Method for operating a vehicle, vehicle, infrastructure device, and system

Abstract

The invention relates to a method (60) for operating (62) a vehicle (10) The vehicle (10) comprises a door (14) with a lower door edge (16), the height (18) of the lower door edge (16) being adjustable. The method (60) is characterized by steps (64, 72, 74): providing (64) a data set (66), said data set (66) comprising, for each of a plurality (68) of defined stopping points (28), at least one associated height (38) of an infrastructure edge (32) and being stored on a data carrier (68); determining (72) the height (38) of an infrastructure edge (32) in a surrounding region (37) of the vehicle (10), the step of determining (72) the height (38) of the infrastructure edge (32) including the process of reading the height (38) of the infrastructure edge (32) from the data set (66); and adjusting (74) the height (18) of the lower door edge (16) on the basis (76) of the height (38) of the infrastructure edge (32).

Description

[0001] Method for operating a vehicle, vehicle, infrastructure device and system

[0002] The invention relates to a method for operating a vehicle, a vehicle, an infrastructure device and a system comprising a vehicle and an infrastructure device.

[0003] Vehicles, such as buses, are known to have a door with a lower edge and a leveling system designed to adjust the height of the lower edge of the door. For example, the door is intended for passenger entry and exit.

[0004] Especially when city buses approach stops, the driver typically tries to keep the gap between the bottom edge of the door and the stopping edge as small as possible. This is intended to ensure the most barrier-free boarding and alighting experience possible. Various regulations also exist regarding this aspect. For example, EU R1300 / 2014 requires a maximum gap of 7.5 cm horizontally and 5 cm vertically between the vehicle and the stopping edge.

[0005] City buses typically have air suspension systems that allow them to adjust to height profiles with centimeter precision. Some vehicles also feature a button for the driver to lower the bottom edge of the door to a specified height. This lowering of the bottom edge of the door or the corresponding side of the vehicle is also known as "kneeling."

[0006] However, the specified height is not always correct for all stops. On the one hand, it is often the case that not every single stop is designed to ensure the specified height. On the other hand, it is not always possible to guarantee that the vehicle will stop at exactly the same point at the stop, for example because there may be obstacles at the stop in individual cases. This means that even at a stop that complies with standards, it may not be possible to stop exactly at the intended location with the specified height. As a result, city buses are typically also equipped with extendable ramps, which incurs further costs and requires additional installation space in the vehicle and at the stops. The use of ramps is also complex. In general, attempts are made to adapt the infrastructure, in particular the height of the stopping edge, to the specified height of the lowered bottom edge of the doors.However, this is also complex and difficult to ensure across the entire route network.

[0007] A similar problem exists with trucks. While these often also have a leveling system that allows the height of the lower edge of a door intended for loading to be adjusted, the loading edges often vary greatly in the infrastructure.

[0008] It is an object of the invention to ensure a barrier-free transition between a lower door edge of a vehicle and an infrastructure edge in an area surrounding the vehicle in a simple manner.

[0009] The object is achieved by a method according to claim 1 for operating a vehicle.

[0010] In the method, the vehicle comprises a door with a lower edge, the height of which is adjustable. The vehicle can be designed, for example, as a bus or as a commercial vehicle, in particular a truck or commercial vehicle trailer, with a door provided for loading.

[0011] The method comprises providing a data set, wherein the data set comprises at least one associated height of an infrastructure edge for a plurality of predefined stops, wherein the data set is stored on a data carrier.

[0012] The method comprises determining a height of an infrastructure edge in a surrounding area of ​​the vehicle, wherein determining the height of the infrastructure edge comprises reading the height of the infrastructure edge from the data set. The method comprises adjusting the height of the lower edge of the door depending on the height of the infrastructure edge.

[0013] This method ensures a barrier-free transition between the bottom edge of the door and the edge of the infrastructure in a particularly simple manner. The height of the bottom edge of the door can be easily adjusted to the required height using the control device. This eliminates the need for additional ramps, thus eliminating the need for additional installation space and costs. Furthermore, the infrastructure requirements are simplified in that not all stops have to be structurally adapted to a single, specified height.

[0014] The data set can be stored, for example, on a data storage device of the vehicle. Alternatively or additionally, the data set can be stored, for example, on a data storage device of an infrastructure device, such as a bus stop or a server, for example, a cloud server.

