JP7398355B2 - mobile object - Google Patents

Description

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

BACKGROUND ART Mobile objects equipped with external world information acquisition devices have been known. For example, Patent Document 1 discloses a vehicle that includes a back door that is attached to the back door so as to be openable and closable, and a back camera that is an outside world information acquisition device that is attached to the back door.

The vehicle described in Patent Document 1 is provided with a door opening 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.

JP2012-066763A

However, in the vehicle described in Patent Document 1, a back camera that is an outside world information acquisition device is provided on a garnish that is a handle for a user to open the back door. Therefore, there is a risk that the load input to the garnish, which is the handle when the user opens the back door, is transmitted to the back camera, which is an external information acquisition device, and the mounting position and angle of the back camera may change. Ta.

On the other hand, in autonomous moving vehicles such as self-driving vehicles, which have 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 The accuracy of external world information may decrease, and appropriate autonomous movement may become impossible.

The present invention provides a moving body that can suppress changes in the mounting position and attachment angle of a first external world information acquisition device attached to the opening and closing body due to an opening operation of the opening and closing body by a user.

The present invention
An opening/closing body attached to open and close freely,
a first external world information acquisition device attached to the opening/closing body;
a second external world information acquisition device attached to the opening/closing body,
A mobile body capable of autonomous movement based on first external world information acquired by the first external world information acquisition device without depending on the second external world information acquired by the second external world information acquisition device,
The opening/closing body is arranged on the front or rear surface of the movable body and constitutes a part of the outer shell member of the movable body,
A handle portion for a user to open the opening/closing body is provided on an outer surface of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device includes, in 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 perpendicular to the opening/closing direction of the opening/closing body in the plane of the front view; arranged at a position that does not overlap the handle portion ,
The second external world information acquisition device is located 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 and closing body in the closed state of the opening and closing body, and at least one is arranged at a position overlapping with the first external world information acquisition device in the first direction,
The first external world information acquisition device and the second external world information acquisition device are arranged in a left-right direction of the mobile body at a position intersecting a center line of the mobile body in the left-right direction,
The handle portion includes 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 or rear surface of the moving body where the opening/closing body is arranged, a left lamp unit is provided at a position offset to the left from the center line, and a left lamp unit is provided at a position offset to the right from the center line. A right side light body unit is provided.
When the user approaches the opening/closing body outside the movable body, one of the left side light unit and the right side light unit that is closer to the user lights up .
Moreover, the present invention
An opening/closing body attached to open and close freely,
a first external world information acquisition device attached to the opening/closing body;
a second external world information acquisition device attached to the opening/closing body,
A mobile body capable of autonomous movement based on first external world information acquired by the first external world information acquisition device without depending on the second external world information acquired by the second external world information acquisition device,
The opening/closing body is arranged on the front or rear surface of the movable body and constitutes a part of the outer shell member of the movable body,
A handle portion for a user to open the opening/closing body is provided on an outer surface of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device includes, in 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 perpendicular to the opening/closing direction of the opening/closing body in the plane of the front view; arranged at a position that does not overlap the handle portion,
The second external world information acquisition device is disposed at a position where at least a portion of the outer surface of the opening/closing body overlaps the handle portion in the first direction when viewed from the front in the closed state of the opening/closing body,
The first external world information acquisition device is capable of acquiring external world information in a region further away from the outside region from which the second external world information acquisition device can acquire external world information,
The second external world information acquisition device is disposed at a position closer to the center line of the mobile body in the left-right direction than the first external world information acquisition device in the left-right direction of the mobile body.
Moreover, the present invention
An opening/closing body attached to open and close freely,
a first external world information acquisition device attached to the opening/closing body;
A mobile body capable of autonomous movement based on first external world information acquired by the first external world information acquisition device,
The opening/closing body is arranged on the front or rear surface of the movable body and constitutes a part of the outer shell member of the movable body,
A handle portion for a user to open the opening/closing body is provided on an outer surface of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device includes, in 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 perpendicular to the opening/closing direction of the opening/closing body in the plane of the front view; arranged at a position that does not overlap with the handle portion,
The movable body is provided with an information display section that displays information in a visible manner when the user views the front or rear surface of the movable body on which the opening/closing body is disposed from outside the movable body. has been
When the user approaches the opening/closing body outside the movable body, the information display section displays information that notifies the user of the position of the handle section.

