Vehicles with electric ramps

Abstract

To provide a vehicle with an electrically-driven slope which notifies a person having high possibility in entering spread area of the electrically-driven slope when the electrically-driven slope is extended of existence of the slope through a light-emitting device, and reduces a trouble of the light-emitting device from a person having low possibility in entering the spread area of the electrically-driven slope.SOLUTION: An approaching object detection part 42 detects, based on a detection signal of a sensor 28 detecting an object around a vehicle 10, an object approaching to a slope which exists within a prescribed distance from a spread area 24 of an electrically-driven slope 20 and is approaching to the spread area 24. A light-emitting control part 44 makes, when the approaching object detection part 42 detects the object approaching to the slope at the time of extending the electrically-driven slope 20, a light-emitting device 26 emit light in a first light-emitting pattern, and makes, when the approaching object detection part 42 detects no object approaching to the slope at the time of extending the electrically-driven slope 20, a light-emitting device 26 emit light in a second light-emitting pattern that is not noticeable in comparison with the first light-emitting pattern.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] This specification discloses an improvement to a vehicle with an electric ramp, particularly a vehicle that notifies surrounding areas of the deployment of the electric ramp. [Background technology]

[0002] 2. Description of the Related Art Vehicles equipped with ramps have been proposed, each of which has a ramp connecting the floor of the vehicle interior to a road (e.g., a sidewalk). Such ramps are used, for example, when wheelchair users get on and off the vehicle.

[0003] For example, Patent Document 1 discloses a vehicle with an electric ramp that automatically deploys when a user holds their hand over a sensor. Patent Document 2 also discloses a vehicle with a portable ramp that has a light-emitting device on the side wall of the ramp to notify users that the ramp is deployed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-126957 [Patent Document 2] Japanese Patent Application Laid-Open No. 2012-200396 Summary of the Invention [Problem to be solved by the invention]

[0005] Considering an electric ramp that can automatically deploy laterally from the side of a vehicle, as the ramp deploys, obstacles gradually appear to those around the vehicle. Therefore, before the ramp deploys, the deployment area where the ramp will deploy (in other words, the area that the ramp will occupy when fully deployed) is empty, and people around the vehicle may try to invade the deployment area and pass through. In light of this, as described in Patent Document 2, it is desirable to provide a light-emitting device on the electric ramp to notify those around the vehicle that the electric ramp is deploying.

[0006] However, for people who are unlikely to enter the area where the electric ramp is deployed, the notification by the light-emitting device can be annoying.

[0007] The purpose of the vehicle with an electric ramp disclosed in this specification is to use a light-emitting device to notify people who are likely to enter the area where the electric ramp is deployed when the electric ramp is deployed, while reducing the annoyance felt by people who are unlikely to enter the area where the electric ramp is deployed from the light-emitting device. [Means for solving the problem]

[0008] The vehicle with an electric ramp disclosed in this specification comprises an electric ramp that can be deployed laterally from the side of the vehicle, a light-emitting device provided on the electric ramp, a sensor that detects objects around the vehicle, an approaching object detection unit that detects an object approaching the ramp that is within a predetermined distance from the deployment area of ​​the electric ramp and is moving toward the deployment area based on the detection signal of the sensor, and a light-emitting control unit that controls the light emission of the light-emitting device, wherein when the approaching object detection unit detects an object approaching the ramp during deployment of the electric ramp, the light-emitting control unit causes the light-emitting device to emit light in a first light-emitting pattern, and when the approaching object detection unit does not detect an object approaching the ramp during deployment of the electric ramp, the light-emitting control unit causes the light-emitting device to emit light in a second light-emitting pattern that is less noticeable than the first light-emitting pattern, or does not cause the light-emitting device to emit light.