[0015] In principle, it is possible for the height of the lower edge of the door to be adjusted completely automatically, i.e., without any intervention from the driver. For example, a stop or an infrastructure edge can be detected, and following this detection, the height of the lower edge of the door can be automatically adjusted. The height of the lower edge of the door can be adjusted, in particular, when the vehicle is stationary. As an alternative to a completely automatic adjustment of the height of the lower edge of the door, an actuating device, such as a button on the driver's seat, can be provided for the driver, for example. The actuating device is designed to cause the control device to adjust the height of the lower edge of the door.

[0016] According to one embodiment, the height of the door's lower edge is adjusted so that the height of the door's lower edge is at least substantially equal to the height of the infrastructure edge. This further reduces barriers.

[0017] The infrastructure edge can be, for example, a curb, a bus curb, or a loading ramp edge. Such infrastructure edges allow for precise height adjustment and minimize barriers. In general, the infrastructure edge can be, for example, the edge of a waiting platform for passengers, a stopping edge, and / or the edge of a loading platform for goods.

[0018] According to one embodiment, the method further comprises determining identity information of a stop in the surrounding area of ​​the vehicle and determining the height of the infrastructure edge in the surrounding area of ​​the vehicle based on the identity information and the data set. This provides a simple way to assign the data.

[0019] According to one embodiment, determining the identity information comprises detecting the stop in the surrounding area of ​​the vehicle using a detection sensor, wherein the detection sensor is arranged on the vehicle. The identity of the stop can thus be easily detected.

[0020] According to one embodiment, the detection sensor is an image sensor. Such a sensor is inexpensive and can be easily integrated into the vehicle's control system.

[0021] According to one embodiment, the vehicle comprises an object recognition device connected to the image sensor, wherein the identity information of the stop in the surrounding area of ​​the vehicle is determined by means of the object recognition device. This embodiment is simple and reliable.

[0022] The object recognition device can, in particular, comprise a neural network classifier and / or be configured for object recognition using machine learning. This allows objects or bus stops to be recognized particularly reliably.

[0023] According to one embodiment, the vehicle comprises a character recognition device, in particular a text recognition device, a QR code recognition device, and / or a barcode recognition device. A character recognition device allows a stop to be recognized particularly easily and reliably. The identity information of the stop in the area surrounding the vehicle can be determined, in particular, using the character recognition device. Thus, for example, it is possible to recognize stop information through text recognition on the stop signs, in particular the name of the stop.

[0024] According to one embodiment, the detection sensor is a radio sensor. In particular, a radio transmitter can be arranged at the stop and emit a radio detection signal. A radio detection signal is a signal by which the stop's identity can be identified. The radio sensor can detect the radio detection signal. The identity information of the stop in the area surrounding the vehicle can be determined based on the radio detection signal. A radio transmitter is particularly easy to position at the stop because no visual contact is required.

[0025] According to one embodiment, determining the identity information comprises determining a position of the vehicle using a global navigation satellite system (GNSS) and determining a stop in the vicinity of the vehicle based on the position of the vehicle. This embodiment has the advantage that modern vehicles typically already have a GNSS, such as GPS. Thus, most vehicles do not require additional sensors to determine the identity information of the stop. Furthermore, no detection devices, such as a radio transmitter, need to be installed at the stops. This saves considerable costs. The respective stop information is stored, for example, together with its geocoordinates, so that the stop can be identified by locating the vehicle, e.g., via GNSS.

[0026] Determination of the position of the vehicle and / or assignment / identification of the stops can also be achieved by recognizing optical / radiometric characteristics of the stops, e.g. by learning and / or recognizing certain patterns in the sensor data using machine learning methods.

[0027] According to one embodiment, providing the data set involves generating the data set in advance using a height sensor mounted on the vehicle. Thus, different heights of infrastructure edges at stops can be detected in a simple and reliable manner.

[0028] In principle, determining the height of the infrastructure edge can, for example, additionally involve detecting the height of the infrastructure edge using a height sensor. This allows the determination of the height of the infrastructure edge to be carried out even more reliably.

[0029] Various embodiments of the height sensor are described below. For example, one, several, or all embodiments can be implemented in the height sensor.

[0030] The altitude sensor can, for example, include a camera, such as a monocular camera. This allows for precise altitude determination with a simple design.

[0031] In particular, the control device can comprise an evaluation device configured to determine depth information using a structure-from-motion method by means of the height sensor, in particular using a monocular camera. This enables precise height determination with a simple design.

