JP3009014B2 - Mobile vehicle travel control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention comprises a plurality of moving vehicles traveling between a plurality of stations and a ground-side management means for instructing a traveling course of the moving vehicles. Traveling direction detecting means for detecting the traveling direction of the vehicle, traveling distance detecting means for detecting the traveling distance of the moving vehicle, and the current state of the moving vehicle based on the detection results of the traveling direction detecting means and the traveling distance detecting means. Current position detecting means for detecting a position; and controlling the traveling of the moving vehicle based on a detection result of the current position detecting means to cause the moving vehicle to travel along a traveling course instructed by the managing means. The present invention relates to a traveling control device for a mobile vehicle provided with control means for controlling the traveling of a vehicle.

[0002]

2. Description of the Related Art Conventionally, as a traveling control device for a mobile vehicle used in an unmanned transport facility in a factory or the like, a control system in which a derivative such as a magnetic tape or a light reflecting tape laid on a traveling road surface of the mobile vehicle is generally followed. Although it was used, this method requires laying work to lay the above derivative,
Furthermore, it lacks flexibility for changing the running course. Under such circumstances, the traveling vehicle is provided with traveling direction detection means, traveling distance detection means, and current position detection means for detecting the current position of the traveling vehicle from these detection means. A method has been considered in which the vehicle travels while detecting a preset current position on the traveling course based on the detection result of the means. Therefore, in this method, since the traveling course is set by software, it is not necessary to lay a derivative, and moreover, it is possible to flexibly cope with a change in the traveling course. In the setting of the traveling course by the software, conventionally, an XY coordinate map is created, and the traveling course is set on the XY coordinate map by the XY coordinates.

[0003]

However, in the above-mentioned conventional method for setting a traveling course, since the traveling course is set on the XY coordinates, any traveling course can be set freely, but the traveling course can be set freely. There was a problem that setting of a course became complicated, and setting of a traveling course took time. In addition, a plurality of mobile vehicles travel between stations.
When moving the vehicle, avoid interference with other vehicles as much as possible.
It is necessary to drive efficiently, and furthermore, working conditions
It is also necessary to arrange multiple stations close to each other.
It is important. The present invention has been made in view of the above-described circumstances, and an object of the present invention is to make it possible to easily set and change a traveling course, in a short time ,
Efficient driving of multiple vehicles without interference
In addition, multiple stations can be arranged close to each other.
It is an object of the present invention to provide a traveling control device for a mobile vehicle.

[0004]

According to the present invention, there is provided a traveling control system for a vehicle, comprising a plurality of vehicles traveling between a plurality of stations, and a ground-side management means for instructing a traveling course of the vehicle. A traveling direction detecting means for detecting a traveling direction of the moving vehicle, a traveling distance detecting means for detecting a traveling distance of the moving vehicle, and a detection result of the traveling direction detecting means and the traveling distance detecting means. Current position detecting means for detecting a current position of the moving vehicle based on the current position, and moving the moving vehicle along a traveling course instructed by the managing means based on a detection result of the current position detecting means. Control means for controlling the traveling of the mobile vehicle, the first characteristic configuration of which includes a plurality of stop positions at the plurality of stations on a traveling road surface of the mobile vehicle. State reference point is dispersed in a grid pattern
And at least some reference points stop there
Adjacent to the vehicle body existing area of the mobile vehicle and some of its reference points.
Interference with the vehicle existing area of the moving vehicle that stops at a reference point
And the control means controls the management
To reach the reference point.
Every time or periodically, the management means, with respect to the control means of the stationary vehicle,
Instruct the passing order of the reference point as the traveling course.
And the control of the stopped moving vehicle
When commanding the traveling course to the control means,
If there is a moving vehicle,
For future driving courses determined based on current location information
The reference point included and the interference
Running courses that do not overlap in time
The control means is configured to execute traveling in the order of passing the reference points instructed by the management means. The second characterizing feature is, in each of the <br/> management means and said control means is that a wireless communication device is provided.

