dropped object 60. In other embodiments, vehicle 2 is also parked within bus stop 50, and the vehicle height is adjusted within bus stop 50 for passengers to board and alight. However, depending on the location and size of dropped object 60, it may be difficult to park vehicle 2 within bus stop 50. In such cases, vehicle 2 must wait in front of bus stop 50 until someone is available to remove dropped object 60 or until it is displaced by wind.

[0154] Therefore, in the sixth embodiment, if the road 40 on which the vehicle 2 is traveling does not prohibit parking, Figure 13B As shown, the parking position 54 is changed to an area outside the bus stop 50 (e.g., the roadside), and the vehicle 2 is parked outside the bus stop 50. In this case, the area outside the bus stop 50 where the parking position 54 is set is also considered as a parking permitted area, just like the area inside the bus stop 50. At the parking position 54, the vehicle height is adjusted to a height that corresponds to the boarding and alighting conditions of the parking position 54.

[0155] 6-2. Vehicle Control During Parking

[0156] Next, use Figure 14 The details of the vehicle control during parking according to the sixth embodiment will be described. Figure 14 , a flow chart is used to show a process of vehicle control by the vehicle control device 10 when the vehicle 2 stops at the bus stop 50.

[0157] Figure 14 The processing from step S601 to step S614 in the flowchart shown is the same as Figure 3 The processes from step S101 to step S114 in the flowchart of the first embodiment shown are the same processes. Therefore, the description of the processes from step S601 to step S614 will be omitted.

[0158] according to Figure 14 In the flowchart shown, if the aforementioned relational expression (1) holds true in step S609, the vehicle control device 10 determines whether parking is prohibited on the road 40 being traveled (step S618). This determination is made based on the road information registered in the map DB 21. If parking is prohibited on the road 40 being traveled, the vehicle control device 10 stops the vehicle immediately in front of the fallen object 60 (step S619). In this case, the vehicle control device 10 requests assistance from the passengers and people around the vehicle 2 to remove the fallen object 60 from in front of the vehicle 2.

[0159] If parking is not prohibited on the road 40 being traveled, the vehicle control device 10 sets the target parking position 54 to the shoulder of the road around the bus stop 50 (step S615). Considering the convenience of passengers getting on and off, the target parking position 54 is preferably as close as possible to the original parking position (prescribed parking position 52). The vehicle control device 10 drives the vehicle 2 to the changed target parking position 54 and parks the vehicle 2 there (step S616), and reduces the vehicle height from h m Change to h l (Step S617).

[0160] When vehicle 2 stops at bus stop 50, vehicle control by vehicle control device 10 is performed according to the above-described process. This allows vehicle 2 to stop and passengers to board and alight even when it is difficult to park vehicle 2 at bus stop 50. Although passengers board and alight at a location different from designated parking position 52, the vehicle height is adjusted to a height appropriate for boarding and alighting conditions at the changed parking position 54. This prevents interference between vehicle 2 and fallen objects 60, and provides comfortable boarding and alighting for passengers.

[0161] 7. Other Implementation Methods

[0162] In the above embodiments, for simplicity of description, it is assumed that there is at most one dropped object. However, even in the case of multiple dropped objects, vehicle control can be performed according to the processes shown in the above flowcharts. Alternatively, in the case of multiple dropped objects, the multiple dropped objects can be identified as a single dropped object, and the vehicle height can be adjusted based on the maximum height of the dropped objects identified as a whole. Alternatively, each of the multiple dropped objects can be used as a constraint, and the vehicle height can be adjusted based on the height of each dropped object.

[0163] The vehicle control of each embodiment described above can be implemented in appropriate combination. For example, the vehicle control of the first embodiment and the vehicle control of the second or third embodiment can be switched according to the type of passengers. For example, when the passengers include the elderly, wheelchair users, stroller users, etc., the vehicle control of the second or third embodiment can be selected, and when these passengers are not included, the vehicle control of the first embodiment can be selected. In the case of the vehicle control of the second or third embodiment, passengers get on and off the vehicle at a place different from the specified parking position, but the height difference between the vehicle cabin and the road surface is suppressed to a low level, so that the elderly and the like can also get on and off the vehicle comfortably. It should be noted that the passengers mentioned here include both passengers getting off the vehicle and passengers getting on the vehicle. In addition, the type of passengers can be identified, for example, by image recognition using a camera.

Claims

1. A vehicle, characterized in that: include: an external sensor configured to acquire information related to an external condition of the vehicle; a vehicle height adjustment device configured to adjust the vehicle height; as well as a control device configured to control the vehicle, The control device is configured to control the vehicle height adjustment device so that the vehicle height is adjusted to a vehicle height corresponding to a boarding / unboarding condition at the predetermined parking position when the vehicle is parked at the predetermined parking position. The control device is configured to, when an obstacle is detected by the external sensor at the prescribed parking position, control the vehicle height adjustment device based on the height of the obstacle so that the obstacle does not interfere with the vehicle. The control device is configured to change the parking position of the vehicle from the predetermined parking position to a position within the parking permission area that does not interfere with the obstacle when the height of the obstacle is greater than a predetermined upper limit value. The control device is configured to control the vehicle-height adjusting device so that the vehicle height is adjusted according to a boarding / initiating condition at a changed parking position.

2. The vehicle according to claim 1, characterized in that The control device is configured to: determine the type of the obstacle based on information obtained from the external sensor, The control device is configured to stop the vehicle at the predetermined parking position if the obstacle is an object that can interfere with the vehicle. The control device is configured to control the vehicle-height adjusting device so that the vehicle height is adjusted according to a boarding / initiating condition at the predetermined parking position.

3. The vehicle according to claim 2, characterized in that The vehicle further includes a communication interface configured to communicate with an operator, The control device is configured to: when the type of the obstacle cannot be determined, provide the image of the obstacle to the operator and obtain information related to the type of the obstacle from the operator.

4. The vehicle according to claim 1 or 2, characterized in that The vehicle further includes an interface configured to communicate with an operator, The control device is configured to request assistance from the operator if the vehicle cannot be parked in the parking permission area without interfering with the obstacle, and to move the vehicle according to an instruction from the operator.

5. The vehicle according to claim 1, wherein: The vehicle is an autonomous vehicle.

6. A vehicle driving method for a vehicle equipped with a vehicle height adjustment device, characterized in that: include: When the vehicle is parked at a predetermined parking position, the vehicle height adjusting device is controlled so as to achieve a vehicle height corresponding to a boarding / unboarding condition at the predetermined parking position; When an obstacle is present at the predetermined parking position, controlling the vehicle height adjustment device based on the height of the obstacle so that the obstacle does not interfere with the vehicle; When the height of the obstacle is greater than or equal to a predetermined upper limit, changing the parking position of the vehicle from the predetermined parking position to a position within the parking permission area that does not interfere with the obstacle; as well as The vehicle height adjusting device is controlled so as to achieve a vehicle height corresponding to a boarding / initiating condition at the changed parking position.

7. The vehicle driving method according to claim 6, characterized in that: The vehicle is an autonomous vehicle, The vehicle driving method is executed to enable the autonomous driving vehicle to perform autonomous driving.

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