[0032] The height sensor can, for example, include a stereo camera. This allows for precise height determination with a simple setup.

[0033] The altitude sensor can, for example, include a time-of-flight camera. This allows for precise altitude determination with a simple setup.

[0034] The height sensor can, for example, include an ultrasonic sensor. This allows for precise height determination with a simple design.

[0035] The height sensor can, for example, comprise a radar sensor. This enables precise height determination with a simple design. The height sensor can, for example, comprise a lidar sensor. This enables precise height determination with a simple design.

[0036] The height sensor can, for example, comprise a sensor with only one scanning plane, wherein the scanning plane runs at least substantially vertically with respect to a surface for the vehicle and / or perpendicular to the direction of extension of an infrastructure edge to be detected. This enables precise height determination with a simple design. In simplified terms, this design can also be described as a "fan" of measuring beams in one plane.

[0037] The problem is also solved by a vehicle according to the independent claim directed thereto.

[0038] The vehicle can be designed in particular as an omnibus and comprises a door with a lower edge and a level control system which is designed to adjust a height of the lower edge of the door.

[0039] The vehicle comprises a control device, wherein the control device is connected to the level control system and is configured to control the level control system.

[0040] According to a first variant of the vehicle, the vehicle comprises a data carrier with a data set, wherein the data set comprises at least one assigned height of an infrastructure edge for a plurality of predefined stops, wherein the data carrier is connected to the control device, and wherein the control device is configured to determine the height of the infrastructure edge in the surrounding area of ​​the vehicle based on the data set.

[0041] According to a second variant of the vehicle, which can in principle be provided alternatively or in addition to the first variant of the vehicle, the vehicle comprises a communication device which is configured to receive a height of an infrastructure edge in the surrounding area of ​​the vehicle, wherein the communication device is connected to the control device and configured to output the height of the infrastructure edge to the control device.

[0042] In both variants of the vehicle, the control device is designed to adjust the height of the lower edge of the door depending on the height of the infrastructure edge in the area surrounding the vehicle by means of the level control system.

[0043] According to an embodiment of the first variant of the vehicle, the vehicle comprises an identification device for a stop in the surrounding area of ​​the vehicle, wherein the identification device is connected to the control device, wherein the identification device comprises a recognition sensor configured to determine identity information of a stop in the surrounding area of ​​the vehicle. This enables reliable recognition in a simple manner.

[0044] According to one embodiment of the first variant of the vehicle, the vehicle comprises a communication device configured to receive identification information of a stop in the surrounding area of ​​the vehicle. This provides a further possibility for simple and reliable recognition. One difference from the above-mentioned second variant of the vehicle is that in this embodiment, the communication device is configured to receive the identification information, whereas in the second variant of the vehicle, the communication device is configured to receive the height of the infrastructure edge. Thus, for example, either the identity information or the height information can be communicated. In principle, both can also be communicated.

[0045] The vehicle's control device can, for example, use the identity information to determine the height of the infrastructure edge based on a data set stored on a data storage device in the vehicle. Alternatively, or in principle also additionally, the control device can use the identity information to retrieve the height of the infrastructure edge from an infrastructure device, such as a server, using a communication device. The described communications can be implemented by one and the same communication device on the vehicle or by different communication devices on the vehicle.

[0046] In principle, the level control system can be configured, in particular, to detect and adjust a target height. The target height typically refers to a predefined reference point on the vehicle. This reference point may differ from the bottom edge of the door. The control device is configured, in particular, to take into account any height difference between the reference point and the bottom edge of the door.

[0047] The level control system can, for example, comprise at least one gas spring, in particular several gas springs, wherein, for example, a gas quantity in the at least one gas spring can be adjustable. By adjusting the gas quantity, the level or height of the lower edge of the vehicle's door can be adjusted. The gas spring can, for example, be an air suspension. A level control system with air suspension is also referred to as "Electronically Controlled Air Suspension," or ECAS for short.

[0048] The vehicle can, for example, have a second door with a second lower door edge. The level control system can, in particular, be configured to adjust the height of the second lower door edge. The control device can, in particular, be configured to adjust the height of the second lower door edge as a function of the height of a second infrastructure edge by means of the level control system. The control device can, in particular, be configured to adjust the height of the first lower door edge and the height of the second lower door edge differently as a function of a respectively assigned infrastructure edge. A low-barrier transition is thus easily improved for both doors.

