JP2022063086A - Movable body - Google Patents

Abstract

To provide a movable body capable of suppressing change in a mounting position and a mounting angle of a first external information acquisition device mounted on an open/close body by open operation of the open/close body by a user.SOLUTION: A vehicle V includes a tail gate 18 mounted in an openable/closable manner, and a LiDAR device 50 mounted on the tail gate 18, and can be autonomously moved based on first external information 500 acquired by the LiDAR device 50. The tail gate 18 constitutes a part of an outer shell member 1 of the vehicle V. On an outer surface 18a of the tail gate 18, a gripping part 185 for enabling a user to open the tail gate 18 is provided. The LiDAR device 50 is arranged at a position not overlapping the gripping part 185 in light/left directions perpendicular to the open/close direction of the tail gate 18 on a plane in front view of the outer surface 18a of the tail gate 18 in an open state of the tail gate 18 in the front view.SELECTED DRAWING: Figure 4

Description

The present invention relates to a moving body such as a vehicle, and more particularly to a moving body capable of autonomous movement.

Conventionally, a mobile body equipped with an external world information acquisition device has been known. For example, Patent Document 1 discloses a vehicle including a back door that is openably and closably attached, and a back camera that is an external world information acquisition device attached to the back door.

The vehicle described in Patent Document 1 is provided with a door open switch, which is an opening operation device, and a back camera, which is an outside world information acquisition device, on the lower surface of a garnish provided on the back door. After pressing the open switch, the back door is opened by grasping the garnish and rotating the back door upward.

Japanese Unexamined Patent Publication No. 2012-066763

However, in the vehicle described in Patent Document 1, a back camera, which is an outside world information acquisition device, is provided in a garnish, which is a handle portion for a user to open and operate a back door. Therefore, there is a risk that the load input to the garnish, which is the handle, will be transmitted to the back camera, which is the external information acquisition device, by the user opening the back door, and the mounting position and mounting angle of the back camera will change. rice field.

On the other hand, in a moving body that can move autonomously such as an automatically driven vehicle, which has been actively researched and developed in recent years, if the mounting position or mounting angle of the external world information acquisition device changes, the external world information acquisition device acquires it. The accuracy of external information may decrease, and proper autonomous movement may not be possible.

The present invention provides a moving body capable of suppressing changes in the mounting position and mounting angle of the first external world information acquisition device attached to the opening / closing body due to the opening operation of the opening / closing body by the user.

The present invention
An opening and closing body that can be opened and closed freely,
A first external world information acquisition device attached to the opening / closing body is provided.
A mobile body capable of autonomous movement based on the first external world information acquired by the first external world information acquisition device.
The opening / closing body constitutes a part of the outer shell member of the moving body.
On the outer surface of the opening / closing body, which is the outer surface of the moving body, a handle portion for the user to open the opening / closing body is provided.
The first external world information acquisition device is a front view of the outer surface of the opening / closing body in a closed state of the opening / closing body, and in a first direction orthogonal to the opening / closing direction of the opening / closing body in the plane of the front view. It is arranged at a position that does not overlap with the handle portion.

According to the present invention, the first external world information acquisition device is a front view of the outer surface of the opening / closing body in the closed state of the opening / closing body, in a first direction orthogonal to the opening / closing direction of the opening / closing body in the plane of the front view. Since it is arranged at a position that does not overlap with the handle portion, the load input to the handle portion by the user's opening operation of the opening / closing body is less likely to be transmitted to the first external world information acquisition device. As a result, it is possible to prevent the user from changing the mounting position and mounting angle of the first external world information acquisition device attached to the opening / closing body due to the opening operation of the opening / closing body.

It is a perspective view which looked at the vehicle of one Embodiment of this invention from the diagonally left front. It is a perspective view which looked at the vehicle of one Embodiment of this invention from the right diagonal rear with the tailgate open. It is a rear view which looked at the vehicle of one Embodiment of this invention from the rear. It is an enlarged view of the main part around the handle part of FIG. It is a block diagram which shows the vehicle control device of the vehicle of FIG. It is a rear view which shows the 1st modification of the vehicle of FIG. 1 and was seen from the rear around the handle part. It is a rear view which shows the 2nd modification of the vehicle of FIG. 1 and was seen from the rear around the handle part.

Hereinafter, a vehicle as an embodiment of the moving body of the present invention will be described with reference to the accompanying drawings. The drawings shall be viewed in the direction of the reference numerals. Further, in this specification and the like, in order to simplify and clarify the explanation, each direction of front / rear, left / right, and up / down is described according to the direction seen from the driver of the vehicle, and in the drawing, the front of the vehicle is described as Fr and the rear. Is shown as Rr, the left side is L, the right side is R, the upper side is U, and the lower side is D.

(vehicle)
First, the configuration of the vehicle V of the present embodiment will be described with reference to FIG.

The vehicle V is a mobile body that can move autonomously. Hereinafter, the autonomous movement of the vehicle V is also referred to as autonomous driving.

As shown in FIG. 1, a vehicle V is an automobile having a drive source (not shown) and wheels including a drive wheel driven by the power of the drive source and a steerable steering wheel. In the present embodiment, the vehicle V is a four-wheeled vehicle having a pair of left and right front wheel FWs and rear wheel RWs. The drive source of the vehicle V is, for example, an electric motor. The drive source of the vehicle V may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. Further, the drive source of the vehicle V may drive a pair of left and right front wheels FW, a pair of left and right rear wheels RW, or a pair of left and right front wheels FW and four wheels of the rear wheels RW. You may. Both the front wheel FW and the rear wheel RW may be steering wheels that can be steered, or either one may be a steering wheel that can be steered.

The vehicle V includes, for example, a skeleton member (not shown) having a monocoque structure formed by welding a steel plate panel, and an outer shell member 1 that covers the skeleton member and constitutes the outer shell of the vehicle V. The vehicle V has a passenger compartment CB for accommodating an occupant and a front compartment FRM formed in front of the passenger compartment CB. Both the passenger compartment CB and the front compartment FRM are spaces surrounded by the outer shell member 1. The passenger compartment CB and the front compartment FRM are separated by a dash panel (not shown) extending in the vertical direction and the horizontal direction. The drive source of the vehicle V and the like are housed in the front room FRM.

The outer shell member 1 includes a front surface 1a facing the front of the vehicle V, a rear surface 1b facing the rear of the vehicle V, a pair of left and right side surfaces 1c facing the left-right direction of the vehicle V, and an upper surface 1d facing upward of the vehicle V. Has.