[0009] An object approaching the slope can be considered to be an object that is likely to invade the deployment area of ​​the electric ramp. Here, examples of objects approaching the slope include pedestrians (people) or vehicles driven by people (e.g., cars, motorcycles, and bicycles). Therefore, with the above configuration, when there is a person who is likely to invade the deployment area, the light-emitting control unit can notify the person that the electric ramp is currently being deployed by causing the light-emitting device to emit light in the first light-emitting pattern. On the other hand, when there is no person who is likely to invade the deployment area, the light-emitting control unit can cause the light-emitting device to emit light in the second light-emitting pattern or not emit light from the light-emitting device, thereby reducing the annoyance felt by people who are unlikely to invade the deployment area of ​​the electric ramp.

[0010] The vehicle with an electric ramp disclosed in this specification comprises an electric ramp that can be deployed laterally from the side of the vehicle, a light-emitting device provided on the electric ramp, a sensor that detects objects around the vehicle, an evaluation value calculation unit that calculates an evaluation value regarding the possibility of the object entering the deployment area based on the distance from the deployment area of ​​the electric ramp to the object, the moving speed of the object, and the moving direction of the object detected based on the detection signal of the sensor, and a light-emitting control unit that controls the light emission of the light-emitting device, and when the evaluation value is equal to or greater than a predetermined value when the electric ramp is deployed, the light-emitting control unit either causes the light-emitting device to emit light in a first light-emitting pattern, or causes the light-emitting device to emit light in a second light-emitting pattern that is less noticeable than the first light-emitting pattern, or does not cause the light-emitting device to emit light when the evaluation value is less than the predetermined value when the electric ramp is deployed.

[0011] According to the above configuration, if the evaluation value of an object around the vehicle (again, this object could be, for example, a pedestrian (person) or a vehicle driven by a person) is equal to or greater than a predetermined value, that is, if there is a person who is likely to enter the deployment area, the light-emitting control unit causes the light-emitting device to emit light in the first light-emitting pattern, thereby notifying the person that the electric ramp is currently being deployed. On the other hand, if the evaluation value of an object around the vehicle is less than the predetermined value, that is, if there is no person who is likely to enter the deployment area, the light-emitting control unit causes the light-emitting device to emit light in the second light-emitting pattern or does not cause the light-emitting device to emit light, thereby reducing the annoyance felt by people around the vehicle with an electric ramp who are unlikely to enter the deployment area of ​​the electric ramp.

[0012] It is preferable that the electric ramp device further includes a slope control unit that controls the deployment of the electric ramp and stops the deployment of the electric ramp when an object is detected that is within a predetermined distance from the deployment area and has been moving toward the deployment area for a predetermined period of time or more during deployment of the electric ramp.

[0013] According to the above configuration, an object that is within a predetermined distance from the deployment area and that continues to move toward the deployment area for a predetermined period of time or longer is prevented from coming into contact with the electric ramp. [Effects of the Invention]

[0014] According to the vehicle with an electric ramp disclosed in this specification, when the electric ramp is deployed, the light-emitting device can notify people who are likely to enter the deployment area of ​​the electric ramp, while reducing the annoyance felt by people who are unlikely to enter the deployment area of ​​the electric ramp from the light-emitting device. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is an external view of a vehicle according to an embodiment of the present invention. [Figure 2] FIG. 1 is an external view showing the electric ramp in an unfolded state. [Figure 3] FIG. 1 is a rear view of a vehicle with an electric ramp being deployed. [Figure 4] 1 is a schematic diagram of a vehicle according to a first embodiment. [Figure 5] 1 is a first plan view showing a vehicle according to an embodiment of the present invention and objects around the vehicle. [Figure 6] FIG. 2 is a second plan view showing the vehicle according to the present embodiment and objects around the vehicle. [Figure 7] 4 is a flowchart showing a flow of processing in a vehicle according to the first embodiment. [Figure 8] FIG. 10 is a schematic diagram of a vehicle according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] First Embodiment 1 is an external view of a vehicle 10 according to this embodiment. In each drawing in this specification, front (FR) and rear refer to the front and rear in the longitudinal direction of the vehicle, left (LH) and right refer to the left and right in the width direction of the vehicle when facing forward, and up (UP) and down refer to the up and down direction of the vehicle.

