Vehicle and vehicle operating method
A vehicle includes an outside sensor configured to acquire information on an outside circumstance of the vehicle, a vehicle height adjusting device configured to adjust a vehicle height, and a control device configured to control the vehicle. The control device is configured to control the vehicle height adjusting device such that the vehicle height becomes a vehicle height corresponding to a platform condition at a predetermined stop position when the vehicle stops at the predetermined stop position. The control device is configured to control the vehicle height adjusting device based on a height of an obstacle such that the obstacle does not interfere with the vehicle when the obstacle is detected at the predetermined stop position by the outside sensor.
1. A vehicle comprising:
an outside sensor configured to acquire information on an outside circumstance of the vehicle;
an air suspension system configured to adjust a vehicle height; and
an electronic control unit configured to control the vehicle,
wherein the electronic control unit is configured to:
determine whether there is a fallen object with a height greater than or equal to a predetermined threshold in a bus stop;
upon determination that there is not a fallen object with a height greater than or equal to the predetermined threshold in the bus stop, control the air suspension system to change the vehicle height to a first value based on a height of a station platform on which occupants are waiting;
upon determination that the fallen object with the height greater than or equal to the predetermined threshold is in the bus stop, determine whether a greatest possible height of the vehicle is less than a sum of the height of the fallen object and a predetermined gap distance;
upon determination that the greatest possible height of the vehicle is less than the sum, cause the vehicle to stop immediately before the fallen object; and
upon determination that the greatest possible height of the vehicle is not less than the sum, cause the vehicle to arrive at the bus stop and control the air suspension system to change the vehicle height to the height of the object height plus the predetermined gap distance.
2. The vehicle according to claim 1 , wherein the electronic control unit is configured to:
change a stop position of the vehicle from the predetermined stop position to a position within an allowable area for stopping when the height of the obstacle is equal to or greater than a predetermined upper limit value, the position being a position at which the vehicle does not interfere with the obstacle; and
control the air suspension system such that the vehicle height becomes a vehicle height corresponding to a platform condition at the changed stop position.
3. The vehicle according to claim 2 , wherein the electronic control unit is configured to
identify a type of the obstacle based on information acquired from the outside sensor,
stop the vehicle at the predetermined stop position when the obstacle is an object that does not cause any problems about interference with the vehicle, and
control the air suspension system such that the vehicle height becomes a vehicle height corresponding to a platform condition at the predetermined stop position.
4. The vehicle according to claim 3 , further comprising a communication interface configured to communicate with an operator,
wherein the electronic control unit is configured to
provide an image of the obstacle to the operator, and
acquire information on the type of the obstacle from the operator when the type of the obstacle is not identified.
5. The vehicle according to claim 2 , further comprising an interface configured to communicate with an operator,
wherein the electronic control unit is configured to request the operator for support and to operate the vehicle in accordance with an instruction from the operator when the vehicle is not able to stop within the allowable area for stopping without interfering with the obstacle.
6. The vehicle according to claim 1 , wherein the vehicle is an autonomous driving vehicle.
7. A vehicle operating method for a vehicle including an air suspension system, the vehicle operating method comprising:
determining whether there is a fallen object with a height greater than or equal to a predetermined threshold in a bus stop;
upon determination that there is not a fallen object with the height greater than or equal to the predetermined threshold in the bus stop, controlling the air suspension system to change the vehicle height to a first value based on a height of a station platform on which occupants are waiting;
upon determination that the fallen object with the height greater than or equal to the predetermined threshold is in the bus stop, determining whether a greatest possible height of the vehicle is less than a sum of the height of the fallen object and a predetermined gap distance;
upon determination that the greatest possible height of the vehicle is less than the sum, causing the vehicle to stop immediately before the fallen object; and
upon determination that the greatest possible height of the vehicle is not less than the sum, causing the vehicle to arrive at the bus stop and control the air suspension system to change the vehicle height to a height of the object height plus the predetermined gap distance.
8. The vehicle operating method according to claim 7 , wherein the vehicle is an autonomous driving vehicle, and
wherein the vehicle operating method is performed to allow the autonomous driving vehicle to travel autonomously.