The outer shell member 1 is a pair of left and right front doors 10F constituting the left and right side surfaces 1c of the vehicle V on the front side of the vehicle compartment CB, and a pair of left and right front doors 10F constituting the left and right side surfaces 1c of the vehicle V on the rear side of the vehicle compartment CB. It is equipped with a rear door 10R. Further, the outer shell member 1 is a pair of left and right front fender panels 11 constituting the left and right side surfaces 1c of the vehicle V in front of the front door 10F, and a pair of left and right sides constituting the left and right side surfaces 1c of the vehicle V behind the rear door 10R. The rear fender panel 12 is provided. Further, the outer shell member 1 includes a pair of left and right side sills 13 extending in the front-rear direction from the front fender panel 11 on the left side and the right side of the vehicle V to the rear fender panel 12 along the lower edges of the front door 10F and the rear door 10R. .. Further, the outer shell member 1 includes a roof panel 14 extending in the front-rear direction and the left-right direction along the upper edges of the pair of left and right front doors 10F and the rear door 10R, and forming the upper surface of the vehicle interior CB of the vehicle V. Further, the outer shell member 1 includes a front bumper 15 constituting the front lower portion of the front room FRM of the vehicle V, and a bonnet 16 constituting the upper surface of the front room FRM of the vehicle V. Further, the outer shell member 1 includes a rear bumper 17 that constitutes the lower part of the rear surface of the vehicle V, and a tailgate 18 that constitutes the upper part of the rear surface of the vehicle V.

The front fender panel 11 is formed with a front wheel arch portion 111 having a substantially arc-shaped curve in which the lower edge of the front fender panel 11 is convex upward. A front wheel house 112 is formed below the front wheel arch portion 111, and the front wheel FW is housed in the front wheel house 112.

The rear fender panel 12 is formed with a rear wheel arch portion 121 that is curved in a substantially arc shape in which the lower edge of the rear fender panel is convex upward. A rear wheel house 122 is formed below the rear wheel arch portion 121, and the rear wheel house 122 accommodates the rear wheel RW.

The front bumper 15 has a shape in which the left and right ends wrap around to the left and right front wheel arch portions 111.

Above the front bumper 15, a front garnish 19 extending vertically and horizontally from the front fender panel 11 on the left side to the front fender panel 11 on the right side is provided between the front bumper 15 and the bonnet 16. A pair of left and right headlights 191 that illuminate the front of the vehicle V are provided at both left and right ends of the front garnish 19. The pair of left and right headlights 191 are provided apart from each other in the left-right direction.

In this way, the front bumper 15 and the front garnish 19 form the front surface 1a of the outer shell member 1. The rear bumper 17 and the tailgate 18 form the rear surface 1b of the outer shell member 1. The pair of left and right front doors 10F, the pair of left and right rear doors 10R, the pair of left and right front fender panels 11, the pair of left and right rear fender panels 12, and the pair of left and right side sills 13 constitute the pair of left and right side surfaces 1c of the outer shell member 1. The roof panel 14 constitutes the upper surface 1d of the outer shell member 1.

A front window 21 is provided on the front surface of the passenger compartment CB. The front window 21 is formed of a light transmitting member, for example, glass, which allows the outside of the vehicle to be visible from inside the vehicle interior CB. The front window 21 extends downward from the front end portion of the roof panel 14 to the vicinity of the rear end portion of the bonnet 16 while being inclined forward. The front window 21 extends over substantially the entire left-right direction of the vehicle V.

The passenger compartment CB inside the vehicle V is provided with a front seat FS in which the occupant can sit and a rear seat RS arranged behind the front seat FS and in which the occupant can sit.

(Rear structure of vehicle)
As shown in FIGS. 2 and 3, the vehicle V has an opening 30 at the rear. The tailgate 18 is an outer shell member 1 that closes the opening 30 in the closed state. The vehicle V is provided with a tailgate hinge 40 that connects the upper edge portion 30u of the opening 30 and the upper end portion 18u of the tailgate 18. The tailgate hinges 40 are provided at two locations on the left and right, separated from each other in the left-right direction. Each of the pair of left and right tailgate hinges 40 has a rotation axis extending in the left-right direction. As shown by the arrow in FIG. 2, the tailgate 18 rotates in the vertical direction around the rotation axis of the tailgate hinge 40 and is pivotally supported by the vehicle V so as to be openable and closable.

A locking device 181 is provided at the lower end 18d of the tailgate 18. A striker 31 is provided at the lower edge portion 30d of the opening portion 30. When the tailgate 18 is closed, the opening 30 is closed by the tailgate 18, the lock device 181 of the tailgate 18 is locked to the striker 31, and the tailgate 18 cannot be opened. There is. When the lock device 181 is released from the striker 31, the tailgate 18 can be opened.

In the rear view of the vehicle V, the upper region of the tailgate 18 is provided with an opening 182 extending in the vertical and horizontal directions and penetrating in the front-rear direction, and the opening 182 is closed by the tail window 22. There is. The tail window 22 is formed of a light transmitting member, for example, smoked glass, which allows the outside of the vehicle to be visible from inside the vehicle interior CB.

The tailgate 18 has an outer panel 183 that constitutes the outer shell of the rear part of the vehicle V, and a garnish member 184 attached to the outer surface 183a that is the outer surface of the vehicle V of the outer panel 183. In this embodiment, the garnish member 184 extends over the entire left-right direction of the tailgate 18. The outer panel 183 is formed of, for example, a steel plate. The garnish member 184 is formed of, for example, a resin. The garnish member 184 has a lower rigidity than the outer panel 183.

The tail window 22, the outer panel 183 (excluding the portion where the garnish member 184 is arranged), and the garnish member 184 constitute an outer surface 18a which is an outer surface of the vehicle V of the tailgate 18.

The garnish member 184 is provided with a handle portion 185 for the user to open the tailgate 18. The user grabs the handle portion 185 and rotates the tailgate 18 upward to open the tailgate 18. In the present embodiment, the handle portion 185 is a recess recessed from the outer surface of the garnish member 184 toward the inside of the vehicle V.

In the present embodiment, the handle portion 185 is a left handle portion 185L provided at a position offset to the left by a predetermined distance from the center line L1 in the left-right direction of the vehicle V in the rear view of the vehicle V, and the right side from the center line L1. Has a right-hand handle portion 185R provided at a position offset by a predetermined distance.

The left handle portion 185L and the right handle portion 185R are provided with an opening operation device 186 that is operated when the user opens the tailgate 18. When the opening operation device 186 is operated by the user, the locking device 181 releases the lock to the striker 31, and the tailgate 18 can be opened. Therefore, the user operates the opening operation device 186 provided on the left handle portion 185L and / or the right handle portion 185R to release the lock between the lock device 181 and the striker 31, and then the left handle portion 185L and / or the left handle portion 185L as they are. / Or the right handle portion 185R is grasped and the tailgate 18 is rotated upward to open the tailgate 18.