[0017] The vehicle 10 according to this embodiment is an autonomous vehicle capable of autonomous driving. Autonomous driving is driving in which most of the driving control is performed by an autonomous driving computer installed in the vehicle 10. In this embodiment, the vehicle 10 can perform autonomous driving based on control signals from a control center that controls one or more autonomous vehicles. An operator of the vehicle 10 may be on board the vehicle 10, and during autonomous driving, some of the driving control may be performed manually by the operator. In particular, the vehicle 10 according to this embodiment is a bus that multiple passengers ride on.

[0018] The vehicle 10 has a substantially rectangular parallelepiped shape. A slidable electric door 12 is provided on a side wall (the left wall in this embodiment) of the vehicle 10, and passengers can get on and off by sliding the electric door 12 open.

[0019] A storage section 22 for storing the electric ramp 20 is provided under the floor of the passenger compartment of the vehicle 10. The storage section 22 is provided below the power door 12 and has an opening 22a that opens to the side of the vehicle 10 (the left side in this embodiment), and the electric ramp 20 unfolds so as to protrude from the opening 22a to the side of the vehicle 10. When unfolded, the electric ramp 20 becomes a slope that connects the floor surface inside the passenger compartment of the vehicle 10 with the road or ground outside the vehicle. Figure 2 shows the electric ramp 20 in an unfolded state. In this way, the vehicle 10 is a vehicle equipped with an electric ramp 20.

[0020] The electric ramp 20 is automatically deployed or retracted by the driving force of a ramp motor (not shown). Specifically, the ramp motor is driven in accordance with a ramp deployment command from an operator on board the vehicle 10, and the driving force of the ramp motor gradually deploys the electric ramp 20 from the opening 22a to the side of the vehicle 10. Finally, as shown in FIG. 2, the electric ramp 20 reaches a fully deployed state. The ramp motor is driven in accordance with a ramp storage command from the operator on board the vehicle 10, and the deployed electric ramp 20 is automatically stored in the storage section 22 from the opening 22a by the driving force of the ramp motor. Note that when no operator is on board the vehicle 10, the electric ramp 20 may be configured to automatically deploy or retract in accordance with commands from the control center described above.

[0021] 3 is a rear view of the vehicle 10 while the electric ramp 20 is being deployed. As shown in FIG. 3, the area in which the electric ramp 20 is deployed, in other words, the area that the electric ramp 20 occupies when it is fully deployed, is called the deployment area 24.

[0022] 2 and 3, the electric ramp 20 is provided with light-emitting devices 26. In this embodiment, the light-emitting devices 26 are provided on the front and rear sides of the electric ramp 20, but the installation position of the light-emitting devices 26 on the electric ramp 20 is not limited to this, as long as the light-emitting devices 26 are visible to people around the vehicle 10, particularly the deployment area 24. The light-emitting devices 26 are composed of, for example, LEDs (Light Emitting Diodes), but the light-emitting devices 26 may be any device as long as they can emit light in a changeable light pattern under the control of a light-emitting control unit (described below).

[0023] The vehicle 10 is provided with a sensor 28 that detects objects around the vehicle 10. In this specification, an object refers to a mobile body such as a pedestrian (person) or a vehicle driven by a person (e.g., a car, a motorcycle, a bicycle, etc.). FIG. 3 shows the sensor 28 provided on the rear side of the vehicle 10 and primarily detecting objects behind the vehicle 10. However, the sensor 28 may also include a sensor provided on the front side of the vehicle 10 and primarily detecting objects ahead of the vehicle 10, or a sensor provided on the left or right side of the vehicle 10 (particularly the side where the electric ramp 20 is deployed) and primarily detecting objects to the side of the vehicle 10. The sensor 28 is composed of, for example, a camera or a LiDAR (Light Detection and Ranging). A detection signal from the sensor 28 is transmitted to a processor (described later) of the vehicle 10.

[0024] FIG. 4 is a schematic diagram of the configuration of the vehicle 10. The vehicle 10 includes a processor 40 in addition to an electric ramp 20, a light-emitting device 26, and a sensor 28. The processor 40 is composed of, for example, an ECU (Electronic Control Unit) or a CPU (Central Processing Unit). The processor 40 may also be a computer for autonomous driving of the vehicle 10. The processor 40 may not be a single processing device, but may be composed of multiple processing devices located in physically separate locations working together. The processor 40 fulfills the functions of an approaching object detection unit 42, a light-emitting control unit 44, and a slope control unit 46.