According to the present invention, the first external world information acquisition device is configured to detect, when the outer surface of the opening/closing body is viewed from the front in the closed state of the opening/closing body, the first external world information acquisition device in the first direction orthogonal to the opening/closing direction of the opening/closing body in the plane of the front view. , is disposed at a position that does not overlap with the handle, so that the load input to the handle 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. Thereby, it is possible to suppress changes in the mounting position and the 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.

1 is a perspective view of a vehicle according to an embodiment of the present invention, viewed diagonally from the left front. FIG. 1 is a perspective view of a vehicle according to an embodiment of the present invention, viewed diagonally from the rear right with the tailgate open. 1 is a rear view of a vehicle according to an embodiment of the present invention, seen from the rear. FIG. 4 is an enlarged view of the main parts around the handle shown in FIG. 3; 2 is a block diagram showing a vehicle control device of the vehicle of FIG. 1. FIG. FIG. 2 is a rear view of the vicinity of the handle portion seen from behind, showing a first modification of the vehicle of FIG. 1; FIG. 2 is a rear view of the vicinity of the handle portion seen from the rear, showing a second modification of the vehicle of FIG. 1;

DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle as an embodiment of a mobile object of the present invention will be described below with reference to the accompanying drawings. Note that the drawings should be viewed in the direction of the symbols. In addition, in this specification, etc., in order to simplify and clarify the explanation, front and rear, left and right, and up and down directions are described according to the direction seen from the driver of the vehicle, and in the drawings, the front of the vehicle is 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 this embodiment will be explained with reference to FIG. 1.

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

As shown in FIG. 1, the vehicle V is an automobile that has a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle V is a four-wheeled automobile having a pair of left and right front wheels FW and rear wheels RW. The drive source of the vehicle V is, for example, an electric motor. Note that 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 rear wheels RW. You may. The front wheel FW and the rear wheel RW may both be steerable wheels, or one of them may be a steerable wheel.

The vehicle V includes a frame member (not shown) having a monocoque structure made by welding and assembling steel plate panels, for example, and an outer shell member 1 that covers the frame member and constitutes the outer shell of the vehicle V. The vehicle V has a cabin CB that accommodates a passenger, and a front room FRM formed in front of the cabin CB. Both the vehicle compartment CB and the front room FRM are spaces surrounded by the outer shell member 1. The vehicle interior CB and the front room FRM are partitioned by a dash panel (not shown) that extends in the vertical and horizontal directions. The front room FRM accommodates the drive source of the vehicle V and the like.

The outer shell member 1 includes a front surface 1a facing forward 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 includes a pair of left and right front doors 10F that constitute left and right side surfaces 1c of the vehicle V on the front side of the vehicle interior CB, and a pair of left and right front doors 10F that constitute the left and right side faces 1c of the vehicle V on the rear side of the vehicle interior CB. A rear door 10R is provided. Furthermore, the outer shell member 1 includes a pair of left and right front fender panels 11 that constitute 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 front fender panels 11 that constitute the left and right side surfaces 1c of the vehicle V behind the rear door 10R. A rear fender panel 12 is provided. Furthermore, 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 to the rear fender panel 12 on the left and right sides of the vehicle V, respectively, 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 that extends 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 rear door 10R, and constitutes the upper surface of the cabin CB of the vehicle V. Further, the outer shell member 1 includes a front bumper 15 that constitutes the lower front surface of the front room FRM of the vehicle V, and a bonnet 16 that constitutes the upper surface of the front room FRM of the vehicle V. Furthermore, the outer shell member 1 includes a rear bumper 17 that constitutes the lower rear surface of the vehicle V, and a tailgate 18 that constitutes the upper rear surface of the vehicle V.

A front wheel arch portion 111 is formed in the front fender panel 11. The lower edge of the front fender panel 11 is curved into a substantially arc shape and is convex upward. A front wheel house 112 is formed below the front wheel arch portion 111, and the front wheel FW is accommodated in the front wheel house 112.