In the present embodiment, the opening operation device 186 is a switch, and the opening operation device 186 and the lock device 181 are electrically connected by a harness wire 187. When the user presses the open operation device 186, which is a switch, the open operation device 186 outputs an unlock signal to the lock device 181 via the harness wire 187, and the lock device 181 outputs the unlock signal to the striker when the unlock signal is input. The lock to 31 is released.

(LiDAR device)
As shown in FIGS. 3 and 4, the tailgate 18 is provided with a LiDAR device 50 (LiDAR: Light Detection and Ranging). The LiDAR device 50 irradiates an object while scanning a pulsed laser beam, measures the scattered light and the reflected light, and analyzes the distance to the object at a long distance and the properties and shapes of the object. As a result, the first outside world information 500 of the vehicle V is acquired. The LiDAR device 50 is an example of a first outside world information acquisition device, and acquires outside world information behind the vehicle V as the first outside world information 500.

In the present embodiment, the LiDAR device 50 is arranged between the outer panel 183 and the garnish member 184, is attached to the outer surface 183a of the outer panel 183, and the rear side of the vehicle V is covered by the garnish member 184.

The garnish member 184 is provided with an opening 184b extending in the left-right direction at a position overlapping with the LiDAR device 50 in the rear view of the vehicle V. Therefore, at least a part of the LiDAR device 50 is visible from the rear of the vehicle V through the opening 184b. The laser beam emitted from the LiDAR device 50 is emitted to the outside of the vehicle V through the opening 184b of the garnish member 184.

(Rear view camera device)
The tailgate 18 is provided with a rear view camera device 60. The rear view camera device 60 acquires the second outside world information 600 of the vehicle V by forming an image of the original image of the outside world of the vehicle V on the image sensor and converting it into a video signal which is an electric signal. The rear view camera device 60 is an example of the second outside world information acquisition device, and acquires the outside world image behind the vehicle V as the second outside world information 600.

In the present embodiment, the LiDAR device 50 is arranged between the outer panel 183 and the garnish member 184, is attached to the garnish member 184, and the rear side of the vehicle V is covered by the garnish member 184.

The garnish member 184 is provided with a camera window portion 184c at a position overlapping with the rear view camera device 60 in the rear view of the vehicle V. The camera window portion 184c may be an opening in which the rear view camera device 60 can be visually recognized from the rear of the vehicle V, or may be covered with a light transmitting member in which the rear view camera device 60 can be visually recognized from the rear of the vehicle V. .. The rear view camera device 60 acquires an outside world image of the side of the vehicle V through the camera window portion 184c of the garnish member 184.

The rear view camera device 60 acquires the outside world information in the vicinity of the vehicle V as the second outside world information 600. The LiDAR device 50 can acquire outside world information in a region farther than the outside world region in which the rear view camera device 60 can acquire outside world information. The LiDAR device 50 includes an area in which the rear view camera device 60 can acquire outside world information, and acquires a wider range of outside world information as the first outside world information 500 farther than the area in which the rear view camera device 60 can acquire outside world information. ..

(Arrangement of handle, LiDAR device, and rear view camera device)
The LiDAR device 50 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and the tailgate 18 in the front view plane, that is, the rear view plane of the vehicle V. It is arranged at a position that does not overlap with the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction orthogonal to the vertical direction which is the opening / closing direction.

The LiDAR device 50 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and the tailgate 18 in the front view plane, that is, the rear view plane of the vehicle V. When arranged at a position overlapping the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction orthogonal to the vertical direction which is the opening / closing direction, the user can use the left handle portion 185L and / or the right handle. When the tailgate 18 is rotated upward to open the tailgate 18 by grasping the portion 185R, the upward load input to the left handle portion 185L and / or the right handle portion 185R by the user is the LiDAR device 50. Easy to convey to. For example, the LiDAR device 50 is positioned so as to overlap the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction in the rear view of the vehicle V, and the handle portion 185 (left handle portion 185L, right handle portion 185R). When the tailgate 18 is rotated upward and opened, the upward load input to the left handle portion 185L and / or the right handle portion 185R by the user is LiDAR. By transmitting to the device 50, the LiDAR device 50 tends to change the mounting position and mounting angle in the direction in which the lower end portion is displaced rearward of the vehicle V. Further, for example, the LiDAR device 50 is positioned so as to overlap the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction in the rear view of the vehicle V, and the handle portion 185 (left handle portion 185L, right handle portion 185L). When arranged below the 185R), the upward load input to the left handle portion 185L and / or the right handle portion 185R by the user when the tailgate 18 is rotated upward to open the tailgate 18. Is transmitted to the LiDAR device 50, and the mounting position and mounting angle of the LiDAR device 50 tend to change in the direction in which the upper end portion is displaced rearward of the vehicle V.

The LiDAR device 50 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and the tailgate 18 in the front view plane, that is, the rear view plane of the vehicle V. Since it is arranged at a position that does not overlap with the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction orthogonal to the vertical direction, which is the opening / closing direction, the user can use the left handle portion 185L and / or the right side. When the handle portion 185R is grasped and the tailgate 18 is rotated upward to open the operation, the upward load input to the left handle portion 185L and / or the right handle portion 185R by the user is a LiDAR device. It becomes difficult to be transmitted to 50. As a result, it is possible to prevent the user from changing the mounting position and mounting angle of the LiDAR device 50 mounted on the tailgate 18 due to the opening operation of the tailgate 18.

In the present embodiment, the rear view camera device 60 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and a plane of the front view, that is, a rear view of the vehicle V. In the left-right direction orthogonal to the vertical direction, which is the opening / closing direction of the tailgate 18 on a flat surface, the position does not overlap with the handle portion 185 (left handle portion 185L, right handle portion 185R), and at least a part thereof is LiDAR. It is arranged at a position overlapping with the device 50.

Therefore, the rear view camera device 60 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and a tail in the front view plane, that is, the rear view plane of the vehicle V. Since the gate 18 is arranged at a position that does not overlap with the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction orthogonal to the vertical direction, which is the opening / closing direction of the gate 18, the user can use the left handle portion 185L and the left handle portion 185L. / Or when the right handle portion 185R is grasped and the tailgate 18 is rotated upward to open the operation, the upward load input to the left handle portion 185L and / or the right handle portion 185R by the user is applied. , It becomes difficult to transmit to the rear view camera device 60. As a result, it is possible to prevent the user from changing the mounting position and mounting angle of the rear view camera device 60 mounted on the tailgate 18 due to the opening operation of the tailgate 18.

Further, the rear view camera device 60 is a tail in a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and a plane of the front view, that is, a plane of the rear view of the vehicle V. Since at least a part of the gate 18 is arranged at a position where it overlaps with the LiDAR device 50 in the left-right direction orthogonal to the vertical direction which is the opening / closing direction of the gate 18, the tail does not overlap with the LiDAR device 50 or the rear view camera device 60 in the left-right direction. The region of the outer surface 18a of the gate 18 can be increased. As a result, the degree of freedom in layout of the handle portion 185 (left handle portion 185L, right handle portion 185R) in the tailgate 18 is improved.

