Vehicle control device

Abstract

To provide a control device for vehicle in which cardiac massage can be smoothly and effectively performed on a bed member installed with a suspension.SOLUTION: A control device for vehicle includes: a bed member which is a bed 9 or a frame 90 for stretcher mounted on a vehicle; a suspension 2 which is arranged between the bed member and a vehicle body 10; a detection device 3 which detects information about the load applied to the bed member or the acceleration in the vertical direction of the bed member; a lock device 4 which regulates the relative displacement in the vertical direction of the bed member relative to the vehicle body 10; and a controller 5 which determines whether cardiac massage is being performed for a patient on the bed member on the basis of the detection result of the detection device 3 and regulates the relative displacement in the vertical direction of the bed member relative to the vehicle body 10 by actuating the lock device 4 when determining that cardiac massage is being performed for the patient.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] In some cases, an active suspension is arranged between a seat and the vehicle body to suppress vibration of the seat of a vehicle. The active suspension is configured to be able to control the force acting between the seat and the vehicle body. A controller controls the active suspension in response to vibration input to the seat so that the vibration of the seat is suppressed. For example, JP 2006-509673 A describes an active suspension with two degrees of freedom of movement that is provided on a seat. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2006-509673 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, vehicles such as ambulances are equipped with a bed or a stretcher platform. The bed and stretcher platform can also be called bed members. A suspension is provided between the bed member and the vehicle body to reduce vibration. When cardiac massage is performed on this bed member, the force applied to the bed member by cardiac massage is absorbed by the displacement of the bed member, which may prevent effective cardiac massage.

[0005] SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle control device that can smoothly and effectively perform cardiac massage on a bed member on which a suspension is installed. [Means for solving the problem]

[0006] The vehicle control device of the present invention includes a bed member which is a bed or stretcher stand mounted on a vehicle, a suspension arranged between the bed member and a vehicle body, a detection device which detects information on a load applied to the bed member or information on the vertical acceleration of the bed member, a locking device which restricts the vertical relative displacement of the bed member with respect to the vehicle body, and a controller. The controller determines whether cardiac massage is being performed on a patient on the bed member based on the detection result of the detection device, and when it determines that cardiac massage is being performed on the patient, activates the locking device to restrict the vertical relative displacement of the bed member with respect to the vehicle body. [Effects of the Invention]

[0007] According to the present invention, when cardiac massage is performed on a patient on the bed member, the controller detects this and activates the locking device. This automatically restricts the vertical relative displacement of the bed with respect to the vehicle body without user operation. According to the present invention, the bed member is normally properly supported by the suspension, and when cardiac massage is performed on a patient on the bed member, the vertical movement of the bed member that would hinder (absorb) cardiac massage is restricted. Thus, according to the present invention, cardiac massage can be performed smoothly and effectively on the bed member on which the suspension is installed. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a configuration diagram of a vehicle control device according to an embodiment of the present invention; [Figure 2] 4 is a flowchart illustrating an example of control according to the present embodiment. [Figure 3] FIG. 10 is a configuration diagram showing a modified example of the vehicle control device of the present embodiment. [Figure 4] FIG. 10 is a configuration diagram showing a modified example of the vehicle control device of the present embodiment. [Figure 5] FIG. 10 is a configuration diagram showing a modified example of the vehicle control device of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, as a mode for carrying out the present invention, a vehicle control device that is one embodiment of the present invention will be described in detail with reference to the drawings. In addition to the following example, the present invention can be carried out in various forms with various modifications and improvements based on the knowledge of those skilled in the art. The vehicle of this embodiment has wheels 8 arranged on the front, rear, left and right sides.

[0010] As shown in FIG. 1, the vehicle control device 1 includes a bed (corresponding to a "bed member") 9, a suspension 2, a detection device 3, a locking device 4, and a controller 5. The suspension 2 is disposed between the bed 9 mounted on the vehicle and a vehicle body 10. The suspension 2 is installed, for example, on a bottom forming member (floor surface member) of the vehicle body 10. The suspension 2 is an active suspension configured to be able to control the force acting between the bed 9 and the vehicle body 10. The suspension 2 is configured to be able to control, for example, the relative position of the bed 9 with respect to the vehicle body 10 (e.g., a moving force or a holding force), the damping force between the vehicle body 10 and the bed 9, and the spring constant (elastic force) between the vehicle body 10 and the bed 9. The suspension 2 includes an actuator 23 and is configured to be able to adjust the relative position (displacement amount) of the bed 9 with respect to the vehicle body. The bed 9 connected to the suspension 2 is also called an active bed.