A rear wheel arch portion 121 is formed in the rear fender panel 12. The lower edge of the rear fender panel is curved into a generally arcuate shape and is convex upward. A rear wheel house 122 is formed below the rear wheel arch portion 121, and the rear wheel RW is accommodated in the rear wheel house 122.

The front bumper 15 has a shape in which its left and right ends extend around the left and right front wheel arch portions 111, respectively.

A front garnish 19 is provided above the front bumper 15 and between it and the bonnet 16. The front garnish 19 extends vertically and horizontally from the left front fender panel 11 to the right front fender panel 11. 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 spaced apart in the left and right direction.

In this way, the front bumper 15 and the front garnish 19 constitute the front surface 1a of the outer shell member 1. The rear bumper 17 and the tailgate 18 constitute the rear surface 1b of the outer shell member 1. A pair of left and right front doors 10F, a pair of left and right rear doors 10R, a pair of left and right front fender panels 11, a pair of left and right rear fender panels 12, and a pair of left and right side sills 13 constitute a 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 at the front of the vehicle compartment CB. The front window 21 is formed of a light-transmitting member, such as glass, that allows the outside of the vehicle to be viewed from inside the vehicle interior CB. The front window 21 extends downward from the front end of the roof panel 14 while tilting forward to near the rear end of the bonnet 16 . The front window 21 extends over substantially the entire area of the vehicle V in the left-right direction.

The cabin CB, which is the interior of the vehicle V, is provided with a front seat FS in which a passenger can sit, and a rear seat RS, which is arranged behind the front seat FS and in which a passenger can sit.

(vehicle rear structure)
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 30u of the opening 30 and the upper end 18u of the tailgate 18. The tailgate hinges 40 are provided at two locations on the left and right, spaced apart in the left-right direction. The pair of left and right tailgate hinges 40 each have a rotation axis extending in the left-right direction. As shown by the arrow in FIG. 2, the tailgate 18 is pivotally supported by the vehicle V so as to be able to vertically rotate and open/close about the rotation axis of the tailgate hinge 40.

A locking device 181 is provided at the lower end 18d of the tailgate 18. A striker 31 is provided at the lower edge 30d of the opening 30. When the tailgate 18 is in the closed state where the opening 30 is closed by the tailgate 18, the locking device 181 of the tailgate 18 is engaged with the striker 31, and the tailgate 18 cannot be opened. There is. When the locking device 181 is released from the striker 31, the tailgate 18 can be opened.

When viewed from the rear of the vehicle V, an opening 182 is provided in the upper region of the tailgate 18 and extends in the vertical and horizontal directions and penetrates in the longitudinal direction.The opening 182 is closed by the tail window 22. There is. The tail window 22 is formed of a light-transmitting member, such as smoked glass, that allows the outside of the vehicle to be seen from inside the vehicle compartment CB.

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

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

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

In this embodiment, the handle portion 185 includes a left handle portion 185L provided at a position offset a predetermined distance to the left from the center line L1 in the left-right direction of the vehicle V, and a left handle portion 185L provided at a position offset to the left from the center line L1 in the left-right direction of the vehicle V, and a left handle portion 185L provided on the right side from the center line L1 in the left-right direction of the vehicle V. The right handle portion 185R is provided at a position offset by a predetermined distance from the right side handle portion 185R.

The left handle portion 185L and the right handle portion 185R are provided with an opening operation device 186 that the user operates to open the tailgate 18. When the user operates the opening operation device 186, the locking device 181 releases the lock from 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 locking device 181 from the striker 31, and then opens the left handle portion 185L and/or the right handle portion 185R. Or, grasp the right handle portion 185R and rotate the tailgate 18 upward to open it.

In this embodiment, the opening operation device 186 is a switch, and the opening operation device 186 and the locking device 181 are electrically connected by a harness wire 187. When the user presses the opening operation device 186, which is a switch, the opening operation device 186 outputs a lock release signal to the lock device 181 via the harness wire 187, and when the lock release signal is input, the lock device 181 activates the striker. 31.