[0025] 5 and 6 are plan views showing a vehicle 10 according to this embodiment and an object O (a bicycle in FIGS. 5 and 6) around the vehicle 10. In particular, FIGS. 5 and 6 are plan views showing the vehicle 10 parked along a sidewalk P and the electric ramp 20 in the process of being deployed on the sidewalk P side. The approaching object detection unit 42, the light emission control unit 44, and the slope control unit 46 will be described below with reference to FIG. 5.

[0026] The approaching object detection unit 42 detects an object approaching the slope based on the detection signal of the sensor 28. Here, an object approaching the slope is an object that is within a predetermined distance from the deployment area 24 of the electric ramp 20 and is moving toward the deployment area 24.

[0027] For example, if the sensor 28 is a camera, the approaching object detection unit 42 first detects an object O around the vehicle 10 by analyzing an image of the object O captured by the camera, and calculates the distance from the camera to the object O. Known techniques can be used for the method of detecting the object O from an image and the method of calculating the distance from the camera to the object O, so detailed explanations will be omitted here. Furthermore, the approaching object detection unit 42 calculates the distance d from the deployment area 24 to the object O based on the known positional relationship between the camera and the deployment area 24 and the calculated distance from the camera to the object O. Note that in cases such as when the camera is located near the deployment area 24, the distance from the camera to the object O may be considered to be the distance d from the deployment area 24 to the object O.

[0028] Note that, since the deployment area 24 is an area with a volume, the distance d from the deployment area 24 to the object O may be the distance from a predetermined position within the deployment area 24 to the object O. For example, as shown in FIG. 5, if the object O is located directly behind the deployment area 24, the distance from the rear end of the deployment area 24 to the object O can be taken as the distance d from the deployment area 24 to the object. Also, as shown in FIG. 6, the distance from the point in the deployment area 24 closest to the object O to the object O can be taken as the distance d.

[0029] Of course, the method of calculating the distance d from the deployment area 24 to the object by the sensor 28 may be a method other than the above. For example, if the sensor 28 is a LiDAR, the LiDAR measures the distance to the measurement object, and therefore the approaching object detection unit 42 can calculate the distance d from the deployment area 24 to the object based on the detection signal of the LiDAR.

[0030] The approaching object detection unit 42 then determines whether the calculated distance d is smaller than a predetermined distance, in other words, whether the object O is present within a predetermined distance from the development area 24 or not.

[0031] Furthermore, the approaching object detection unit 42 determines whether the object O is moving toward the deployment area 24 based on the distance d from the deployment area 24 to the object O calculated from each of multiple detection signals detected by the sensor 28 at different times. Specifically, the approaching object detection unit 42 determines that the object O is moving toward the deployment area 24 if the distance d calculated based on the detection signal of the sensor 28 detected at a certain time point is shorter than the distance d calculated based on the detection signal of the sensor 28 detected at the previous time point. Note that the expression "the object O is moving toward the deployment area 24" includes not only the case where the object O is moving toward the deployment area 24 (the case where the deployment area 24 is located ahead in the direction of movement of the object O), but also the case where the object O is not moving toward the deployment area 24 but is moving so that the distance d between the deployment area 24 and the object O is decreasing. For example, when the object O passes beside the deployment area 24, it may be determined that the object O is moving toward the deployment area 24 until the object O passes right beside the deployment area 24.

[0032] Through the processing described above, the approaching object detection unit 42 detects a slope-approaching object, which is an object that is within a predetermined distance from the deployment area 24 and is moving toward the deployment area 24. A slope-approaching object can be said to be an object that is highly likely to invade the deployment area 24. For example, in the example shown in FIG. 5 , if the distance d from the deployment area 24 to the object O is within a predetermined distance, the object O is moving toward the deployment area 24, and in this case, the approaching object detection unit 42 detects the object O as a slope-approaching object. On the other hand, in the example shown in FIG. 6 , even if the distance d from the deployment area 24 to the object O is within the predetermined distance, the object O is not moving toward the deployment area 24, and in this case, the approaching object detection unit 42 does not detect the object O as a slope-approaching object. Furthermore, if the object O is moving toward the deployment area 24 but the distance d from the deployment area 24 to the object O is greater than the predetermined distance, the approaching object detection unit 42 does not detect the object O as a slope-approaching object.