[0011] To conceptually explain an example of the suspension 2, the suspension 2 includes a shock absorber 21 as a damper element, a suspension spring 22 as a spring element, and an actuator 23. The actuator 23 changes the vertical position of the bed 9 relative to the vehicle body 10. The bed 9 moves vertically by being driven by the actuator 23. The actuator 23 includes an electric motor as a drive source and a reduction mechanism. The drive source of the actuator 23 may be, for example, a hydraulic drive source. One or more actuators 23 are installed for one bed 9. By arranging multiple actuators 23 spaced apart on one bed 9, the bed 9 can be tilted, making it possible to respond to, for example, vibrations in the roll direction or pitch direction.

[0012] The shock absorber 21 generates a damping force between the vehicle body 10 and the bed 9. The shock absorber 21 may be of a variable type, in which the damping force (which may be a damping coefficient or a damping ratio) can be changed, or of a non-variable type, in which the damping force cannot be changed. The suspension spring 22 generates an elastic force between the vehicle body 10 and the bed 9 according to a spring constant. The suspension spring 22 may be of a variable spring constant type or a non-variable spring constant type. The suspension 2 may, for example, be equipped with a link mechanism (e.g., a pantograph-like configuration) in which the movable part of the bed 9 has freedom of movement only in the up and down direction. In this case, for example, the actuator 23 may be connected in parallel to the shock absorber 21 and the suspension spring 22, which act on the operation of the link mechanism.

[0013] The detection device 3 is a device that detects information regarding the load applied to the bed 9. The detection device 3 is a load sensor installed on the bed 9. The detection device 3 detects the load applied to the upper surface of the bed 9, i.e., the force (pressure) applied downward to the upper surface of the bed 9. It can also be said that the detection device 3 detects changes in the load. The detection device 3 transmits the detection result to the controller 5.

[0014] The locking device 4 is a device that restricts the vertical displacement of the bed 9 relative to the vehicle body 10. In this embodiment, the vertical movement of the bed 9 is restricted by an actuator 23 controlled by the controller 5. That is, the locking device 4 in this embodiment is configured by the actuator 23.

[0015] The controller 5 is configured by an ECU (electronic control unit) having one or more processors 51 and one or more memories 52. The memories 52 are communicatively connected to the processor 51. The memories 52 may be internal or external memories. The controller 5 is communicatively connected to the suspension 2 and the detection device 3.

[0016] The controller 5 may be configured to control the suspension 2 when it is determined that a patient (occupant) is present on the bed 9 based on the detection result of the detection device 3. The controller 5 can determine whether or not a patient is present on the bed 9 based on a change in the load applied to the bed 9.

[0017] When a patient is present on the bed 9, the controller 5 controls the suspension 2 to reduce vibrations of the bed 9. This control can be called normal vibration suppression control. The controller 5 controls the actuator 23 to control the vertical position of the bed 9. The controller 5 sets the current value of the control current to be supplied to the actuator 23. The controller 5 supplies the control current to the electric motor of the actuator 23 via a drive circuit (not shown). The current value of the control current correlates with the amount of expansion and contraction of the actuator 23. The amount of expansion and contraction of the actuator 23, i.e., the amount of displacement of the bed 9 due to the operation of the actuator 23, can also be said to be the control amount of the actuator 23. As normal vibration suppression control, for example, the controller 5 performs feedback control based on the detection value of an acceleration sensor 91 installed on the bed 9 that detects vertical acceleration so that the detected value approaches a target value.

[0018] (lock control) The controller 5 determines whether cardiac massage is being performed on the patient on the bed 9 based on the detection result of the detection device 3. When the detection value (load) of the detection device 3 is equal to or greater than a predetermined threshold, the controller 5 determines that cardiac massage is being performed on the patient on the bed 9. When cardiac massage is performed on the bed 9, a load of a magnitude that would not be expected in normal use of the bed 9 is applied to the bed 9. By detecting this change in load, it becomes possible to determine whether cardiac massage is being performed on the bed 9. When the controller 5 determines that cardiac massage is not being performed on the patient on the bed 9, it executes (continues) normal vibration suppression control.