In the present embodiment, the LiDAR device 50 and the rear view camera device 60 are arranged at positions intersecting the center line L1 in the left-right direction of the vehicle V in the left-right direction of the vehicle V.

As a result, the LiDAR device 50 and the rear view camera device 60 both provide the outside world information of the region behind the vehicle V, which is substantially symmetric with respect to the center line L1 in the left-right direction of the vehicle V, to the first outside world information 500 and the second outside world. It can be acquired as information 600.

(Light unit)
Returning to FIG. 3, on the rear surface 1b of the outer shell member 1 of the vehicle V, a left lamp unit 70L provided at a position offset to the left by a predetermined distance from the center line L1 in the left-right direction of the vehicle V, and a center line. A right-hand lamp unit 70R provided at a position offset to the right by a predetermined distance from L1 is provided. In the present embodiment, the left side lamp unit 70L and the right side lamp unit 70R are fixed to the rear bumper 17 and the rear fender panel 12. The left lamp unit 70L is provided at a position adjacent to the left side of the garnish member 184 when the tailgate 18 is closed, and the right lamp unit 70R is provided with the garnish member 184 when the tailgate 18 is closed. It is provided at a position adjacent to the right side of. The left side light unit 70L and the right side light unit 70R each include a tail light 71, a brake light 72, and a direction indicator light 73, respectively. The taillight 71 indicates the presence of the vehicle V (own vehicle) to traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc., the same shall apply hereinafter) existing behind the vehicle V at night or in bad weather. Lights red to notify you. The brake light 72 lights up brighter and red than the tail light when the vehicle V is braked. The direction indicator light 73 included in the left light body unit 70L blinks orange when the vehicle V turns left or changes lanes to the lane adjacent to the left. The direction indicator light 73 included in the right light body unit 70R blinks orange when the vehicle V turns right or changes lanes to the lane adjacent to the right. When the vehicle V (own vehicle) is an obstacle to traffic, the direction indicator lights 73 of both the left side light unit 70L and the right side light unit 70R blink orange at the same time.

When the user approaches the tailgate 18 outside the vehicle V, the left lamp unit 70L and the right lamp unit 70R, whichever is closer to the user, lights up. At this time, any one of the tail light 71, the brake light 72, and the direction indicator light 73 may be turned on, or two or more of the tail light 71, the brake light 72, and the direction indicator light 73 may be turned on.

In this way, when the user approaches the tailgate 18 outside the vehicle V, the left handle unit 70L and the right light unit 70R, whichever is closer to the user, lights up, so that the left handle portion 185L and the right handle unit 70R are lit. Of the right handle portion 185R, the periphery of the one closer to the user becomes brighter. As a result, even if the periphery of the vehicle V is dark at night or the like and the position of the handle portion 185 (left handle portion 185L, right handle portion 185R) is difficult to recognize, the left handle portion 185L and the right handle portion are difficult for the user to recognize. Of the 185R, the position closer to the user can be easily recognized.

(Information display section)
The tail window 22 is provided with an information display unit 221 extending in the left-right direction at the central portion of the vehicle V in the left-right direction. In the present embodiment, the information display unit 221 extends in the left-right direction along the lower end portion of the tail window 22.

The information display unit 221 displays various information toward the rear of the vehicle V. Therefore, the traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) located behind the vehicle V are displayed on the information display unit 221 when the rear surface 1b of the vehicle V is viewed. Various information can be visually confirmed. Further, the user of the vehicle V can visually recognize various information displayed on the information display unit 221 when the rear surface 1b of the vehicle V is viewed from the outside of the vehicle V.

When the user approaches the tailgate 18 outside the vehicle V, the information display unit 221 displays information notifying the user of the position of the handle unit 185 (left handle unit 185L, right handle unit 185R). As an embodiment for displaying information for notifying the position of the handle portion 185 (left handle portion 185L, right handle portion 185R), for example, the information display unit 221 has the handle portion 185 (left handle portion 185L, right handle portion 185R) in the left-right direction. ), A downward arrow is displayed at the position where it overlaps.

As a result, when the user approaches the tailgate 18 outside the vehicle V, information notifying the position of the handle portion 185 (left handle portion 185L, right handle portion 185R) is displayed on the information display unit 221 so that the user can use the information display unit 221. Even if the area around the vehicle V is dark at night and the position of the handle portion 185 (left handle portion 185L, right handle portion 185R) is difficult to recognize, the handle portion 185 (left handle portion 185L, right handle portion 185R) is difficult to recognize. ) Can be easily recognized.

(Vehicle driving control device)
Next, the vehicle driving control device 90 mounted on the vehicle V will be described with reference to FIG.

In addition to the above-mentioned LiDAR device 50 and rear view camera device 60, the vehicle V includes a navigation device 91, a communication device 92, a vehicle sensor 93, a manual driving device 94, a traveling driving force output device 95, a steering device 96, and a braking device 97. , Is installed.

The vehicle driving control device 90 includes a LiDAR device 50, a navigation device 91, a communication device 92, a vehicle sensor 93, a manual driving device 94, a traveling driving force output device 95, a steering device 96, and a braking device 97 via a communication medium. They are connected to each other so that they can communicate with each other.

The navigation device 91 includes a GNSS receiver (GNSS: Global Navigation Satellite System), map information, and the like. The navigation device 91 has a function of detecting the current position of the vehicle V by the GNSS receiver and deriving a route to the destination designated by the occupants of the vehicle V or the like based on the detected current position and the map information.

The communication device 92 performs wireless communication with an information providing server of the system for monitoring the traffic condition of the road, and acquires traffic information indicating the traffic condition of the road on which the vehicle V is traveling or the road to be traveled. Traffic information includes traffic jam information ahead, time required to pass the traffic jam point, accident / breakdown vehicle / construction information, speed regulation / lane regulation information, parking lot location information, parking lot / service area / parking area. Information such as full / empty information is included. The communication device 92 may acquire traffic information by road-to-vehicle communication with a radio beacon provided on a side zone of a road or by vehicle-to-vehicle communication with another vehicle traveling around the vehicle V.

Further, the communication device 92 wirelessly communicates with the information providing server of the signal information utilization driving support system (TSPS: Traffic Signal Prediction Systems), and the signal information of the signal provided on the road where the vehicle V is traveling or is scheduled to travel. To get. TSPS uses the signal information of a traffic light to support driving to smoothly pass through a signalized intersection. The communication device 92 may acquire signal information by road-to-vehicle communication with a wireless beacon provided in a side zone of a road or the like, or by vehicle-to-vehicle communication with another vehicle traveling around the vehicle V.

