Vehicle with inter-vehicular distance acceleration control
The present invention provides a vehicle with which it is possible to realize stable platoon travel. This vehicle ( 100 ) travels autonomously by following a leading vehicle while maintaining a prescribed distance between vehicles, wherein the vehicle ( 100 ) has: a detection unit ( 110 ) that detects moving bodies present around the vehicle; and a control unit ( 160 ) that determines an entering moving body, among the moving bodies detected by the detection unit ( 110 ), that may enter an area between the vehicle and the leading vehicle, and causes the vehicle to accelerate or decelerate on the basis of the distance between the entering moving body and the area.
1. A vehicle having a wheelchair-type structure that is used in an environment where people move and that automatically travels while following a preceding vehicle and keeping an inter-vehicle distance at a predetermined inter-vehicle distance, the vehicle comprising:
a detector that detects a moving body present in a first area around the vehicle, the first area being located outside of a second area between the preceding vehicle and the vehicle; and
a controller that determines, from among at least one of a plurality of the moving bodies detected by the detector, an entering moving body that possibly enters the second area, and accelerates or decelerates the vehicle based on a distance between the determined entering moving body and the second area,
wherein the predetermined inter-vehicle distance corresponds to the longitudinal length of the second area, and
wherein the controller accelerates, when the distance between the determined entering moving body and the second area is equal to or greater than a first threshold value, the vehicle such that the inter-vehicle distance becomes a first inter-vehicle distance which is smaller than the predetermined inter-vehicle distance.
2. The vehicle according to claim 1 , wherein
the controller decelerates, when the distance between the determined entering moving body and the second area is less than a second threshold value which is smaller than the first threshold value, the vehicle such that the inter-vehicle distance becomes a second inter-vehicle distance which is greater than the predetermined inter-vehicle distance.
3. The vehicle according to claim 2 , wherein
the controller accelerates, when the distance between the determined entering moving body and the second area is equal to or greater than the first threshold value while an occupant is in the vehicle, the vehicle such that the predetermined inter-vehicle distance becomes the first inter-vehicle distance which is smaller than the predetermined inter-vehicle distance, and
the controller accelerates, when the distance between the determined entering moving body and the second area is equal to or greater than the first threshold value while no occupant is in the vehicle, the vehicle such that the predetermined inter-vehicle distance becomes a third inter-vehicle distance which is smaller than the first inter-vehicle distance.
4. The vehicle according to claim 2 , wherein
the controller decelerates, when the distance between the determined entering moving body and the second area is less than the second threshold value while an occupant is in the vehicle, the vehicle such that the predetermined inter-vehicle distance becomes the second inter-vehicle distance which is greater than the predetermined inter-vehicle distance, and
the controller decelerates, when the distance between the determined entering moving body and the second area is less than the second threshold value while no occupant is in the vehicle, the vehicle such that the predetermined inter-vehicle distance becomes a fourth inter-vehicle distance which is greater than the second inter-vehicle distance.
5. The vehicle according to claim 2 , wherein
the controller decelerates, when the distance between the determined entering moving body and the second area is less than the first threshold value but is equal to or greater than the second threshold value while an occupant is in the vehicle, the vehicle such that the predetermined inter-vehicle distance becomes an inter-vehicle distance which is greater than the predetermined inter-vehicle distance, and
the controller accelerates, when the distance between the determined entering moving body and the second area is less than the first threshold value but is equal to or greater than the second threshold value while no occupant is in the vehicle, the vehicle such that the predetermined inter-vehicle distance becomes an inter-vehicle distance which is smaller than the predetermined inter-vehicle distance.
6. The vehicle according to claim 1 , wherein
the controller determines, from among at least one of a plurality of the moving bodies detected by the detector, a moving body that is moving toward the area, as the entering moving body.
7. The vehicle according to claim 1 , wherein
the distance between the determined entering moving body and the second area is a distance between an intersection and the determined entering moving body, the intersection being an intersection of a straight line connecting between the vehicle and the determined entering moving body, and an outer edge part of the second area.