[0033] The light-emission control unit 44 controls the light emission of the light-emitting device 26. Specifically, when the electric ramp 20 is unfolded, if the approaching object detection unit 42 detects an object approaching the slope, the light-emission control unit 44 causes the light-emitting device 26 to emit light in a first light-emission pattern. On the other hand, when the electric ramp 20 is unfolded, if the approaching object detection unit 42 does not detect an object approaching the slope, the light-emission control unit 44 causes the light-emitting device 26 to emit light in a second light-emission pattern.

[0034] Here, the second light-emitting pattern is a light-emitting pattern that is less noticeable than the first light-emitting pattern. For example, if the first light-emitting pattern is to flash light-emitting device 26 at a first luminance, the second light-emitting pattern is to flash light-emitting device 26 at a second luminance that is darker than the first luminance. Alternatively, the second light-emitting pattern is to light light-emitting device 26 at the first luminance or the second luminance. Furthermore, for example, if the first light-emitting pattern is to light light-emitting device 26 at the first luminance, the second light-emitting pattern is to light light-emitting device 26 at the second luminance.

[0035] Furthermore, the light-emission control unit 44 may be configured to not cause the light-emitting device 26 to emit light, in other words, to turn off the light, if the approaching object detection unit 42 has not detected an object approaching the slope when the electric ramp 20 is deployed. For example, the light-emission control unit 44 may be configured to not cause the light-emitting device 26 to emit light if an object approaching the slope is not detected during the day when the electric ramp 20 is deployed, and may be configured to cause the light-emitting device 26 to emit light in the second light-emission pattern at night when an object approaching the slope is not detected during the night when the electric ramp 20 is deployed.

[0036] For example, in the example shown in FIG. 5, as described above, approaching object detection unit 42 detects object O as a slope-approaching object. Therefore, in this case, light-emission control unit 44 causes light-emitting device 26 to emit light in the first light-emitting pattern. On the other hand, in the example shown in FIG. 6, as described above, approaching object detection unit 42 does not detect object O as a slope-approaching object. Therefore, if approaching object detection unit 42 does not detect any slope-approaching object other than object O, light-emission control unit 44 causes light-emitting device 26 to emit light in the second light-emitting pattern, or does not cause light-emitting device 26 to emit light.

[0037] Thus, in this embodiment, if the approaching object detection unit 42 detects an object approaching the slope that is likely to invade the deployment area 24, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the first light-emission pattern, and if the approaching object detection unit 42 does not detect an object approaching the slope, that is, if there is no person around the vehicle 10 who is likely to invade the deployment area 24, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the second light-emission pattern, which is less conspicuous than the first light-emission pattern. Therefore, according to this embodiment, when the electric ramp 20 is deployed, the light-emitting device 26 can notify people who are likely to invade the deployment area 24, while reducing the annoyance felt by people who are unlikely to invade the deployment area 24.

[0038] In the case where light emitting devices 26 are provided on the front and rear sides of the electric ramp 20 as in this embodiment (hereinafter, the light emitting device 26 provided on the front side of the electric ramp 20 will be referred to as the front light emitting device 26f, and the light emitting device 26 provided on the rear side of the electric ramp 20 will be referred to as the rear light emitting device 26r), the light emission control unit 44 may cause the front light emitting device 26f and the rear light emitting device 26r to emit light in different light emission patterns depending on the direction of the object approaching the slope relative to the deployment area 24.