[0019] On the other hand, when the controller 5 determines that cardiac massage is being performed on the patient on the bed 9, it activates the locking device 4, i.e., the actuator 23, to restrict the vertical relative displacement of the bed 9 with respect to the vehicle body 10. The controller 5 acquires the vertical relative displacement amount or relative speed of the bed 9 with respect to the vehicle body 10, and causes the actuator 23 to generate a force (proportional force) according to the relative displacement amount or relative speed.

[0020] As an example, a vertical acceleration sensor 91 is installed on the bed 9. Also, a vertical acceleration sensor 101 is installed on the vehicle body 10. The acceleration sensors 91, 101 transmit their detection results to the controller 5. Based on the detection value of the acceleration sensor 91, the controller 5 can calculate the vertical velocity (first-order time integral of acceleration) and displacement amount (second-order time integral of acceleration) of the bed 9. Similarly, based on the detection value of the acceleration sensor 101, the controller 5 can calculate the vertical velocity and displacement amount of the vehicle body 10. Based on the detection values ​​of the acceleration sensors 91, 101, the controller 5 can calculate the vertical relative displacement amount or relative velocity of the bed 9 with respect to the vehicle body 10.

[0021] When the controller 5 determines that cardiac massage is being performed on the patient, it controls the actuator 23 so that the bed 9 does not move vertically relative to the vehicle body 10. Hereinafter, the control by the controller 5 to control the locking device 4 (here, the actuator 23) to suppress the vertical relative displacement of the bed 9 with respect to the vehicle body 10 is also referred to as "lock control." When a patient lies on the bed 9, the controller 5 executes normal vibration suppression control to reduce vibration, and when cardiac massage is being performed on the patient, it executes lock control to restrict the vertical relative movement of the bed 9 with respect to the vehicle body 10.

[0022] As shown in Fig. 2, the controller 5 determines whether cardiac massage is being performed on the bed 9 while normal vibration suppression control is being performed (S1). If the controller 5 determines that cardiac massage is being performed (S1: Yes), it executes lock control (S2). If the controller 5 determines that cardiac massage is not being performed (S1: No), it continues normal vibration suppression control (S3). The controller 5 repeats this process.

[0023] Once the controller 5 starts the lock control, it continues to execute the lock control for at least a predetermined time. This is because it is considered unlikely that cardiac massage will end immediately. If the detection value of the detection device 3 remains below the threshold for a predetermined threshold time after the predetermined time has elapsed since the start of the lock control, the controller 5 stops the lock control. In this embodiment, the controller 5 stops the lock control and executes normal vibration suppression control. If the patient gets out of bed 9, the controller 5 stops the normal vibration suppression control.

[0024] According to this embodiment, when cardiac massage is performed on the bed 9, the controller 5 detects this and activates the locking device 4, i.e., the actuator 23. This automatically restricts the vertical relative displacement of the bed 9 with respect to the vehicle body 10 without any user operation. According to this embodiment, the bed 9 is normally properly supported by the suspension 2, and when cardiac massage is performed on a patient on the bed 9, the vertical movement of the bed 9 that would obstruct (absorb) cardiac massage is restricted. According to this embodiment, cardiac massage can be performed smoothly and effectively on the bed 9 on which the suspension 2 is installed.

[0025] (Modification of the locking device) The locking device 4 is not limited to the above and may be a physical locking mechanism. For example, the locking device 4 may sandwich the bed 9 from above and below to fix the relative position of the bed 9 with respect to the vehicle body 10. In this case, as shown in FIG. 3 , the locking device 4 includes a base 41, locking members 42 and 43, and a drive unit 44. The base 41 is an upright member fixed to the vehicle body 10 and disposed on the side of the bed 9. The locking member 42 is a member disposed above the bed 9 and is vertically movable on the base 41. The locking member 43 is a member disposed below the bed 9 so as to face the locking member 42 across the bed 9. The drive unit 44 is, for example, an electric motor, and moves the locking members 42 and 43 up and down in accordance with the control of the controller 5.

[0026] The locking members 42, 43 are normally disposed at a position separated from the bed 9. When the controller 5 determines that cardiac massage is being performed on the bed 9, it controls the driving device 44 to move the locking member 42 downward and the locking member 43 upward. As a result, the bed 9 is sandwiched and fixed between the locking members 42, 43. By being held by the locking members 42, 43, the bed 9 is restricted from moving up and down relative to the vehicle body 10.