The vehicle sensor 93 has a function of detecting various information about the vehicle V. The vehicle sensor 93 detects the turning direction of the vehicle V from the vehicle speed sensor 931 that detects the vehicle speed of the vehicle V, the acceleration sensor 932 that detects the acceleration in the front-rear direction and the left-right direction of the vehicle V, and the angular speed around the vertical axis of the vehicle V. It has various sensors for detecting the moving state of the vehicle V, including a turning direction detection sensor 933, an orientation sensor 934 for detecting the direction of the vehicle V, and an inclination angle sensor 935 for detecting the inclination angle of the vehicle V. The vehicle sensor 93 further includes various sensors for detecting the external environment of the vehicle V, including an illuminance sensor 936 for detecting the illuminance at the location of the vehicle V and a raindrop sensor 937 for detecting the amount of raindrops at the location of the vehicle V. ..

The manual operation device 94 includes an accelerator pedal 941 which is an acceleration / deceleration operation member that receives an acceleration / deceleration instruction by an occupant, a brake pedal 942 which is a braking operation member that receives a braking instruction by an occupant, and a shift for receiving a shift stage change instruction by an occupant. A shift lever 943, which is an operating member, and a steering wheel 944, which is a steering member that receives a turning instruction by an occupant, are provided.

The manual operation device 94 further detects the depression amount of the accelerator pedal 941 and detects the depression amount (or depression force) of the accelerator pedal opening sensor 941a and the brake pedal 942 that output an accelerator opening signal to the vehicle operation control device 90. The brake pedal depression sensor 942a outputs the brake signal to the vehicle operation control device 90, and the shift position sensor 943a outputs the shift position signal to the vehicle operation control device 90 by detecting the shift stage indicated by the shift lever 943. The steering angle sensor 944a that detects the steering angle of the steering wheel 944 and outputs the steering steering angle signal to the vehicle driving control device 90, detects the torque applied to the steering wheel 944, and outputs the steering torque signal to the vehicle driving control device 90. It has a steering torque sensor 944b, which outputs to.

The traveling driving force output device 95 is a device that includes a driving source and outputs the power of the driving source as the driving force of the vehicle V to the front wheel FW and / or the rear wheel RW which are the driving wheels.

The steering device 96 is a device that changes the direction of the front wheel FW and / or the rear wheel RW, which are the steering wheels of the vehicle V.

The brake device 97 is a device that outputs braking force to the front wheel FW and the rear wheel RW.

The vehicle driving control device 90 is composed of, for example, one or more processors or hardware having equivalent functions. The vehicle operation control device 90 is a combination of a processor such as a CPU (Central Processing Unit), a storage device, an ECU (Electronic Control Unit) to which a communication interface is connected by an internal bus, an MPU (Micro-Processing Unit), or the like. It may be a configuration.

The vehicle driving control device 90 controls the driving (movement) of the vehicle V by controlling the traveling driving force output device 95, the steering device 96, and the brake device 97. The vehicle driving control device 90 controls the traveling driving force output device 95, the steering device 96, and the braking device 97 by executing a program (software) by the processor. Further, some or all of these control functions may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware. You may.

The vehicle driving control device 90 can control the traveling driving force output device 95, the steering device 96, and the brake device 97 based on the operation of the manual driving device 94 by the occupant to manually drive the vehicle V.

When the vehicle V is manually driven, the vehicle driving control device 90 is a LiDAR device in addition to the accelerator opening signal, the brake signal, the shift position signal, the steering steering angle signal, the steering torque signal, etc. output from the manual driving device 94. The first outside world information 500 acquired by 50, the current position of the vehicle V detected by the navigation device 91, the map information of the navigation device 91, the route to the destination of the vehicle V derived by the navigation device 91, and the communication device 92 acquired. The traveling driving force output device 95, the steering device 96, and the braking device are based on one or more information of the traffic information and signal information obtained, the moving state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V. 97 may be controlled.

Further, the vehicle driving control device 90 controls the traveling driving force output device 95, the steering device 96, and the brake device 97 without the operation of the manual driving device 94 by the occupant to autonomously drive the vehicle V (autonomous movement). be able to.

When the vehicle V is autonomously driven, the vehicle driving control device 90 uses the first outside world information 500 acquired by the LiDAR device 50, the current position of the vehicle V detected by the navigation device 91, the map information of the navigation device 91, and the navigation device 91. The traveling driving force output device based on the derived route to the destination of the vehicle V, the traffic information and signal information acquired by the communication device 92, the moving state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V. The 95, the steering device 96, and the brake device 97 are controlled to autonomously drive (automatically move) the vehicle V.

In this embodiment, the rear view camera device 60 is not directly connected to the vehicle driving control device 90 so as to be capable of data communication. Then, the vehicle driving control device 90 controls the traveling driving force output device 95, the steering device 96, and the braking device 97 without relying on the second outside world information 600 acquired by the rear view camera device 60. Therefore, the vehicle V autonomously operates regardless of the second outside world information 600 acquired by the rear view camera device 60.

The second outside world information 600 acquired by the rear view camera device 60 is a display composed of an LCD display panel (LCD: Liquid Crystal Display), an organic EL display panel (EL: Electroluminescence), etc. provided in the vehicle interior CB. It is displayed on the device 61 as an outside world image behind the vehicle V.

<First modification>
In the above-described embodiment, the opening operation device 186 operated by the user when opening the tailgate 18 is provided on the left handle portion 185L and the right handle portion 185R. It may be provided at a position other than the left handle portion 185L and the right handle portion 185R.

As shown in FIG. 6, in the first modification, the opening operation device 186 is provided on the outer surface of the garnish member 184, and is arranged at a position intersecting the center line L1 in the left-right direction of the vehicle V.

In the first modification, the user operates the opening operation device 186 provided on the outer surface of the garnish member 184 to release the lock between the lock device 181 and the striker 31, and then the left handle portion 185L and / or Grasp the right handle portion 185R and rotate the tailgate 18 upward to open it. In this way, it is not necessary to provide the opening operation device 186 at two locations, the left handle portion 185L and the right handle portion 185R, and the opening operation device 186 is located at a position intersecting the center line L1 in the left-right direction of the vehicle V. Since it may be provided at a place, the cost of the vehicle V can be reduced.

The opening operation device 186 may not be arranged at a position intersecting the center line L1 in the left-right direction of the vehicle V, or may be provided on the outer panel 183 instead of the garnish member 184. It may be provided on the outer surface of the tailgate 18 at a position other than the left handle portion 185L and the right handle portion 185R.