[0039] For example, in the example shown in Fig. 5, if an object approaching the deployment area 24 on a slope from the front of the vehicle 10 is not detected, the light-emission control unit 44 may cause the rear-side light-emitting devices 26r to emit light in the first light-emitting pattern and the front-side light-emitting devices 26f to emit light in the second light-emitting pattern. Also, in the example shown in Fig. 6, if an object approaching the deployment area 24 on a slope from the front of the vehicle 10 is detected, the light-emission control unit 44 may cause the rear-side light-emitting devices 26r to emit light in the second light-emitting pattern and the front-side light-emitting devices 26f to emit light in the first light-emitting pattern.

[0040] The slope control unit 46 drives the slope motor in accordance with instructions from an operator or the like on board the vehicle 10, thereby controlling the deployment or retraction of the electric slope 20.

[0041] Furthermore, when the electric ramp 20 is being deployed, if the approaching object detection unit 42 detects an object approaching the slope that is within a predetermined distance from the deployment area 24 and has been moving toward the deployment area 24 for a predetermined period of time or longer, the slope control unit 46 performs control to stop the deployment of the electric ramp 20. This stops the electric ramp 20 from protruding further from the side of the vehicle 10, and prevents the object approaching the slope from coming into contact with the electric ramp 20.

[0042] After stopping the deployment of the electric ramp 20, the slope control unit 46 can resume deployment of the electric ramp 20 if the approaching object detection unit 42 detects that the slope-approaching object has stopped approaching the deployment area 24. Alternatively, after stopping the deployment of the electric ramp 20, the slope control unit 46 can resume deployment of the electric ramp 20 when an instruction is received from an operator or the like.

[0043] The outline of the configuration of the vehicle 10 according to the first embodiment is as described above. The flow of processing by the vehicle 10 (particularly the processor 40) according to the first embodiment will be described below with reference to the flowchart shown in FIG.

[0044] In step S10, the slope control unit 46 starts deploying the electric slope 20 in accordance with instructions from the operator of the vehicle 10 or the like. The subsequent steps S12 to S22 are processes that are executed while the electric slope 20 is being deployed.

[0045] In step S12, the approaching object detection unit 42 determines, based on the detection signal of the sensor 28, whether or not an object has been detected that is within a predetermined distance from the deployment area 24 and is moving toward the deployment area 24, i.e., a slope-approaching object. If a slope-approaching object has not been detected, the process proceeds to step S14.

[0046] In step S14, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the second light-emission pattern. As described above, the light-emission control unit 44 may also cause the light-emitting device 26 not to emit light.

[0047] If an object approaching the slope is detected in step S12, the process proceeds to step S16. In step S16, the light emission control unit 44 causes the light emitting device 26 to emit light in the first light emission pattern.

[0048] In step S18, the approaching object detection unit 42 determines whether the slope-approaching object detected in step S12 continues to move closer to the deployment area 24. If the slope-approaching object is not moving closer to the deployment area 24, the slope-approaching object can no longer be considered a slope-approaching object, and the process proceeds to step S14, where the light-emission control unit 44 switches the light-emitting pattern of the light-emitting device 26 from the first light-emitting pattern to the second light-emitting pattern. If the slope-approaching object is continuing to move closer to the deployment area 24, the process proceeds to step S20.

[0049] In step S20, the approaching object detection unit 42 determines whether or not a predetermined time has elapsed since the slope-approaching object was detected in step S12. If the predetermined time has not elapsed, the process returns to step S18. That is, the processes of steps S18 and S20 are repeated until the predetermined time has elapsed. If the predetermined time has elapsed, that is, if the slope-approaching object has continued to move closer to the deployment area 24 for the predetermined time or longer, the process proceeds to step S22.

[0050] In step S22, the slope control unit 46 stops the deployment of the electric ramp 20. As described above, thereafter, if the approaching object detection unit 42 detects that the slope-approaching object has stopped approaching the deployment area 24, or if an instruction is received from the operator, the slope control unit 46 resumes deployment of the electric ramp 20.

[0051] In step S24, the slope control unit 46 determines whether or not the deployment of the electric slope 20 is complete. If the deployment of the electric slope 20 is not complete, the process returns to step S12. That is, the processes of steps S12 to S24 are repeated until the deployment of the electric slope 20 is complete. If the deployment of the electric slope 20 is complete, the process ends.