(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 scans and irradiates an object with a pulsed laser beam, measures the scattered light and reflected light, and analyzes the distance to a distant object and the nature and shape of the object. By doing so, the first external 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 this embodiment, the LiDAR device 50 is disposed 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 the LiDAR device 50 when viewed from the rear of the vehicle V. Therefore, at least a portion of the LiDAR device 50 is visible from the rear of the vehicle V through the opening 184b. The laser light 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)
A rear view camera device 60 is provided at the tailgate 18. The rear view camera device 60 acquires second external world information 600 of the vehicle V by forming an original image of the external world of the vehicle V on an image sensor and converting it into a video signal that is an electrical signal. The rear view camera device 60 is an example of a second outside world information acquisition device, and acquires an outside world image behind the vehicle V as the second outside world information 600.

In this embodiment, the LiDAR device 50 is disposed 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 184c at a position overlapping the rear view camera device 60 when the vehicle V is viewed from the rear. The camera window portion 184c may be an opening that allows the rear view camera device 60 to be visible from the rear of the vehicle V, or may be covered with a light-transmitting member that allows the rear view camera device 60 to be visible from the rear of the vehicle V. . The rear view camera device 60 acquires an external 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 external world information near the vehicle V as second external world information 600. The LiDAR device 50 is capable of acquiring outside world information in a region farther away than the outside world region from which the rear view camera device 60 can acquire outside world information. The LiDAR device 50 includes an area where the rear view camera device 60 can acquire outside world information, and acquires outside world information in a wider range farther than the area where the rear view camera device 60 can acquire outside world information as the first outside world information 500. .

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

The LiDAR device 50 detects the outer surface 18a of the tailgate 18 in a front view of the tailgate 18 in the closed state, that is, the rear view of the vehicle V, and the tailgate 18 in the plane of the front view, that is, the rear view plane of the vehicle V. If the user is placed in a position overlapping the handle part 185 (left handle part 185L, right handle part 185R) in the left and right direction orthogonal to the up and down direction, which is the opening/closing direction, the user can touch the left handle part 185L and/or the right handle part 185L. When the user grasps the portion 185R and rotates the tailgate 18 upward to open it, the upward load input by the user to the left handle portion 185L and/or the right handle portion 185R is applied to the LiDAR device 50. easy to communicate. For example, when the LiDAR device 50 is viewed from the rear of the vehicle V, the handle part 185 (the left handle part 185L, the right handle part 185R) overlaps with the handle part 185 (the left handle part 185L, the right handle part 185R) in the left and right direction. If it is located above, when the tailgate 18 is rotated upward to open it, the upward load input by the user to the left handle part 185L and/or the right handle part 185R is applied to the LiDAR. This is transmitted to the LiDAR device 50, and the mounting position and mounting angle of the LiDAR device 50 tend to change in a direction in which the lower end portion is displaced toward the rear of the vehicle V. For example, the LiDAR device 50 may be placed at a position where the handle portion 185 (the left handle portion 185L, the right handle portion 185R) overlaps with the handle portion 185 (the left handle portion 185L, the right handle portion 185R) in the left-right direction when viewed from the rear of the vehicle V. 185R), the upward load input by the user to the left handle part 185L and/or the right handle part 185R when the tailgate 18 is rotated upward and operated to open. is transmitted to the LiDAR device 50, and the mounting position and the mounting angle of the LiDAR device 50 tend to change in a direction in which the upper end portion is displaced toward the rear of the vehicle V.

The LiDAR device 50 detects the outer surface 18a of the tailgate 18 in a front view of the tailgate 18 in the closed state, that is, the rear view of the vehicle V, and the tailgate 18 in the plane of the front view, that is, the rear view plane of the vehicle V. Since it is arranged in a position that does not overlap with the handle part 185 (left handle part 185L, right handle part 185R) in the left and right direction orthogonal to the up and down direction, which is the opening/closing direction, the user can When the user grasps the handle part 185R and rotates the tailgate 18 upward to open it, the upward load input by the user to the left handle part 185L and/or the right handle part 185R is applied to the LiDAR device. 50 becomes difficult to transmit. Thereby, it is possible to prevent the attachment position and attachment angle of the LiDAR device 50 attached to the tailgate 18 from changing due to the opening operation of the tailgate 18 by the user.