<Second modification>
In the above-described embodiment, the LiDAR device 50 and the rear view camera device 60 are arranged at positions intersecting the center line L1 in the left-right direction of the vehicle V in the left-right direction of the vehicle V, and the handle portion 185 is the handle portion 185 of the vehicle V. In the rear view, it is assumed that a pair of left and right handles are provided at positions offset from the center line L1 in the left-right direction of the vehicle V by a predetermined distance to the left and right, but the handle portion 185 is the center line L1 in the left-right direction of the vehicle V. It does not have to be arranged at a position offset by a predetermined distance from the left side and the right side. The LiDAR device 50 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and the tailgate 18 in the front view plane, that is, the rear view plane of the vehicle V. It suffices if it is arranged at a position that does not overlap with the handle portion 185 in the left-right direction orthogonal to the up-down direction which is the opening / closing direction.

As shown in FIG. 7, in the second modification, the handle portion 185 is provided at one position in the left-right direction of the vehicle V at a position intersecting the center line L1 in the left-right direction of the vehicle V. On the other hand, the LiDAR device 50 is arranged at a position offset by a predetermined distance in the left-right direction from the center line L1 in the left-right direction of the vehicle V in the rear view of the vehicle V. In this modification, the LiDAR device 50 is arranged at a position offset to the right by a predetermined distance from the center line L1 in the left-right direction of the vehicle V in the rear view of the vehicle V. Then, the LiDAR device 50 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and the tailgate in the plane of the front view, that is, the plane of the rear view of the vehicle V. It is arranged at a position that does not overlap with the handle portion 185 in the left-right direction orthogonal to the up-down direction which is the opening / closing direction of 18.

Therefore, when the user grabs the handle portion 185 and rotates the tailgate 18 upward to open the handle portion 185, the upward load input to the handle portion 185 by the user is transmitted to the LiDAR device 50. It becomes difficult. As a result, it is possible to prevent the user from changing the mounting position and mounting angle of the LiDAR device 50 mounted on the tailgate 18 due to the opening operation of the tailgate 18.

Further, in the second modification, the handle portion 185 and the rear view camera device 60 are arranged at positions intersecting the center line L1 in the left-right direction of the vehicle V in the left-right direction of the vehicle V.

Therefore, the rear view camera device 60 is a tail in a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and a plane of the front view, that is, a plane of the rear view of the vehicle V. At least a part of the gate 18 is arranged at a position overlapping with the handle portion 185 in the left-right direction orthogonal to the up-down direction which is the opening / closing direction of the gate 18.

The rear view camera device 60 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and the tailgate 18 in the front view plane, that is, the rear view plane of the vehicle V. The outer surface 18a of the tailgate 18 that does not overlap with the handle portion 185 in the left-right direction because at least a part thereof is arranged at a position overlapping the handle portion 185 in the left-right direction orthogonal to the vertical direction which is the opening / closing direction of the above. The area of can be increased.

Further, since the vehicle V autonomously operates regardless of the second outside world information 600 acquired by the rear view camera device 60, the user grabs the handle portion 185 and rotates the tailgate 18 upward to open the vehicle V. Even if the upward load input to the handle portion 185 by the user is transmitted to the rear view camera device 60, the accuracy of the autonomous driving of the vehicle V is not affected.

As a result, the degree of freedom in layout of the LiDAR device 50 in the tailgate 18 is improved without deteriorating the accuracy of autonomous driving of the vehicle V.

Further, in the second modification, the LiDAR device 50 is a front view of the outer surface 18a of the tailgate 18 in the closed state of the tailgate 18, that is, a rear view of the vehicle V, and a plane of the front view, that is, a rear surface of the vehicle V. In the left-right direction orthogonal to the up-and-down direction, which is the opening / closing direction of the tailgate 18 in the plane of view, the vehicle V is offset by a predetermined distance in the left-right direction from the center line L1 in the left-right direction at a position that does not overlap with the handle portion 185. It is placed in a position. On the other hand, the rear view camera device 60 is arranged at a position intersecting the center line L1 in the left-right direction of the vehicle V in the left-right direction of the vehicle V.

Therefore, the rear view camera device 60 is arranged at a position closer to the center line L1 in the left-right direction of the vehicle V than the LiDAR device 50 in the left-right direction of the vehicle V.

As described above, the LiDAR device 50 can acquire the outside world information in a region farther than the outside world region in which the rear view camera device 60 can acquire the outside world information. Then, the rear view camera device 60 acquires the outside world information in the vicinity of the vehicle V as the second outside world information 600, the LiDAR device 50 includes a region where the rear view camera device 60 can acquire the outside world information, and the rear view camera device 60 includes the outside world. A wider range of external world information far from the area where information can be acquired is acquired as the first external world information 500.

At this time, as for the outside world information acquired by the outside world information acquisition device, the farther the outside world information is from the vehicle V, the smaller the influence of the error in the left-right direction on the arrangement position of the outside world information acquisition device. Since the LiDAR device 50 acquires a wide range of outside world information farther from the vehicle V as the first outside world information 500, the position offset in the left-right direction from the center line L1 in the left-right direction of the vehicle V by a predetermined distance in the left-right direction. Even if it is arranged in, the influence of the error in the left-right direction of the acquired first external world information 500 is relatively small. On the other hand, since the rear view camera device 60 acquires the outside world information closer to the vehicle V as the second outside world information 600, the acquired second outside world information is obtained when the vehicle V is separated from the center line L1 in the left and right direction in the left-right direction. The influence of the left-right error of 600 becomes larger than the influence of the left-right error of the first outside world information 500.

In the second modification, the rear view camera device 60 is arranged at a position closer to the center line L1 in the left-right direction of the vehicle V than the LiDAR device 50 in the left-right direction of the vehicle V, so that an error in the left-right direction in the arrangement position is obtained. It is possible to reduce the error in the left-right direction of the second outside world information 600 acquired by the rear view camera device 60, which is easily affected by the above.

In the second modification, the rear view camera device 60 is arranged at a position intersecting the center line L1 in the left-right direction of the vehicle V with respect to the LiDAR device 50 in the left-right direction of the vehicle V, so that the rear view camera device 60 is acquired. The error in the left-right direction of the second external world information 600 can be further reduced.

Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can come up with various modifications or modifications within the scope of the claims, which naturally belong to the technical scope of the present invention. Understood. Further, each component in the above embodiment may be arbitrarily combined as long as the gist of the invention is not deviated.

For example, in the present embodiment, the vehicle has been described as an example of the moving body of the present invention, but the moving body is not limited to the vehicle. The moving body is not limited to a vehicle, and may be a robot, a ship, an aircraft, or the like which has a drive source and can be moved by the power of the drive source.