[0052] After the electric ramp 20 has been fully deployed, the light-emission control unit 44 may turn off the light-emitting device 26. Alternatively, even after the electric ramp 20 has been fully deployed, if the approaching object detection unit 42 still detects an object approaching the slope, the light-emission control unit 44 may continue to cause the light-emitting device 26 to emit light in the first light-emission pattern.

[0053] Second Embodiment The second embodiment is similar to the first embodiment except for the processing content of the processor 40. Therefore, a description of the same parts as the first embodiment will be omitted.

[0054] 8 is a schematic diagram of the configuration of a vehicle 10 according to the second embodiment. In the second embodiment, a processor 40 functions as an evaluation value calculation unit 48 in addition to an approaching object detection unit 42, a light emission control unit 44, and a slope control unit 46.

[0055] The evaluation value calculation unit 48 first detects the distance from the deployment area 24 to the object detected by the sensor 28, the moving speed of the object, and the moving direction of the object, based on the detection signals of the sensor 28. Here, the moving speed of the object can be detected based on each position of the object calculated from each of the multiple detection signals detected by the sensor 28 at different times and the time intervals at which the multiple detection signals were detected. Furthermore, the moving direction of the object can be detected based on each position of the object calculated from each of the multiple detection signals detected by the sensor 28 at different times.

[0056] Next, the evaluation value calculation unit 48 calculates an evaluation value for the object regarding the possibility of it invading the development area 24, based on the detected distance from the development area 24 to the object, the moving speed of the object, and the moving direction of the object. Specifically, the approaching object detection unit 42 calculates an evaluation value such that the shorter the distance from the development area 24 to the object, the larger the evaluation value. Furthermore, the approaching object detection unit 42 calculates an evaluation value such that the faster the moving speed of the object, the larger the evaluation value. Furthermore, the approaching object detection unit 42 calculates an evaluation value such that the more directly the object is moving toward the development area 24 (more specifically, the smaller the angle between the line segment connecting the object to the center of the development area 24 and the moving direction of the object). Furthermore, the evaluation value may be calculated by multiplying the distance from the development area 24 to the object, the moving speed of the object, and the moving direction of the object by weighting factors, respectively.

[0057] A learning device may also be used to calculate the evaluation value. In this case, for example, the distance from the development area 24 to the object, the moving speed of the object, and the moving direction of the object are input, and the learning device is trained sufficiently to be able to output an appropriate evaluation value. Then, by inputting the distance from the development area 24 to the object, the moving speed of the object, and the moving direction of the object into the learning device, an evaluation value for the object can be obtained.

[0058] In the second embodiment, when the electric ramp 20 is deployed, if the evaluation value for the object detected by the sensor 28 is equal to or greater than a predetermined value, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the first light-emission pattern. On the other hand, when the electric ramp 20 is deployed, if the evaluation value for the object detected by the sensor 28 is less than the predetermined value, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the second light-emission pattern, or does not cause the light-emitting device 26 to emit light.

[0059] As described above, the evaluation value for an object is an evaluation value regarding the possibility that the object will intrude into the deployment area 24. Therefore, in the second embodiment as well, if the evaluation value is equal to or greater than a predetermined value, that is, if the object detected by the sensor 28 is likely to intrude into the deployment area 24, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the first light-emitting pattern, and if the evaluation value is less than the predetermined value, that is, if the object detected by the sensor 28 is unlikely to intrude into the deployment area 24, the light-emission control unit 44 causes the light-emitting device 26 to emit light in the second light-emitting pattern. Therefore, according to the second embodiment as well, when the electric ramp 20 is deployed, it is possible to notify persons who are likely to intrude into the deployment area 24 using the light-emitting device 26, while reducing the annoyance felt by persons who are unlikely to intrude into the deployment area 24.

[0060] In the second embodiment, when a front light emitting device 26f is provided on the front side of the electric ramp 20 and a rear light emitting device 26r is provided on the rear side of the electric ramp 20, the light emission control unit 44 may cause the front light emitting device 26f and the rear light emitting device 26r to emit light in different light emission patterns depending on the evaluation value of an object in front of the vehicle 10 detected by the sensor 28 provided on the front side of the vehicle 10 and the evaluation value of an object behind the vehicle 10 detected by the sensor 28 provided on the rear side of the vehicle 10.