In the present embodiment, the rear view camera device 60 is configured to display a front view of the outer surface 18a of the tailgate 18 when the tailgate 18 is in a closed state, 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. A position that does not overlap with the handle part 185 (left handle part 185L, right handle part 185R) in the left and right direction perpendicular to the up and down direction, which is the opening and closing direction of the tailgate 18 in a plane, and at least a part of which is LiDAR It is arranged at a position overlapping with the device 50.

Therefore, the rear view camera device 60 can detect the rear view of the tailgate in the front view of the outer surface 18a of the tailgate 18 when the tailgate 18 is in the closed state, that is, the rear view of the vehicle V, and the tail in the plane of the front view, that is, the rear view plane of the vehicle V. Since it is arranged in a position that does not overlap with the handle part 185 (left handle part 185L, right handle part 185R) in the left and right direction perpendicular to the up and down direction, which is the opening and closing direction of the gate 18, the user can When the user grips the right handle part 185R and rotates the tailgate 18 upward to open it, the upward load input by the user to the left handle part 185L and/or the right handle part 185R is , becomes difficult to be transmitted to the rear view camera device 60. Thereby, it is possible to suppress changes in the attachment position and attachment angle of the rear view camera device 60 attached to the tailgate 18 due to the user's operation to open the tailgate 18.

Further, the rear view camera device 60 detects the rear view of the tailgate in a front view of the outer surface 18a of the tailgate 18 when the tailgate 18 is in the closed state, that is, a rear view of the vehicle V, and in a plane of the front view, that is, a rear view of the vehicle V. Since the tail is arranged at a position where at least a portion overlaps with the LiDAR device 50 in the left-right direction orthogonal to the up-down 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 area of the outer surface 18a of the gate 18 can be increased. This improves the degree of freedom in layout of the handle portions 185 (left handle portion 185L, right handle portion 185R) in the tailgate 18.

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

As a result, the LiDAR device 50 and the rear view camera device 60 both obtain external world information of an area behind the vehicle V that is approximately symmetrical with respect to the center line L1 in the left-right direction of the vehicle V, and the first external world information 500 and the second external world information. 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, there is a left lamp unit 70L provided at a position offset a predetermined distance to the left from the center line L1 in the left-right direction of the vehicle V, and A right lamp unit 70R is provided at a position offset by a predetermined distance to the right from L1. In this embodiment, the left lamp unit 70L and the right 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 in the closed state, and the right lamp unit 70R is provided at a position adjacent to the garnish member 184 when the tailgate 18 is in the closed state. It is located adjacent to the right side of the The left lamp unit 70L and the right lamp unit 70R each include a tail light 71, a brake light 72, and a direction indicator light 73. The tail light 71 alerts traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) behind the vehicle V to the presence of the vehicle V (own vehicle) at night or during bad weather. Lights up red to notify you. The brake light 72 lights up in red brighter than the tail light when the vehicle V is braking. The direction indicator light 73 included in the left lighting unit 70L flashes in orange when the vehicle V turns left or changes lanes to the adjacent lane on the left. The direction indicator light 73 included in the right lighting unit 70R flashes in orange when the vehicle V turns right or changes lane to the lane on the right. Further, when the vehicle V (self-vehicle) is an obstacle to traffic, both the direction indicator lights 73 of the left side lamp unit 70L and the right side lamp unit 70R flash in orange at the same time.

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

In this way, when the user approaches the tailgate 18 outside the vehicle V, the one that is closer to the user among the left lighting unit 70L and the right lighting unit 70R lights up, so that the left handle 185L and the right lighting unit 70R turn on. Among the right handle portions 185R, the area nearer to the user becomes brighter. As a result, even if the surroundings of the vehicle V are dark at night and it is difficult for the user to recognize the positions of the handle part 185 (left handle part 185L, right handle part 185R), the user can easily locate the left handle part 185L and the right handle part 185R, the position that is closer to the user can be easily recognized.