Further, for example, in the present embodiment, the tailgate 18 has been described as an example of the opening / closing body of the moving body, but the opening / closing body of the moving body may be, for example, the front door 10F or the rear door 10R of the vehicle V. For example, the front end of the front door 10F is connected to the vehicle V by a hinge having a rotation axis extending in the vertical direction, and the front door 10F rotates in the front-rear direction around a rotation axis extending in the vertical direction. When the front door 10F is pivotally supported by the vehicle V so as to be openable and closable, the front view of the outer surface of the front door 10F in the closed state is the side view of the vehicle V, that is, the plane of the front view, that is, the vehicle V. The direction orthogonal to the front-rear direction, which is the opening / closing direction of the front door 10F in the plane of the side view, is the vertical direction. Further, when the rear door 10R is a slide door that slides in the front-rear direction and is attached to the vehicle V so as to be openable and closable, the front view of the outer surface of the rear door 10R in the closed state of the rear door 10R is a side view of the vehicle V. Yes, the direction orthogonal to the front-rear direction, which is the opening / closing direction of the rear door 10R in the front view plane, that is, the side view plane of the vehicle V, is the vertical direction.

Further, for example, in the present embodiment, the tailgate 18 provided on the rear surface of the vehicle V has been described as an example of the opening / closing body of the moving body, but the opening / closing body of the moving body is provided on the front surface of the moving body. May be good.

Further, for example, in the present embodiment, the external world information acquisition device is assumed to be the LiDAR device 50, but the LiDAR device 50 is an example of the external world information acquisition device, and the external world information acquisition device is not limited to the LiDAR device 50. , The device may be a device capable of acquiring the outside world information of the vehicle V by means other than LiDAR, and may be, for example, a millimeter-wave radar device, a camera device, or the like.

Further, for example, in the present embodiment, the opening operation device 186 is a switch, and the opening operation device 186 and the lock device 181 are electrically connected by a harness wire 187, but the opening operation device 186 is The lever device and the handle device are integrally provided with the handle portion 185, and the opening operation device 186 and the lock device 181 may be connected by an operation force transmission member composed of a Bowden cable or the like. In this case, when the user operates the open operation device 186, the operation force is transmitted to the lock device 181 via the operation force transmission member, and the lock device 181 is transmitted from the opening operation device 186 via the operation force transmission member. The lock to the striker 31 is released by the operating force.

Further, for example, in the present embodiment, the left side lamp unit 70L and the right side lamp unit 70R are fixed to the rear bumper 17 and the rear fender panel 12, but the left side lamp unit 70L and the right side lamp unit 70R are fixed. , May be fixed to the tailgate 18.

Further, for example, in the present embodiment, the information display unit 221 is provided in the tail window 22, but if the information display unit 221 can display various information toward the rear of the vehicle V, it is possible. It can be attached to any member, for example, it may be attached to the outer panel 183 of the tailgate 18, or it may be attached to the garnish member 184.

At least the following matters are described in the present specification. In parentheses, the corresponding components and the like in the above-described embodiment are shown as an example, but the present invention is not limited thereto.

(1) An opening / closing body (tailgate 18) that can be opened and closed freely
A first external world information acquisition device (LiDAR device 50) attached to the opening / closing body is provided.
A moving body (vehicle V) that can autonomously move based on the first outside world information (first outside world information 500) acquired by the first outside world information acquisition device.
The opening / closing body constitutes a part of the outer shell member (outer shell member 1) of the moving body.
A handle portion (handle portion 185) for the user to open the opening / closing body is provided on the outer surface (outer surface 18a) which is the outer surface of the moving body of the opening / closing body.
The first external world information acquisition device is a front view of the outer surface of the opening / closing body in the closed state of the opening / closing body, and is orthogonal to the opening / closing direction (vertical direction) of the opening / closing body in the plane of the front view. A moving body arranged at a position that does not overlap with the handle portion in one direction (left-right direction).

According to (1), the first external world information acquisition device is a front view of the outer surface of the opening / closing body in the closed state of the opening / closing body, and is a first direction orthogonal to the opening / closing direction of the opening / closing body in the plane of the front view. Since it is arranged at a position that does not overlap with the handle portion, the load input to the handle portion by the user when the user grasps the handle portion and opens the opening / closing body is applied to the first outside world information acquisition device. It becomes difficult to be transmitted. As a result, it is possible to prevent the user from changing the mounting position and mounting angle of the first external world information acquisition device attached to the opening / closing body due to the opening operation of the opening / closing body.

(2) The moving body according to (1).
The moving body further includes a second outside world information acquisition device (rear view camera device 60) attached to the opening / closing body, and the second outside world information (second outside world information 600) acquired by the second outside world information acquisition device is used. Move autonomously without depending
The second external world information acquisition device is at a position that does not overlap with the handle portion in the first direction in the front view of the outer surface of the opening / closing body in the closed state of the opening / closing body, and at least one. A moving body whose unit is arranged at a position overlapping with the first external world information acquisition device in the first direction.

According to (2), the second external world information acquisition device is arranged at a position that does not overlap with the handle portion in the first direction in front view of the outer surface of the opening / closing body in the closed state of the opening / closing body. When the handle portion is grasped and the opening / closing body is opened, the load input to the handle portion by the user is less likely to be transmitted to the second external world information acquisition device. As a result, it is possible to prevent the user from changing the mounting position and mounting angle of the second external world information acquisition device attached to the opening / closing body due to the opening operation of the opening / closing body.
Further, since the second outside world information acquisition device is arranged at a position where at least a part of the second outside world information acquisition device overlaps with the first outside world information acquisition device in the first direction in the front view of the outer surface of the opening / closing body in the closed state of the opening / closing body. , The area of the outer surface of the opening / closing body that does not overlap with the first external world information acquisition device or the second external world information acquisition device in the first direction can be increased. This improves the degree of freedom in layout of the handle portion of the opening / closing body.

(3) The moving body according to (2).
The opening / closing body is arranged on the front surface or the rear surface of the moving body.
The first external world information acquisition device and the second external world information acquisition device are arranged at positions intersecting the center line (center line L1) in the left-right direction of the moving body in the left-right direction of the moving body. Moving body.

According to (3), the opening / closing body is arranged on the front surface or the rear surface of the moving body, and the first external world information acquisition device and the second external world information acquisition device are centered in the left-right direction of the moving body in the left-right direction of the moving body. Since they are arranged at positions intersecting the lines, both the first external world information acquisition device and the second external world information acquisition device are in front of or behind the moving body that is substantially symmetric with respect to the center line in the left-right direction of the moving body. The outside world information of the area can be acquired as the first outside world information and the second outside world information.

(4) The moving body according to (3).
The handle portion has a left handle portion (left handle portion 185L) provided at a position offset to the left from the center line in the left-right direction and a right side provided at a position offset to the right from the center line. Has a handle portion (right handle portion 185R) and
On the front surface or the rear surface of the moving body on which the opening / closing body is arranged, a left side lamp unit (left side lamp unit 70L) provided at a position offset to the left side from the center line, and from the center line. The right side lamp unit (right side lamp unit 70R) provided at the position offset to the right side is provided.
A moving body that lights up when the user approaches the opening / closing body outside the moving body, whichever is closer to the user than the left side lighting unit or the right side lighting unit.