[0027] The controller 5 can lock or unlock the bed 9 by controlling the locking device 4. The controller 5 sets the locking device 4 to an unlocked state (non-gripping state) when cardiac massage is not being performed, and sets the locking device 4 to a locked state (gripping state) as lock control when cardiac massage is being performed. In this way, even with a configuration in which the bed 9 is physically locked, the same effect as above can be achieved. Note that a plurality of such locking devices 4 may be installed for one bed 9. Furthermore, if a mechanism for physically locking the bed 9 is adopted as the locking device 4, the acceleration sensor 91, for example, may not be required.

[0028] (First modified example of the detection device) The detection device 3 is not limited to the above, and may be configured to include, for example, a device that detects information about the planned traveling road surface, which is the road surface on which the target wheel is planned to travel. In this case, as shown in Fig. 4, the detection device 3 includes an ECU 31 having one or more processors and one or more memories, and a position detection device 32 that detects the position of the vehicle. Note that the ECU 31 may be a common ECU with the controller 5. The memory may be an internal memory or an external memory.

[0029] In the following description, it is assumed that all wheels 8 are set as target wheels. The detection device 3 acquires information about the road surface on which the vehicle is to travel (hereinafter also referred to as road surface information). The road surface information includes, for example, vertical displacement of the road surface, speed (time differential value of displacement), and / or acceleration (time differential value of speed). In other words, the road surface information is information related to the vertical displacement of the road surface on which the vehicle is to travel. The target wheels can be set as appropriate.

[0030] The memory of the ECU 31 stores a road surface information map Mp including map information and road surface information associated with the map information. The road surface information in the road surface information map Mp in this example is an unsprung state quantity, which is a state quantity of the unsprung part of the vehicle. That is, in the road surface information map Mp, the unsprung state quantity is associated (linked) with a position on the map. In the road surface information map Mp, for example, information on the unsprung state quantity is associated with each area of ​​map information in which a road is divided into areas of a predetermined shape. By referring to the road surface information map Mp, it is possible to grasp the unsprung state quantity when the vehicle travels at any position on the map. The unsprung state quantity is, for example, the vertical displacement amount of the unsprung part, the vertical velocity of the unsprung part, or the vertical acceleration of the unsprung part for each wheel 8.

[0031] The ECU 31 can detect the unsprung state quantity when the vehicle has traveled X meters or t seconds later based on the road surface information map Mp and the position information of the host vehicle. The position detection device 32 is mounted on the vehicle and includes a receiver that receives vehicle position information from an artificial satellite. The receiver is, for example, a GNSS (Global Navigation Satellite System) receiver. The ECU 31 calculates the unsprung state quantity t seconds later based on the road surface information map Mp, the host vehicle's position, the host vehicle's traveling direction, and the host vehicle's speed. The ECU 31 transmits the acquired information on the unsprung state quantity to the controller 5. The controller 5 executes normal vibration damping control t seconds later based on the unsprung state quantity corresponding to the road surface condition t seconds later. That is, the controller 5 executes normal vibration damping control when the target wheel travels on the planned road surface based on the unsprung state quantity corresponding to the planned road surface. This normal vibration damping control can be considered feedforward control. Such control is called preview vibration suppression control when it is performed on the active suspension 7 of the undercarriage. In a vehicle in which preview vibration suppression control is performed, normal vibration suppression control is performed taking the preview vibration suppression control into consideration.

[0032] Based on the information about the planned travel road surface, the controller 5 calculates, as a predicted value, the acceleration, speed, or displacement amount in the vertical direction of the bed 9 when the target wheel travels on the planned travel road surface. In other words, based on the detection result of the detection device 3, the controller 5 calculates, as a predicted value, the vibration state (here, acceleration) of the bed 9 when the target wheel travels on the planned travel road surface and normal vibration damping control is executed.

[0033] The detection device 3 further includes an acceleration sensor (corresponding to an "upper state sensor") 91 that is installed on the bed 9 and detects acceleration in the vertical direction. The controller 5 compares the detected value of the acceleration sensor 91 with a predicted value corresponding to the detected value. In other words, the controller 5 compares the calculated predicted value after t seconds with the detected value of the acceleration sensor 91 that is actually detected after t seconds. If the difference between the predicted value and the detected value is equal to or greater than a predetermined difference threshold, the controller 5 determines that cardiac massage is being performed.

[0034] When the controller 5 determines that cardiac massage is being performed, it executes lock control on the locking device 4. When the difference is less than the difference threshold, the controller 5 determines that cardiac massage is not being performed. Even with this configuration, the same effect as above can be achieved. Note that the predicted value may be velocity or displacement in addition to acceleration. The velocity and displacement can be calculated from the detection value of the detection device 3. The controller 5 may execute normal vibration suppression control based on the predicted value.