[0049] The vehicle can be, for example, a commercial vehicle, a truck, a commercial vehicle trailer, a passenger car, or a bus. For example, the vehicle can be an articulated bus. The door can, for example, be intended for the passage of persons. This can be the case in particular with a bus or a similar vehicle. If the door is intended for the passage of persons, the infrastructure edge can, in particular, be an edge of an infrastructure device for the entry and exit of persons, such as a waiting platform.

[0050] The door can also be designed, for example, for the passage of goods. This can be particularly the case with a truck or commercial vehicle trailer. If the door is designed for the passage of goods, the infrastructure edge can, in particular, be an edge of an infrastructure device for the loading and unloading of goods, such as a loading platform.

[0051] The vehicle can, for example, be a road vehicle or a rail vehicle.

[0052] The vehicle may, for example, be a single vehicle, a tractor or a trailer for a tractor-trailer combination or a tractor-trailer combination.

[0053] The problem is also solved by an infrastructure device according to the claim directed thereto.

[0054] The infrastructure device may, for example, be a server for a vehicle, a stop for a vehicle or a device for a stop for a vehicle, in particular for a vehicle of the type described above.

[0055] According to a first variant of the infrastructure device, the infrastructure device comprises a data carrier with a data set, wherein the data set comprises at least one assigned height of an infrastructure edge for a plurality of predefined stopping points for the vehicle, wherein the infrastructure device comprises a communication device configured to transmit a height of an infrastructure edge at a stopping point in a surrounding area of ​​a vehicle to the vehicle. According to a second variant of the infrastructure device, the infrastructure device comprises a communication device configured to transmit identification information of a stopping point in a surrounding area of ​​a vehicle to the vehicle.

[0056] The object is also achieved by a system according to the claim directed thereto, namely a system comprising a vehicle of the type described above and an infrastructure device of the type described above.

[0057] The first variant of the vehicle can be combined, in particular, with the second variant of the infrastructure device. The second variant of the vehicle can be combined, in particular, with the first variant of the infrastructure device.

[0058] In particular, advantageous devices, systems, and methods for assigning preset levels or target heights for the level control system, in particular the air suspension, to individual stops in a database or a look-up table are presented here. Stop information is retrieved and / or individual height profiles (preset levels) of the level control system, in particular the air suspension, are retrieved for a kneeling function.

[0059] Optionally, the information about the stops can be recorded using sensors and updated when the bus makes subsequent trips.

[0060] For example, defects in the infrastructure, such as broken or damaged stopping edges, can also be detected, for example, using a sensor attached to the vehicle. These defects can be stored in the dataset.

[0061] Based on previously learned stop information, for example, the vehicle can also be localized, particularly in the longitudinal direction or direction of travel, in order to stop the vehicle at a specific position (stop on target). If devices and methods are described herein, the described methods can advantageously be developed analogously using the embodiments and individual features of the devices, and vice versa.

[0062] The invention is explained below using examples shown in schematic drawings.

[0063] Fig. 1 shows a vehicle.

[0064] Fig. 2 shows a vehicle.

[0065] Fig. 3 shows schematically a method for operating a vehicle.

[0066] Fig. 4 shows a vehicle.

[0067] Fig. 5 shows a vehicle.

[0068] Fig. 6 shows a vehicle.

[0069] Fig. 7 shows a vehicle.

[0070] Fig. 8 shows schematically a determination of identity information.

[0071] Fig. 9 shows a vehicle.

[0072] Fig. 10 shows schematically the provision of a data set.

[0073] Fig. 11 shows a system with a vehicle and an infrastructure device.

[0074] Fig. 12 shows a system with a vehicle and an infrastructure device.

[0075] Fig. 1 shows a vehicle 10, which is embodied here as an example of a bus 12. The vehicle 10 includes a door 14 with a lower door edge 16. The height 18 of the lower door edge 16 is adjustable. The vehicle 10 includes a leveling system 20 with a gas spring 22. The leveling system 20 is configured to adjust the height 18 of the lower door edge 16.

[0076] The vehicle 10 includes a control device 24, wherein the control device 24 is connected to the level control system 20 and configured to control the level control system 20. For this purpose, the control device 24 sends a target height 26 to the level control system 20.

[0077] The vehicle 10 is parked at a stop 28, which includes a waiting platform 30 for people 31. The stop 28 has an infrastructure edge 32, which can be, for example, a curb 34 or a bus shelter 35. The infrastructure edge 32 forms a stopping edge 36 for the vehicle 10. The infrastructure edge 32 is located in an area 37 surrounding the vehicle 10.