According to (4), when the user approaches the opening / closing body outside the moving body, the one of the left side lamp unit and the right side lamp unit that is closer to the user is lit, so that the left handle and the right handle are lit. Of the parts, the one closer to the user becomes brighter. As a result, even if the surroundings of the moving object are dark at night and the position of the handle is difficult to recognize, the user can select the position of the left handle or the right handle that is closer to the user. Easy to recognize.

(5) The moving body according to (1).
The moving body further includes a second outside world information acquisition device (rear view camera device 60) attached to the opening / closing body, and the second outside world information (second outside world information 600) acquired by the second outside world information acquisition device is used. Move autonomously without depending
The second external world information acquisition device is arranged at a position where at least a part thereof overlaps with the handle portion in the first direction in the front view of the outer surface of the opening / closing body in the closed state of the opening / closing body. , Moving body.

According to (5), the second external world information acquisition device is arranged at a position where at least a part overlaps with the handle portion in the first direction in front view of the outer surface of the opening / closing body in the closed state of the opening / closing body. Therefore, it is possible to increase the area of the outer surface of the opening / closing body that does not overlap with the handle portion in the first direction.
Further, since the moving body autonomously moves regardless of the second outside world information acquired by the second outside world information acquisition device, the first outside world information acquisition device in the opening / closing body does not reduce the accuracy of the autonomous movement of the moving body. The degree of freedom in layout is improved.

(6) The moving body according to (5).
The opening / closing body is arranged on the front surface or the rear surface of the moving body.
The first external world information acquisition device can acquire external world information in a region farther than the external world region in which the second external world information acquisition device can acquire external world information.
The second outside world information acquisition device is arranged at a position closer to the center line (center line L1) in the left-right direction of the moving body than the first outside world information acquisition device in the left-right direction of the moving body. Moving body.

According to (6), the first outside world information acquisition device can acquire outside world information in a region farther than the outside world region in which the second outside world information acquisition device can acquire outside world information, and the second outside world information acquisition device can acquire the outside world information. Is located closer to the center line in the left-right direction of the moving body than the first outside world information acquisition device in the left-right direction of the moving body, so that the second outside world is easily affected by the error in the left-right direction at the placement position. It is possible to reduce the error in the left-right direction of the second external world information acquired by the information acquisition device.

(7) The moving body according to any one of (1) to (6).
The opening / closing body is arranged on the front surface or the rear surface of the moving body.
An information display unit (information) that visually displays information on the moving body when the user looks at the front surface or the rear surface of the moving body on which the opening / closing body is arranged from the outside of the moving body. A display unit 221) is provided, and the display unit 221) is provided.
When the user approaches the opening / closing body outside the moving body, the information display unit displays information for notifying the user of the position of the handle unit.

According to (7), when the user approaches the opening / closing body outside the moving body, information notifying the position of the handle portion is displayed on the information display unit, so that the user can darken the surroundings of the moving body at night or the like. , Even if the position of the handle is difficult to recognize, the position of the handle can be easily recognized.

1 Outer shell member 18 Tailgate (opening and closing body)
18a Outer surface 185 Handle part 185L Left handle part 185R Right handle part 221 Information display part 50 LiDAR device (1st outside world information acquisition device)
500 1st outside world information 60 Rear view camera device (2nd outside world information acquisition device)
600 Second outside world information 70L Left light unit 70R Right light unit L1 Center line V Vehicle (mobile)

Claims (7)

An opening and closing body that can be opened and closed freely,
A first external world information acquisition device attached to the opening / closing body is provided.
A mobile body capable of autonomous movement based on the first external world information acquired by the first external world information acquisition device.
The opening / closing body constitutes a part of the outer shell member of the moving body.
On the outer surface of the opening / closing body, which is the outer surface of the moving body, a handle portion for the user to open the opening / closing body is provided.
The first external world information acquisition device is a front view of the outer surface of the opening / closing body in a closed state of the opening / closing body, and in a first direction orthogonal to the opening / closing direction of the opening / closing body in the plane of the front view. A moving body arranged at a position that does not overlap with the handle portion. The moving body according to claim 1.
The moving body further includes a second outside world information acquisition device attached to the opening / closing body, and autonomously moves without depending on the second outside world information acquired by the second outside world information acquisition device.
The second external world information acquisition device is at a position that does not overlap with the handle portion in the first direction in the front view of the outer surface of the opening / closing body in the closed state of the opening / closing body, and at least one. A moving body whose unit is arranged at a position overlapping with the first external world information acquisition device in the first direction. The moving body according to claim 2.
The opening / closing body is arranged on the front surface or the rear surface of the moving body.
The first external world information acquisition device and the second external world information acquisition device are moving bodies arranged at positions intersecting the center line of the moving body in the left-right direction in the left-right direction of the moving body. The moving body according to claim 3.
The handle portion has a left handle portion provided at a position offset to the left from the center line in the left-right direction, and a right handle portion provided at a position offset to the right from the center line. death,
On the front surface or the rear surface of the moving body on which the opening / closing body is arranged, a left lamp unit provided at a position offset to the left side from the center line and a position offset to the right side from the center line. The right lamp unit and the provided right lamp unit are provided,
A moving body that lights up when the user approaches the opening / closing body outside the moving body, whichever is closer to the user than the left side lighting unit or the right side lighting unit. The moving body according to claim 1.
The moving body further includes a second outside world information acquisition device attached to the opening / closing body, and autonomously moves without depending on the second outside world information acquired by the second outside world information acquisition device.
The second external world information acquisition device is arranged at a position where at least a part thereof overlaps with the handle portion in the first direction in the front view of the outer surface of the opening / closing body in the closed state of the opening / closing body. , Moving body. The moving body according to claim 5.
The opening / closing body is arranged on the front surface or the rear surface of the moving body.
The first external world information acquisition device can acquire external world information in a region farther than the external world region in which the second external world information acquisition device can acquire external world information.
The second external world information acquisition device is a moving body arranged at a position closer to the center line in the left-right direction of the moving body than the first external world information acquisition device in the left-right direction of the moving body. The moving body according to any one of claims 1 to 6.
The opening / closing body is arranged on the front surface or the rear surface of the moving body.
The moving body is provided with an information display unit that visually displays information when the user looks at the front surface or the rear surface of the moving body on which the opening / closing body is arranged from the outside of the moving body. Has been
When the user approaches the opening / closing body outside the moving body, the information display unit displays information for notifying the user of the position of the handle unit.

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