[0035] The road surface information may also be a detection result from a periphery monitoring device including a camera and / or LiDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging). That is, the detection device 3 may include a periphery monitoring device. The controller 5 may detect unevenness or the like on the road surface based on the detection result from the periphery monitoring device and calculate a predicted value.

[0036] (Second modified example of the detection device) The detection device 3 may be configured to include an acceleration sensor (corresponding to an "upper state sensor") 91 installed on the bed 9 to detect acceleration in the vertical direction, and an acceleration sensor (corresponding to a "lower state sensor") 101 installed on the vehicle body 10 to detect acceleration in the vertical direction.

[0037] In this configuration, the controller 5 calculates the acceleration of the bed 9 as a predicted value when normal vibration suppression control is executed, based on the detection value of the acceleration sensor 101. The controller 5 calculates the acceleration of the bed 9 after execution of normal vibration suppression control from the acceleration of the vehicle body 10, based on a preset model of the suspension 2 (for example, an n-degree-of-freedom vibration system model: n is a natural number) and an equation of motion. Note that when normal vibration suppression control is not executed, the controller 5 calculates the acceleration of the bed 9 from the acceleration of the vehicle body 10.

[0038] The controller 5 determines whether the difference between the calculated predicted value and the detected value of the acceleration sensor 91 (i.e., the actual acceleration of the bed 9) is equal to or greater than a predetermined difference threshold. If this difference is equal to or greater than the difference threshold, the controller 5 determines that cardiac massage is being performed. If the controller 5 determines that cardiac massage is being performed, it executes lock control on the locking device 4. If the difference is less than the difference threshold, the controller 5 determines that cardiac massage is not being performed. Even with this configuration, the same effect as above can be achieved. Note that, as with the above, the predicted value may be velocity or displacement in addition to acceleration. The velocity and displacement can be calculated from the detected value of the detection device 3.

[0039] When the detection device 3 detects information relating to the vertical acceleration of the bed 9 as in the first and second modified examples of the detection device 3, the controller 5 calculates a predicted value relating to the vibration of the bed 9 by calculation based on other information (for example, road surface information or vehicle body condition information). When the actual condition of the bed 9 (detected value of the sensor) is outside an assumed range including the predicted value, the controller 5 determines that cardiac massage is being performed.

[0040] (Stretcher stand) In addition to the bed 9, the bed component that is the target of the lock control of the present disclosure may also be a stretcher cradle (hereinafter also simply referred to as a "cradle") 90 mounted on a vehicle, as shown in FIG. 5. The cradle 90 is a cradle for fixing a stretcher 6 inside the vehicle cabin. The stretcher 6 can be considered a bed component for transporting, for example, a patient. For example, a stretcher 6 with casters is carried onto the cradle 90 via a slope. The cradle 90 is provided with a fixing means (not shown) for fixing the stretcher 6. The controller 5 can determine whether the stretcher 6 is placed on the cradle 90 and whether a patient is present on the stretcher 6, based on fluctuations in the load applied to the cradle 90.

[0041] A gantry 90, on whose upper surface a stretcher 6 is placed and fixed, is supported integrally with the stretcher 6 by the suspension 2 and the vehicle body 10. Similar to the bed 9, vibrations of the vehicle body 10 are transmitted to the gantry 90 and the stretcher 6 via the suspension 2. For example, when the controller 5 determines that the stretcher 6 is placed on the gantry 90 (or when it determines that the stretcher 6 and a patient are present on the gantry 90), it executes normal vibration suppression control on the suspension 2. The controller 5 executes such presence determination based on, for example, a detection value of a load sensor (detection device 3) installed on the gantry 90 or a user operation. The load sensor serving as the detection device 3 detects a load (downward pressure) applied to the gantry 90.

[0042] The controller 5 determines whether cardiac massage is being performed on the gantry 90 and the stretcher 6 based on the detection result of the detection device 3. When cardiac massage is performed on the stretcher 6, a load outside of the normal expected range is applied to the gantry 90 as well as the bed 9. Therefore, when the detection value of the detection device 3 becomes equal to or greater than a predetermined threshold, the controller 5 determines that cardiac massage is being performed.