[0078] The infrastructure edge 32 has a height 38. The height 18 of the door bottom edge 16 and the height 38 of the infrastructure edge 32 are relatively different in Fig. 1, making it relatively difficult for the person 14 to board. Therefore, the height of the door bottom edge 16 should be adjusted so that the height 18 of the door bottom edge 16 is substantially equal to the height 38 of the infrastructure edge 32.

[0079] Fig. 2 shows a vehicle 10 configured as a truck 40. Insofar as corresponding reference numerals to Fig. 1 are used in Fig. 2, the vehicle 10 is configured like that of Fig. 1. The vehicle 10 is parked at a loading ramp 42 and at a loading ramp edge 44 of the loading ramp 42. The loading ramp edge 44 forms an infrastructure edge 32.

[0080] Fig. 3 illustrates a method 60 for operating 62 a vehicle, for example a vehicle 10 according to Fig. 1 or 2. The method 60 comprises providing 64 a data set 66, wherein the data set 66 comprises at least one assigned height 38 of an infrastructure edge (heights 38.1, 38.2 and 38.3 are shown here as examples) for a plurality 68 at predefined stops 28 (stops 28.1, 28.2 and 28.3 are shown here as examples). The data set 66 is stored on a data carrier 70. The method 60 also comprises determining 72 a height 38 of an infrastructure edge in an area surrounding the vehicle. Determining 72 the height 38 of the infrastructure edge comprises reading the height 38 of the infrastructure edge from the data set 66.

[0081] The method 60 further includes adjusting 74 a height 18 of the door bottom edge as a function 76 of the height 38 of the infrastructure edge. The height 18 of the door bottom edge is preferably adjusted such that the height 18 of the door bottom edge at 78 is at least substantially equal to the height 38 of the infrastructure edge.

[0082] In this example, the method 60 comprises determining 80 identity information 82 of a stop 28 in the surrounding area of ​​the vehicle. The determination 72 of the height 38 of the infrastructure edge in the surrounding area of ​​the vehicle is carried out using the identity information 82 and the data set 66. The determination 80 of the identity information 82 comprises detecting 84 the stop 28 in the surrounding area of ​​the vehicle using a detection sensor 86, wherein the detection sensor 86 is arranged on the vehicle.

[0083] Fig. 4 shows a vehicle with a detection sensor 86 for a stop 28, wherein the detection sensor 86 is embodied as an image sensor 88. The vehicle 10 includes an object detection device 90 connected to the image sensor 88. Identity information 82 of a stop 28 in the surrounding area 37 of the vehicle 10 can be determined using the object detection device 90.

[0084] The object recognition device can, for example, comprise a neural network classifier 92 and / or be configured for object recognition 96 by means of machine learning 94.

[0085] The stop 28 comprises a distinctive object 98. The image sensor 88 captures an image of the object 98 and transmits it to the object recognition device 90. The object recognition device 90 determines the identity information 82 of the stop 28, for example using the neural network classifier 92. It is understood that a stop typically has a plurality of objects, wherein the object recognition device 90 can, for example, take into account several or all of the objects of the stop 28 and in particular their arrangement relative to one another when determining the identity information 82.

[0086] Fig. 5 shows another vehicle 10 with a recognition sensor 86 for a stop 28, wherein the recognition sensor 86 is embodied as an image sensor 88. The vehicle 10 comprises a character recognition device 100, in particular a recognition device 102 for text 104, a recognition device 106 for QR codes 108, and / or a recognition device 110 for barcodes 112. Identity information 82 of the stop 28 in the surrounding area 37 of the vehicle 10 can be determined by means of the character recognition device 10.

[0087] Fig. 6 shows a vehicle 10 with a detection sensor 86 for a stop 28, wherein the detection sensor 86 is embodied as a radio sensor 114. A radio transmitter 116 is arranged at the stop 28 and transmits a radio detection signal 118. The radio sensor 114 detects the radio detection signal 118, and the identity information 82 of the stop 28 in the surrounding area 37 of the vehicle 10 is determined based on the radio detection signal 118.

[0088] Fig. 7 shows a vehicle 10 located at a stop 28.1. Stop 28.1 is therefore located in the surrounding area 37 of vehicle 10. Another stop 28.2 is shown at a greater distance. Vehicle 10 includes a position determination module 120 configured to determine a position 124 of vehicle 10 using a global navigation satellite system 122.