[0005]

According to the first feature, a plurality of reference points including stop positions at a plurality of stations are dispersed in a grid.
And at least some reference points stop there
The area adjacent to the vehicle body existence area and some of its reference points
Interference that interferes with the vehicle existing area of a moving vehicle that stops at the reference point
It is set in the state, every time the mobile vehicle reaches each reference point or
Periodically, the current position information of the moving vehicle is changed from the moving vehicle side to the ground side.
Is communicated to the management means, and the management means
The driving course between stations and the vehicle control means
Command the order of passage through the reference points, and
If there is a moving vehicle, the above
For future driving courses determined based on current location information
The reference points included and the
Set a driving course that does not overlap the reference point in time
The control means on the mobile vehicle side communicates with the commanded reference point.
Run in excess order. According to the second characterizing feature, since the management and control means of the transport vehicle on the ground side wireless communication device is provided, the running course of the transport vehicle to the control unit of the transport vehicle from the management unit on the ground side The current position of the mobile vehicle can be directly transmitted from the control unit of the mobile vehicle to the management unit on the ground side.

[0006]

According to the first characteristic configuration, the traveling course of the moving vehicle is set in the order of passing through a plurality of reference points distributed in a grid, so that the traveling course can be easily set and changed. It can be performed in a short time and stops
When setting the traveling course of the middle moving vehicle,
Select various paths through multiple reference points distributed in
To the reference point on the future traveling course of the moving vehicle
Since courses that do not overlap in time are set,
Efficiently between stations without interfering with the number of mobile vehicles
And can be run according to working conditions, etc.
Need to place multiple stations close together
A reference point for stopping at an adjacent station
Set them close to each other in a state that allows interference in the existence area,
Arrange the stations close to each other to satisfy the working conditions, etc.
Moving the vehicle properly to each station.
This has led to the provision of a traveling control device for a mobile vehicle that can be moved and stopped . According to the second characterizing feature, it is possible that the control means of the transport vehicle and the ground side of the management unit communicate with each other, both the mobile vehicle in any position of the running course, can communicate, therefore, more convenient To provide a simple mobile vehicle travel control device.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. The traveling control device for a mobile vehicle according to the present invention is shown in FIG.
As shown in FIG. 2 and FIG. 2, a plurality of moving vehicles V traveling between a plurality of stations ST for transferring articles, and a plurality of moving vehicles V
And a traveling command from the station ST to the ground-side management means C and a traveling command from the management means C to the stopped moving vehicle V. It is configured to perform the processing via the communication device 56 provided in each of the ST, the management means C, and the moving vehicle V. The moving vehicle V includes a storage device 59 storing map information of a traveling course of the moving vehicle V, a rate gyro 51 as traveling direction detecting means for detecting a traveling direction of the traveling vehicle V, and a traveling of the traveling vehicle V. An encoder 52 as travel distance detecting means for detecting a distance, and a rate gyro 5
1 and a current position detecting means 54 for detecting the current position of the moving vehicle V on the map based on the detection results of the encoder 52, and a command issued by the management means C based on the detection results of the current position detecting means 54. A communication device on the side of the mobile vehicle V that performs wireless communication between the control unit 55 that controls the travel of the mobile vehicle V and the management unit C so that the mobile vehicle V travels along the travel course on the map. 56 and station S
An optical communication device 57 that communicates the mounting state of the article with the station ST when the article is transferred at T and a correction mark detection device 58 that detects the correction mark M are provided. In the figure, the station ST side and the management means C
The communication device 56 of each side is omitted, each station ST is numbered 1 to 4 to distinguish each, and each mobile vehicle V is numbered 1 to 3 to distinguish each. Numbered.

[0008] Each device will be described below.

First, the structure of the moving vehicle V will be described.
As shown in FIGS. 2 and 3, the mobile vehicle V is provided with driving wheels 3 at a right front portion and a left rear portion of a body frame 2 that supports a mounting portion 1 on which articles are mounted. A driven wheel 4 is provided on the rear part and the right rear part. The driving wheels 3 are driven by a traveling motor 33 and driven by a steering motor 3.
2 so as to be steered. The traveling motor 33 has the encoder 52 and the motor drive circuit 53 built therein. The correction mark detection device 58
Is mounted on the vehicle body frame 2 such that the center of the correction mark detection device 58 coincides with the center of the moving vehicle V, and the optical communication devices 57 are provided on both lateral sides of the vehicle body. Therefore, the control means 55 is configured to control the motor drive circuit 53 of the traveling motor 33 and the steering motor 32 so that the moving vehicle V can travel freely in the front-rear and left-right directions.