[0043] Even with this configuration, when cardiac massage is performed on the stretcher 6, the controller 5 executes lock control to lock the vertical movement of the gantry 90 relative to the body 10, thereby achieving the same effect as above. The lock control may be executed on the actuator 23 as described above, or may be executed on a physical locking mechanism. In the technology disclosed above, the bed 9 can be replaced with the gantry 90.

[0044] (others) The present invention is not limited to the above embodiment. For example, the suspension 2 may not have the actuator 23. In this case, the locking device 4 is configured to lock the bed member (bed 9 or platform 90) using a physical mechanism. The suspension 2 does not have to be an active suspension. In this case, the controller 5 does not execute normal vibration suppression control on the suspension 2. In this case, the controller 5 controls the locking device 4 to lock or unlock the state of the suspension 2. Furthermore, the locking control may be executed on the shock absorber 21 or the suspension spring 22 of the suspension 2. For example, the shock absorber 21 may be locked by stopping the flow of fluid (e.g., oil) inside the shock absorber 21.

[0045] Furthermore, the determination of whether a patient is present on the bed member is not limited to a determination based on the load, but may be performed based on the displacement of the bed member. The displacement of the bed member can be calculated, for example, based on the detection value of an acceleration sensor installed on the bed member. The presence or absence of a patient on the bed member may also be determined based on a user operation (for example, a switch operation). The detection device 3 may be a relative displacement meter that detects the relative displacement of the bed member in the vertical direction with respect to the vehicle body 10. In this case, the controller 5 determines that cardiac massage is being performed when the detection value of the relative displacement meter is equal to or greater than a predetermined value. The normal vibration suppression control may be performed regardless of the presence or absence of a patient. The controller 5 may also be composed of multiple ECUs. The term "ECU" in the present disclosure is synonymous with "computer" and can be replaced with "computer." [Explanation of symbols]

[0046] 1...vehicle control device, 10...vehicle body, 101...acceleration sensor (lower state sensor), 2...suspension, 3...detection device, 4...locking device, 5...controller, 9...bed (bed member), 90...stretcher stand (bed member), 91...acceleration sensor (upper state sensor).

Claims

1. a bed member mounted on the vehicle and serving as a bed or stretcher stand; a suspension disposed between the bed member and a vehicle body; a detection device that detects information regarding a load applied to the bed member or an acceleration of the bed member in the vertical direction; a locking device that restricts the relative displacement of the bed member in the up-down direction with respect to the vehicle body; a controller that determines whether cardiac massage is being performed on the patient on the bed member based on the detection result of the detection device, and when it is determined that cardiac massage is being performed on the patient, activates the locking device to restrict the relative displacement of the bed member in the up and down direction with respect to the car body; A vehicle control device comprising:

2. the suspension is an active suspension including an actuator that changes the relative position of the bed member with respect to the vehicle body in the up-down direction, The locking device is configured by the actuator, The controller When it is determined that the cardiac massage is not being performed on the patient on the bed member, the actuator is controlled to reduce vibration of the bed member; When it is determined that the cardiac massage is being performed on the patient on the bed member, the actuator is controlled so that the bed member does not move vertically relative to the vehicle body. The vehicle control device according to claim 1 .

3. the detection device is a load sensor that detects a load applied to the bed member, The controller determines that cardiac massage is being performed on the patient when the detected value of the load sensor is equal to or greater than a predetermined threshold. The vehicle control device according to claim 1 or 2.

4. the detection device includes a device for detecting information about a planned road surface that is a road surface that a target wheel of the vehicle is scheduled to travel on, and an upper state sensor that is installed on the bed member and detects acceleration, speed, or displacement in a vertical direction; The controller calculating, as a predicted value, an acceleration, a velocity, or a displacement amount of the bed member in the vertical direction when the target wheel travels on the planned road surface based on the information of the planned road surface; If the difference between the predicted value and the detected value of the upper state sensor is equal to or greater than a predetermined difference threshold, it is determined that cardiac massage is being performed on the patient. The vehicle control device according to claim 1 or 2.

5. The detection device includes an upper state sensor installed on the bed member to detect acceleration, speed, or displacement in a vertical direction, and a lower state sensor installed on the vehicle body to detect acceleration, speed, or displacement in a vertical direction, The controller Based on the detection value of the lower state sensor, calculate the acceleration, velocity, or displacement amount of the bed member in the vertical direction as a predicted value; If the difference between the predicted value and the detected value of the upper state sensor is equal to or greater than a predetermined difference threshold, it is determined that cardiac massage is being performed on the patient. The vehicle control device according to claim 1 or 2.

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