[0089] For the vehicle 10 shown in Fig. 7, determining 80 an identity information 82 comprises, for example, as shown in Fig. 8, determining 126 a position 124 of the vehicle 10 by means of a global navigation satellite system 122 and determining 128 a stop 28 in the surrounding area 37 of the vehicle 10 based on the position 124 of the vehicle 10.

[0090] Fig. 9 shows a vehicle 10 with a height sensor 130. The height sensor 130 can detect an infrastructure edge 32 or its height 38. For the vehicle 10 shown in Fig. 9, providing 64 a data set 66 includes, for example, as shown in Fig. 10, generating the data set 66 in advance using the height sensor 130 attached to the vehicle 10.

[0091] Fig. 11 shows a vehicle 10 comprising a door 14 with a door lower edge 16, a level control system 20 which is configured to adjust a height 18 of the door lower edge 16, and a control device 24. The control device 24 is connected to the level control system 20 and configured to control the level control system 20.

[0092] The vehicle 10 of Fig. 11 comprises a data carrier 70 with a data set 66, wherein the data set 66 comprises at least one assigned height 38 of an infrastructure edge 32 for a plurality of predefined stops 28. The data carrier 70 is connected to the control device 24. The control device 24 is configured to determine the height 38 of the infrastructure edge 32 in the surrounding area 37 of the vehicle 10 based on the data set 66.

[0093] The control device 24 of the vehicle 10 of Fig. 11 is configured to adjust the height 18 of the lower door edge 16 as a function of the height 38 of the infrastructure edge 32 in the surrounding area 32 of the vehicle 10 by means of the level control system 20.

[0094] In this example, the vehicle 10 of Fig. 11 comprises an identification device 132 for a stop 28 in the surrounding area 37 of the vehicle 10. The identification device 132 is connected to the control device 24. The identification device 132 comprises a recognition sensor 86 configured to determine identity information 82 of a stop 28 in the surrounding area 37 of the vehicle 10.

[0095] In Fig. 11, the vehicle 10 also includes a communication device 134 configured to receive identification information 82 of a stop 28 in the surrounding area 37 of the vehicle 10 and to output it to the control device 24. The communication device 134 can, for example, be provided in addition to or as an alternative to the identification device 132. Fig. 11 also shows an infrastructure device 136. The infrastructure device 136 can, for example, be embodied as a server 138, for example a cloud server, for the vehicle 10, as a stop 28 for the vehicle 10, or as a device 140 for the stop 28 for the vehicle 10.

[0096] The infrastructure device 136 of Fig. 11 comprises a communication device 142 which is configured to transmit identification information 82 of the stop 28 in the surrounding area 37 of the vehicle 10 to the vehicle 10.

[0097] The vehicle 10 and the infrastructure device 136 form a system 144.

[0098] Fig. 12 shows a vehicle 10 comprising a door 14 with a door lower edge 16, a level control system 20 which is configured to adjust a height 18 of the door lower edge 16, and a control device 24. The control device 24 is connected to the level control system 20 and configured to control the level control system 20.

[0099] The vehicle 10 of Fig. 12 comprises a communication device 146 configured to receive a height 38 of an infrastructure edge 32 in the surrounding area 37 of the vehicle 10. The communication device 146 is connected to the control device 24 and configured to output the height 38 of the infrastructure edge 32 to the control device 24.

[0100] The control device 24 of the vehicle 10 of Fig. 11 is configured to adjust the height 18 of the lower door edge 16 as a function of the height 38 of the infrastructure edge 32 in the surrounding area 32 of the vehicle 10 by means of the level control system 20.

[0101] Fig. 12 also shows an infrastructure device 136. The infrastructure device 136 can be designed, for example, as a server 138, for example a cloud server, for the vehicle 10, as a stop 28 for the vehicle 10 or as a device 140 for the stop 28 for the vehicle 10. The infrastructure device 136 shown in Fig. 12 comprises a data carrier 70 with a data set 66. The data set 66 comprises at least one assigned height 38 of an infrastructure edge 32 for a plurality of predefined stop points 28 for the vehicle 10. The infrastructure device 136 comprises a communication device 148 which is configured to transmit the height 38 of the infrastructure edge 32 at the stop 28 in the surrounding area 37 of the vehicle 10 to the vehicle 10.

[0102] The vehicle 10 and the infrastructure device 136 form a system 144.