Next, the structure of the driving wheel 3 and the driven wheel 4 will be described with reference to FIGS. The traveling motor 33 is
The drive wheels 3 are driven via a drive sprocket 61, a chain 62, and a driven sprocket 63. In the figure, reference numeral 64 denotes a sprocket for tensioning the chain 62. The drive wheel 3 is attached to the vehicle body frame 2 via a bearing 65 so as to rotate around the longitudinal axis P. The steering motor 32 is configured to control the steering of the drive wheels 3 via the drive sprocket 66, the chain 67, and the driven sprocket 68. The driven wheel 4 is attached to the vehicle body frame 2 via a bearing 69 so as to freely rotate around the longitudinal axis Q.

Next, the map information of the traveling course stored in the storage device 59 of the moving vehicle V will be described. The map information includes position information of a plurality of reference points T and position information of a correction mark M on the traveling road surface of the moving vehicle V. The plurality of reference points T are, as shown in FIG. The values are dispersed and set in a lattice shape including the stop position at ST. Therefore, the moving vehicle V is configured to travel in the front-back direction a or the left-right direction b of the moving vehicle V and to travel straight between the respective reference points T. In setting each of the plurality of reference points T, when the vehicle V is stopped at each of the reference points T, each vehicle body zone U does not interfere with each other.
The reference points T are set apart from each other by a predetermined distance or more.
In the drawing, a1 to a3 and b1 to b5 indicate traveling courses in the front-rear direction and the left-right direction with respect to the moving vehicle V, and the reference points T are numbered 1 to 15 in order to distinguish them. It is attached.

Next, when a traveling command is transmitted from the ground-side management means C to the stopped moving vehicle V, the management means C is configured to set and transmit a traveling course of the moving vehicle V. However, a method of setting the traveling course will be described below. The control means 55 of each mobile vehicle V is configured to communicate the current position of the mobile vehicle V to the ground-side management means C every time the reference point T is reached. When a traveling course is instructed to the mobile vehicle V, the reference point T
The control means 55 of the moving vehicle V is configured to execute traveling in the order of passing the reference point T instructed by the management means C. In the setting of the traveling course of the stopped moving vehicle V, when passing on a future traveling course determined based on the current position information of the traveling moving vehicle V, the traveling course is set so as not to overlap in time. It is configured to be set.

Hereinafter, a method of setting the above-mentioned non-overlapping traveling course will be described in detail with reference to FIGS. 5, 6, and 7. The management means C on the ground side determines the traveling direction of the moving vehicle V at the reference point T. Is changed and the traveling course is set on the assumption that the traveling time between the reference points T is substantially equal. For example, as shown in FIG. 1, it is assumed that mobile vehicles V1, V2, and V3 are stopped at reference points T1, T13, and T12, respectively. First, the management means C determines whether the mobile vehicle V2
It is assumed that a command is issued from the station ST2 to travel to the station ST3. In this case, the management means C sets the shortest course through the running lines (that is, the running line a2) excluding the running line a1 facing the stations ST1 and ST2 and the running line a3 facing the stations ST3 and ST4, T13 → T14 → T11 → T8 →
T5 → T6 are set, and a pass number is assigned to each reference point T as shown in FIG. In the drawing, 0 indicates the current position of each mobile vehicle V at that time.

Next, the management means C controls the moving vehicle V3
It is assumed that traveling from station ST4 to station ST2 is commanded. In this case, the traveling course of the mobile vehicle V3 can be set to three types of V3a, V3b, and V3c as shown in FIG. 1, and each traveling course (V3a,
The pass numbers of the respective reference points T in V3b, V3c) are as shown in FIG. At this time, the reference points T overlapping the future traveling course of the mobile vehicle V2 are T11, T13, and T14. For each reference point T11, T13, T14, the moving vehicle V
3 is compared with the pass numbers of the traveling vehicles (V3a, V3b, V3c) and the pass number of the mobile vehicle V2, and the reference points T11, T
In all of 13 and T14, when a traveling course indicating a passing number larger than the passing number of the moving vehicle V2 is selected from the above three types of traveling courses, V3a is selected. That is, at the reference point T11, the passing number of the moving vehicle V2 is 2 and the passing numbers of V3b and V3c are 1, so that
It is determined that the running course of V3b and V3c is NG,
At the reference point T13, the passing number of the moving vehicle V2 is 0,
Since the pass numbers of V3a, V3b and V3c are 3, V3
It is determined that the traveling courses of a, V3b, and V3c are OK. At the reference point T14, the traveling number of the moving vehicle V2 is 1, whereas the traveling number of V3a and V3b is 2, so the traveling courses of V3a and V3b are OK. Is determined to be. Therefore, all of the reference points T11, T13, and T14 are OK.
The only driving course is V3a.