[0061] Specifically, if the evaluation values ​​for all objects ahead of the vehicle 10 are less than a predetermined value and the evaluation values ​​for objects behind the vehicle 10 are equal to or greater than a predetermined value, the light-emission control unit 44 causes the rear light-emitting device 26r to emit light in the first light-emitting pattern and the front light-emitting device 26f to emit light in the second light-emitting pattern. Also, if the evaluation values ​​for objects ahead of the vehicle 10 are equal to or greater than a predetermined value and the evaluation values ​​for all objects behind the vehicle 10 are less than the predetermined value, the light-emission control unit 44 causes the front light-emitting device 26f to emit light in the first light-emitting pattern and the rear light-emitting device 26r to emit light in the second light-emitting pattern.

[0062] Also in the second embodiment, when the electric ramp 20 is being deployed, if the approaching object detection unit 42 detects an object that is within a predetermined distance from the deployment area 24 and that continues to move toward the deployment area 24 for a predetermined period of time or longer, the slope control unit 46 can perform control to stop the deployment of the electric ramp 20.

[0063] The above describes an embodiment of the operating device for an autonomous vehicle according to the present disclosure, but the display device for an autonomous vehicle according to the present disclosure is not limited to the above embodiment, and various modifications are possible as long as they do not deviate from the spirit thereof. [Explanation of symbols]

[0064] 10 vehicle, 12 electric door, 20 electric ramp, 22 storage section, 22a opening, 24 deployment area, 26 light-emitting device, 26f front light-emitting device, 26r rear light-emitting device, 28 sensor, 40 processor, 42 approaching object detection section, 44 light-emitting control section, 46 slope control section, 48 evaluation value calculation section.

Claims

1. An electric ramp that can be deployed laterally from the side of the vehicle; a light emitting device provided on the electric slope; a sensor for detecting objects around the vehicle; an approaching object detection unit that detects an object approaching the slope, which is an object that is within a predetermined distance from the deployment area of ​​the electric ramp and is moving toward the deployment area, based on the detection signal of the sensor; a light emission control unit that controls light emission of the light emitting device, and when the approaching object detection unit detects an object approaching the slope during deployment of the electric ramp, causes the light emitting device to emit light in a first light emission pattern, and when the approaching object detection unit does not detect an object approaching the slope during deployment of the electric ramp, causes the light emitting device to emit light in a second light emission pattern that is less noticeable than the first light emission pattern, or does not cause the light emitting device to emit light; a slope control unit that controls the deployment of the electric slope, and stops deployment of the electric slope when an object is detected that is within a predetermined distance from the deployment area and has been moving toward the deployment area for a predetermined time or longer during deployment of the electric slope; A vehicle with an electric ramp, characterized by comprising:

2. An electric ramp that can be deployed laterally from the side of the vehicle; a light emitting device provided on the electric slope; a sensor for detecting objects around the vehicle; an evaluation value calculation unit that calculates an evaluation value regarding the possibility of the object invading the deployment area based on the detection signal of the sensor, the distance from the deployment area of ​​the electric ramp to the object, the moving speed of the object, and the moving direction of the object; and a light emission control unit that controls light emission of the light emitting device, and when the evaluation value is equal to or greater than a predetermined value when the electric ramp is deployed, causes the light emitting device to emit light in a first light emission pattern, and when the evaluation value is less than the predetermined value when the electric ramp is deployed, causes the light emitting device to emit light in a second light emission pattern that is less noticeable than the first light emission pattern, or does not cause the light emitting device to emit light; A vehicle with an electric ramp, characterized by comprising:

3. a slope control unit that controls the deployment of the electric slope, and stops deployment of the electric slope when an object is detected that is within a predetermined distance from the deployment area and has been moving toward the deployment area for a predetermined time or longer during deployment of the electric slope; 3. The vehicle with an electric ramp according to claim 2, further comprising:

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