[0103] Where similar or identical elements are shown in different figures, reference numerals are assigned accordingly. For the sake of clarity, duplicate descriptions of similar or identical elements have been avoided. Nevertheless, the embodiments of the figures can be combined with one another and developed accordingly to the other embodiments and through their individual features.

[0104] Reference symbol (part of the description):

[0105] 10 vehicles

[0106] 12 buses

[0107] 14 Door

[0108] 16 Bottom edge of door

[0109] 18 Height of the bottom edge of the door

[0110] 20 Level control system

[0111] 22 Gas suspension

[0112] 24 Control device

[0113] 26 Target height

[0114] 28 stop

[0115] 30 Waiting platform

[0116] 31 people

[0117] 32 Infrastructure edge

[0118] 34 curb

[0119] 35 Buskapsteinkante

[0120] 36 retaining edge

[0121] 37 Surrounding area

[0122] 38 Height of the infrastructure edge

[0123] 40 trucks

[0124] 42 Loading ramp

[0125] 44 Loading ramp edge

[0126] 60 procedures

[0127] 62 Operating a vehicle

[0128] 64 Provision

[0129] 66 data sets

[0130] 68 Plural

[0131] 70 data carriers

[0132] 72 Determine

[0133] 74 Setting

[0134] 76 Dependence

[0135] 78 equal

[0136] 80 Determine identity information

[0137] Capture

[0138] Detection sensor

[0139] Image sensor

[0140] Object recognition device

[0141] Neural network classifier

[0142] Machine learning

[0143] Object recognition

[0144] object

[0145] Character recognition device

[0146] Detection device

[0147] text

[0148] Detection device

[0149] QR code

[0150] Detection device

[0151] Barcode

[0152] radio sensor

[0153] radio transmitter

[0154] Radio detection signal

[0155] Position determination module

[0156] Global Navigation Satellite System

[0157] position

[0158] Determine

[0159] Determine

[0160] Altitude sensor

[0161] Identification device

[0162] Communication device

[0163] I nf rastru ktu rvorrichtu ng

[0164] server

[0165] device

[0166] Communication device

[0167] system

[0168] Communication device

[0169] Communication device

Claims

Patent claims:

1. Method (60) for operating (62) a vehicle (10), wherein the vehicle (10) comprises a door (14) with a lower door edge (16), wherein a height (18) of the lower door edge (16) is adjustable, wherein the method (60) is characterized by the steps (64, 72, 74): providing (64) a data set (66), wherein the data set (66) comprises at least one assigned height (38) of an infrastructure edge (32) for a plurality (68) at predefined stops (28), wherein the data set (66) is stored on a data carrier (68); Determining (72) a height (38) of an infrastructure edge (32) in a surrounding area (37) of the vehicle (10), wherein determining (72) the height (38) of the infrastructure edge (32) comprises reading the height (38) of the infrastructure edge (32) from the data set (66); Adjusting (74) the height (18) of the lower edge of the door (16) depending (76) on the height (38) of the infrastructure edge (32).

2. The method (60) according to claim 1, wherein the height (18) of the door bottom edge (16) is adjusted such that the height (18) of the door bottom edge (16) is at least substantially equal (78) to the height (38) of the infrastructure edge (32).

3. Method (60) according to one of the preceding claims, wherein the infrastructure edge (30) is a curb edge (32), a bus stop edge (34) or a loading ramp edge (44).

4. The method (60) according to any one of the preceding claims, wherein the method (60) further comprises: Determining (80) identity information (82) of a stop (28) in the surrounding area (37) of the vehicle (10); Determining (72) the height (38) of the infrastructure edge (32) in the surrounding area (37) of the vehicle (10) based on the identity information (82) and the data set (66).

5. The method (60) according to claim 4, wherein determining (80) the identity information (82) comprises detecting (84) the stop (28) in the surrounding area of ​​the vehicle by means of a detection sensor (86), wherein the detection sensor (86) is arranged on the vehicle.

6. The method (60) of claim 5, wherein the detection sensor (86) is an image sensor (88).

7. The method (60) according to claim 6, wherein the vehicle (10) comprises an object recognition device (90) which is connected to the image sensor (88), wherein the identity information (82) of the stop (28) in the surrounding area (37) of the vehicle (10) is determined by means of the object recognition device (90), in particular wherein the object recognition device (90) comprises a neural network classifier (92) and / or in particular wherein the object recognition device (90) is set up for object recognition (96) by means of machine learning (94).