The traveling vehicle V is configured to transmit the current position information to the management means C each time it passes through each reference point T. Each time C receives the current position information of the traveling vehicle V, assuming that the arrival time of the traveling vehicle at each reference point in the traveling course is indicated by the value of the pass number,
The reference point T of the traveling vehicle V in the future traveling course
-1 (subtraction). That is, assuming that the moving vehicle V2 and the moving vehicle V3 start traveling at substantially the same time, the moving vehicle V2 reaches the reference point T14, and the moving vehicle V3 reaches the reference point T15, the moving vehicle V2 and the moving vehicle V3 at that time. Will be changed and set as shown in FIG.

Next, when the moving vehicles V2 and V3 reach the reference points T14 and T15, respectively, the managing means C
1 from station ST1 to station ST4
Suppose you command to run to. In this case, the traveling course of the moving vehicle V1 is V1a, V1b, V1c, V1 as shown in FIG.
1d can be set, but it is configured to prohibit the passing of the previously set moving vehicles V2 and V3 from the final arrival reference points T6 and T13. Therefore, the selection of the traveling course V1a is prohibited. Becomes Therefore, the pass numbers of the respective reference points T in the remaining traveling courses are as shown in FIG. Also in this case, as in the case where the traveling course of the moving vehicle V3 is set, the traveling course indicating the number larger than the passing number of the moving vehicle V2 at all the overlapping reference points T is changed to the three types of traveling courses. If you select more, V1d
Will be selected. In addition, * mark in FIG. 6, FIG.
The overlapping part of the reference point T in the set traveling course of each mobile vehicle V is shown.

Therefore, the control means 55 of the moving vehicle V drives the steering motor 32 while the moving vehicle V is temporarily stopped, so that the traveling direction of the drive wheel 3 is changed to the front-back direction a of the moving vehicle V or to the left and right. The setting is changed to the direction of the direction b, the traveling vehicle V travels straight in the set traveling direction, and the traveling between the reference points T is performed in the passing order of the reference points T instructed by the management means C on the ground side. Configured to run. Although the configuration of the correction mark detection device 58 is not described in detail, the correction mark detection device 58 is configured to detect a correction mark formed of a magnetic material or a light reflecting tape or the like. When the vehicle travels on the provided three correction marks, the correction mark position is detected by the correction mark detection device 58 and the current position on the map is corrected.