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

The information display section 221 displays various information toward the rear of the vehicle V. Therefore, when a traffic participant (including pedestrians, bicycles, motorcycles, other vehicles, etc.; the same applies hereinafter) existing behind the vehicle V looks at the rear surface 1b of the vehicle V, the information displayed on the information display section 221 Various information can be visually checked. Furthermore, when the user of the vehicle V views the rear surface 1b of the vehicle V from outside the vehicle V, the user can visually recognize various information displayed on the information display section 221.

When the user approaches the tailgate 18 outside the vehicle V, the information display section 221 displays information that notifies the user of the position of the handle section 185 (left handle section 185L, right handle section 185R). For example, the information display section 221 displays information notifying the position of the handle portion 185 (left handle portion 185L, right handle portion 185R). ) will display a downward pointing arrow.

As a result, when the user approaches the tailgate 18 outside the vehicle V, information notifying the position of the handle part 185 (left handle part 185L, right handle part 185R) is displayed on the information display part 221, so the user can Even if the surroundings of the vehicle V are dark at night and it is difficult to recognize the positions of the handles 185 (left handle 185L, right handle 185R), the handles 185 (left handle 185L, right handle 185R) ) 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 LiDAR device 50 and rear view camera device 60 described above, the vehicle V includes a navigation device 91, a communication device 92, a vehicle sensor 93, a manual driving device 94, a driving force output device 95, a steering device 96, and a brake device 97. , is installed.

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

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 using a GNSS receiver and deriving a route to a destination designated by the occupant of the vehicle V or the like based on the detected current position and map information.

The communication device 92 performs wireless communication with an information providing server of a system that monitors road traffic conditions, and acquires traffic information indicating the traffic conditions of the road on which the vehicle V is traveling or the road on which it is scheduled to travel. Traffic information includes information on traffic congestion ahead, time required to pass through congestion points, accident/broken vehicle/construction information, speed regulation/lane regulation information, parking lot location information, parking lot/service area/parking area. Contains information such as whether the vehicle is full or empty. The communication device 92 may acquire traffic information through road-to-vehicle communication with a wireless beacon provided on a side strip of a road or through vehicle-to-vehicle communication with other vehicles traveling around the vehicle V.

The communication device 92 also performs wireless communication with an information providing server of a traffic signal prediction system (TSPS), and provides signal information of traffic lights installed on the road on which the vehicle V is traveling or scheduled to travel. get. TSPS supports driving to smoothly pass through signalized intersections using signal information from traffic lights. The communication device 92 may acquire signal information through road-to-vehicle communication with a wireless beacon provided on a side strip of a road, or through vehicle-to-vehicle communication with other vehicles traveling around the vehicle V.

The vehicle sensor 93 has a function of detecting various information regarding the vehicle V. The vehicle sensor 93 includes a vehicle speed sensor 931 that detects the vehicle speed of the vehicle V, an acceleration sensor 932 that detects the longitudinal and lateral acceleration of the vehicle V, and a turning direction of the vehicle V from the angular velocity around the vertical axis of the vehicle V. It has various sensors that detect the moving state of the vehicle V, including a turning direction detection sensor 933, a direction sensor 934 that detects the direction of the vehicle V, and a tilt angle sensor 935 that detects the tilt angle of the vehicle V. The vehicle sensor 93 further includes various sensors that detect the external environment of the vehicle V, including an illuminance sensor 936 that detects the illuminance of the location where the vehicle V exists, and a raindrop sensor 937 that detects the amount of raindrops where the vehicle V exists. .

The manual operation device 94 includes an accelerator pedal 941 that is an acceleration/deceleration operating member that receives acceleration/deceleration instructions from the occupant, a brake pedal 942 that is a braking operating member that accepts braking instructions from the occupant, and a gear shifter that receives instructions for changing gears from the occupant. It includes a shift lever 943 that is an operating member, and a steering wheel 944 that is a steering member that receives turning instructions from an occupant.

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

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

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

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

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

The vehicle driving control device 90 controls the driving (movement) of the vehicle V by controlling a driving force output device 95, a steering device 96, and a brake device 97. The vehicle driving control device 90 controls a driving force output device 95, a steering device 96, and a brake device 97 by a processor executing a program (software). 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. It's okay.

The vehicle driving control device 90 can control the 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, and can manually drive the vehicle V.