8. The method (60) according to claim 6 or 7, wherein the vehicle (10) comprises a character recognition device (100), in particular a recognition device (102) for text (104), a recognition device (106) for QR codes (108) and / or a recognition device (110) for bar codes (112), wherein the identity information (82) of the stop (28) in the surrounding area (37) of the vehicle (10) is determined by means of the character recognition device (100).

9. The method (60) according to claim 5, wherein the detection sensor (86) is a radio sensor (114), wherein a radio transmitter (116) is arranged at the stop (28) and transmits a radio detection signal (118), wherein the radio sensor (114) detects the radio detection signal (118), wherein the identity information (82) of the stop (28) in the surrounding area (37) of the vehicle (10) is determined based on the radio detection signal (118).

10. The method (60) according to claim 4, wherein determining (80) the identity information (82) comprises determining (126) a position (124) of the vehicle (10) by means of a global navigation satellite system (122) and determining (128) a stop location (28) in the surrounding area (37) of the vehicle (10) based on the position (124) of the vehicle (10).

11. Method (60) according to one of the preceding claims, wherein the providing (64) of the data set (66) comprises that the data set (66) is generated in advance by means of a height sensor (130) attached to the vehicle (10).

12. Vehicle (12), in particular an omnibus (12), comprising a door (14) with a lower door edge (16), a level control system (20) which is designed to adjust a height (18) of the lower door edge (16), and a control device (24), wherein the control device (24) is connected to the level control system (20) and is designed to control the level control system (20), characterized in that a) the vehicle (10) comprises a data carrier (70) with a data set (66), wherein the data set (66) comprises at least one assigned height (18) of an infrastructure edge (32) for a plurality (68) at predefined stops (28), wherein the data carrier (70) is connected to the control device (24), wherein the control device (24) is designed to determine the height (18) of the infrastructure edge (32) in the surrounding area (37) of the vehicle (10) based on the data set (66) to determineand / or b) that the vehicle (10) comprises a communication device (146) which is designed to receive a height (38) of an infrastructure edge (32) in the surrounding area (37) of the vehicle (10), wherein the communication device (146) is connected to the control device, (24) and is designed to output the height (38) of the infrastructure edge (32) to the control device (24), and in any case that the control device (24) is designed to adjust the height (38) of the lower door edge (16) as a function (76) of the height (38) of the infrastructure edge (32) in the surrounding area (37) of the vehicle (10) by means of the level control system (20).

13. Vehicle (10) according to claim 12, wherein the vehicle (10) comprises a data carrier (70) with a data set (66), wherein the data set (66) comprises at least one assigned height (38) of an infrastructure edge (32) for a plurality (68) of predefined stops (28), wherein the data carrier (70) is connected to the control device (24), wherein the control device (24) is configured to determine the height (18) of the infrastructure edge (38) in the surrounding area (37) of the vehicle (10) based on the data set (66), wherein the vehicle (10) comprises an identification device (132) for a stop (28) in the surrounding area (37) of the vehicle (10), wherein the identification device (132) is connected to the control device (24), wherein the identification device (132) comprises a detection sensor (86) configured toto determine identity information (82) of a stop (28) in the surrounding area (37) of the vehicle (10), and / or wherein the vehicle (10) comprises a communication device (134) which is configured to receive identification information (82) of a stop (28) in the surrounding area (37) of the vehicle (10).

14. Infrastructure device (136), in particular server (138) for a vehicle (10), stop (28) for a vehicle (10) or device (140) for a stop (28) for a vehicle (10), in particular for a vehicle (10) according to one of claims 12 and 13, a) wherein the infrastructure device (136) comprises a data carrier (70) with a data set (66), wherein the data set (66) for a plurality (68) of predefined stopping points (28) for the vehicle (10) each comprises at least one assigned height (38) of an infrastructure edge (32), wherein the infrastructure device (136) comprises a communication device (148) which is configured to transmit a height (38) of an infrastructure edge (32) at a stopping point (28) in a surrounding area (37) of a vehicle (10) to the vehicle (10), and / or b) wherein the infrastructure device (136) has a communication device (142) which is configured to transmit identification information (82) of a stopping point (28) in a surrounding area (37) of a vehicle (10) to the vehicle (10).

15. A system (144) comprising a vehicle (10) according to any one of claims 12 and 13 and an infrastructure device (136) according to claim 14.

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