[Alternative Embodiment] In the above embodiment, the plurality of reference points T are set in a dispersed manner in a grid pattern, and the moving vehicle V travels straight in the front-rear direction or the left-right direction of the moving vehicle V. The vehicle is configured to travel straight in the direction between the reference points T. However, the vehicle travels straight in an oblique direction with respect to the moving vehicle V (for example, travels straight in an oblique direction such as T1 → T5 in FIG. 1). it may be traveling between the T. The moving vehicle V of the above embodiment is configured by providing the drive wheels 3 at two locations, but may be configured by providing the drive wheels 3 at one location, or may be configured at two or more locations. .
In the above embodiment, in setting each of the plurality of reference points T, the reference points T are separated from each other by a predetermined distance or more so that the vehicle bodies U do not interfere with each other when the vehicle V is stopped at each reference point T. Station ST1
To ST6 and reference points T1 to T18 are set as shown in FIG.
When T15) is completed, the traveling route of the mobile vehicle T may be set as follows. In other words, this fruit
In the embodiment, a state in which a plurality of reference points T are dispersed in a lattice shape.
And at least some of the reference points T7 to T15 are
Here, as the vehicle existence area of the moving vehicle V of the moving vehicle V that stops.
Above the vehicle body zone U and some of its reference points T7 to T15
The vehicle body zone U of the moving vehicle V stopping at the adjacent reference point T;
Are set in an interference state in which interference occurs, and the management means C
The traveling course for the control means 55 of the stationary vehicle V
When there is a moving vehicle V running
Is determined based on the current position information of the traveling vehicle V.
Reference point T included in future driving course to be separated and this
Overlap with the reference point T in the interference state
Is configured to set a running course that is not located
I have. Hereinafter, a specific description will be given. First, the management means C
For the first moving vehicle V3, the station ST4
Assume that a command to travel to the station ST2 is issued. In this case, the management means C includes the stations ST1, ST2, ST2.
A traveling line a1 facing ST3 and a station ST4.
The shortest courses along the running line (that is, running line a2) excluding the running line a3 facing ST5 and ST6 are set as T9 → T8 → T11 → T10,
As shown in FIG. 9, a pass number is assigned to each reference point T, and at the same time, a simultaneous pass number is assigned to a reference point T of the vehicle body zone U overlapping with the vehicle body zone U on the traveling course. next,
The management means C controls the moving vehicle V2 for the station ST3.
Assume that a command to travel to station ST4 is issued. The traveling course of the moving vehicle V1 in this case is, as shown in FIG.
a, V2b, and V2c.
FIG. 10 shows the assignment of the pass number and the simultaneous pass number of each reference point T in each traveling course. In the passing numbers and the simultaneous passing numbers of the future traveling course of the moving vehicle V3 and the traveling courses (V2a, V2b, V2c) of the moving vehicle V2 at this time, the overlapping reference points T are T7 to T1.
4. In all of the reference points T7 to T14, the moving vehicle V
When the traveling course of the mobile vehicle V2 showing the passing number and the simultaneous passing number larger than the passing number 3 and the simultaneous passing number 3 is selected from the above three types of traveling courses (V2a, V2b, V2c), only V2a is selected. You. Next, it is assumed that the management means C instructs the traveling vehicle V1 to travel from the station ST1 to the station ST5. The traveling course of the moving vehicle V1 in this case is V1a, V1 as shown in FIG.
b, V1c. FIG. 11 shows the assignment of the pass number and the simultaneous pass number of each reference point T in each traveling course. At this time, in the pass numbers and the simultaneous pass numbers of the traveling courses of the traveling vehicles V2 and V3 and the traveling course (V1a, V1b, V1c) of the traveling vehicle V1, the overlapping reference points T are T7 to T15. At all the reference points TT7 to T15, the moving vehicle V2
When a traveling course indicating a passing number and a simultaneous passing number larger than the passing number and the simultaneous passing number of V3 is selected from the above three types of traveling courses, only V1b is selected.
In the above embodiment, in setting the traveling course of the stopped moving vehicle V, when the vehicle is to pass on a future traveling course determined based on the current position information of the traveling moving vehicle V, the management means C on the ground side is used. Is configured to ignore the change time of the traveling direction of the moving vehicle V at the reference point T and set the traveling course assuming that the traveling time between the reference points T is substantially equal. It may be configured as follows. The change time of the traveling direction at the reference point T of the moving vehicle V may be set to a fixed time. For example, in setting the pass number at the reference point T of the moving vehicle V, the pass number is further increased by 1 at the reference point T where the travel direction is changed, assuming that the change time of the travel direction and the travel time between the reference points are the same. You may do it. That is, when this method is applied to the setting of the pass number in FIG. 5 (when traveling from T13 to T6 in FIG. 1),
It can be set as shown in FIG. In this case, when the vehicle V reaches the reference point T at which the traveling direction is changed, and when the traveling vehicle starts traveling at the reference point T after changing the traveling direction, the traveling vehicle V controls the ground side management means C. The management means C can set the pass number at each reference point by decrementing the pass number by -1 (subtraction) each time such information is received. Alternatively, the travel time between the reference points T may be set to be different.
For example, in FIG.
Of the traveling time between the reference points T of the moving vehicle V in the left-right direction b1
Ｂb5 is set to be twice as long as the travel time between the reference points T, and the vehicle travels along a travel course in the directions of b1 to b5 to
When the vehicle has reached the reference point T, the pass number at the reference point T at which the vehicle has arrived is set to +1. The pass number may be set to +2. That is, when this method is applied to the setting of the pass number in FIG.
13 to T6), it can be set as shown in FIG. In this case, the management means C
However, when the vehicle travels along the traveling course in the directions a1 to a3 in traveling between the reference points T, the vehicle passes through the traveling course in the directions b1 to b5 by subtracting -2 (subtraction) the pass number at the reference point T. In this case, the pass number at each reference point can be set by subtracting -1 (subtraction) from the pass number at the reference point T. In the above embodiment, the moving vehicle V is set at each reference point T.
It is configured to travel straight between
The running course in between may be constituted by a running course that makes a turning run with a predetermined constant turning radius. For example, FIG.
In, when the traveling course is instructed in T10 → T13 → T14, the vehicle travels straight between T10-T13-T14, and when instructed in T10 → T14, T10-T1
The traveling course may be configured so that the vehicle travels around four spaces.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a moving vehicle traveling course.

FIG. 2 is a block diagram showing a configuration of a mobile vehicle travel control device.

FIG. 3 is a plan view showing the structure of a mobile vehicle.

FIG. 4 is a side view showing the structure of a mobile vehicle.

FIG. 5 is an explanatory chart for setting a traveling course of a mobile vehicle.

FIG. 6 is an explanatory chart for setting a traveling course of a mobile vehicle.

FIG. 7 is an explanatory chart for setting a traveling course of a mobile vehicle.

FIG. 8 is an explanatory view of a moving vehicle traveling course according to another embodiment.

FIG. 9 is an explanatory diagram of setting a traveling course of a mobile vehicle according to another embodiment.

FIG. 10 is an explanatory chart of setting of a traveling course of a mobile vehicle according to another embodiment.

FIG. 11 is an explanatory diagram of setting a traveling course of a mobile vehicle according to another embodiment.

FIG. 12 is an explanatory diagram of setting a traveling course of a mobile vehicle according to another embodiment.

FIG. 13 is an explanatory chart of setting a traveling course of a mobile vehicle according to another embodiment.

[Explanation of symbols]

C management means ST station T reference point U body presence area V moving vehicle 51 running direction detecting means 52 running distance detecting means 54 current position detecting means 55 control means 56 communication device

Claims (2)

(57) [Claims] 1. A plurality of vehicles (V) traveling between a plurality of stations (ST), and ground-side management means (C) for instructing a traveling course of the vehicles (V) are provided. A traveling direction detecting means (51) for detecting a traveling direction of the moving vehicle (V); a traveling distance detecting means (52) for detecting a traveling distance of the moving vehicle (V); A current position detecting means (54) for detecting a current position of the moving vehicle (V) based on detection results of the traveling direction detecting means (51) and the traveling distance detecting means (52);
Control means for controlling the traveling of the mobile vehicle (V) based on the detection result of 4) so that the mobile vehicle (V) travels along the traveling course instructed by the management means (C) ( 55), wherein a plurality of reference points (T) including stop positions at the plurality of stations (ST) are provided on a traveling road surface of the moving vehicle (V).
Are dispersed in a lattice, and at least a part of
A reference point (T) at which the mobile vehicle (V) stops
Adjacent to the body presence area (U) and some of its reference points (T)
Vehicle body presence of the moving vehicle (V) stopped at a reference point (T)
The area (U) is set in an interference state in which the area (U) interferes , and the control means (55) sends the control means (C) to the management means (C).
The current position information of the moving vehicle (V) reaches the reference point (T).
The management means (C) communicates with the mobile vehicle (V) in a stopped state.
The control means (55)
The order of passage of the reference point (T), and
The control means (5) of the stopped moving vehicle (V)
When instructing the traveling course to 5), the vehicle is traveling
If there is a moving vehicle (V),
Future driving determined based on the current position information of the car (V)
The reference point (T) included in the line course and
The reference point (T) in the interference state overlaps in time
The control section (55) is configured to set a traveling course that is not located, and to execute traveling in the order of passing the reference point (T) instructed by the management section (C). Mobile vehicle travel control device. 2. The management means (C) and the control means.
Each of (55) is provided with a wireless communication device (56).
The travel control device for a mobile vehicle according to claim 1, wherein