When manually driving the vehicle V, the vehicle driving control device 90 uses the LiDAR device in addition to the accelerator opening signal, brake signal, shift position signal, steering angle signal, steering torque signal, etc. output from the manual driving device 94. The first external world information 500 acquired by the navigation device 91, 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 acquires Based on one or more of the traffic information and signal information obtained by the vehicle sensor 93, the movement state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V, the driving force output device 95, the steering device 96, and the brake device 97 may be controlled.

Furthermore, the vehicle driving control device 90 controls the traveling driving force output device 95, the steering device 96, and the brake device 97, and causes the vehicle V to autonomously operate (autonomously move) without depending on the operation of the manual driving device 94 by the occupant. be able to.

When driving the vehicle V autonomously, the vehicle driving control device 90 uses the first external 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. 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 movement state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V, the driving force output device 95, a steering device 96, and a brake device 97 to cause the vehicle V to operate autonomously (move autonomously).

Note that in this embodiment, the rear view camera device 60 is not directly connected to the vehicle driving control device 90 for data communication. The vehicle driving control device 90 then controls the driving force output device 95, the steering device 96, and the brake device 97 without depending on the second external world information 600 acquired by the rear view camera device 60. Therefore, the vehicle V operates autonomously without depending on the second external world information 600 acquired by the rear view camera device 60.

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

<First modification example>
In the embodiment described above, the opening operation device 186 that the user operates when opening the tailgate 18 is provided on the left handle portion 185L and the right handle portion 185R, but the opening operation device 186 is It may be provided at a position other than the left handle part 185L and the right handle part 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 disposed at a position intersecting the center line L1 of the vehicle V in the left-right direction.

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 locking device 181 from the striker 31, and then opens 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 provided at one location intersecting the center line L1 in the left-right direction of the vehicle V. The cost of the vehicle V can be reduced because it can be installed at any location.

Note that the opening operation device 186 may not be disposed at a position intersecting the center line L1 of the vehicle V in the left-right direction, and 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 part 185L and the right handle part 185R.

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

Therefore, when the user grasps the handle 185 and rotates the tailgate 18 upward to open it, the upward load input by the user to the handle 185 is transmitted to the LiDAR device 50. It becomes difficult. Thereby, it is possible to prevent the attachment position and attachment angle of the LiDAR device 50 attached to the tailgate 18 from changing due to the opening operation of the tailgate 18 by the user.

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

Therefore, the rear view camera device 60 can detect the rear view of the tailgate in the front view of the outer surface 18a of the tailgate 18 when the tailgate 18 is in the closed state, that is, the rear view of the vehicle V, and the tail in the plane of the front view, that is, the rear view plane of the vehicle V. It is arranged at a position where at least a portion thereof overlaps with the handle portion 185 in the left-right direction perpendicular 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 a rear view camera device 60 detects the tailgate 18 in a plane of the front view, that is, a plane of the rear view of the vehicle V. The outer surface 18a of the tailgate 18 does not overlap with the handle part 185 in the left-right direction by being arranged at a position where at least a portion thereof overlaps with the handle part 185 in the left-right direction perpendicular to the up-down direction which is the opening/closing direction of the tailgate. area can be enlarged.

Furthermore, since the vehicle V operates autonomously without depending on the second external world information 600 acquired by the rear view camera device 60, the user grasps the handle portion 185 and rotates the tailgate 18 upward to open it. When doing so, even if the upward load input by the user to the handle portion 185 is transmitted to the rear view camera device 60, the accuracy of autonomous driving of the vehicle V is not affected.

This improves the degree of freedom in the layout of the LiDAR device 50 in the tailgate 18 without reducing the accuracy of autonomous driving of the vehicle V.

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

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

As described above, the LiDAR device 50 can acquire external world information in a region further away from the external region from which the rear view camera device 60 can acquire external world information. The rear view camera device 60 acquires outside world information near the vehicle V as second outside world information 600, and the LiDAR device 50 includes an area where the rear view camera device 60 can acquire outside world information, and the rear view camera device 60 acquires outside world information 600. External world information in a wider range farther than the area where information can be acquired is acquired as first external world information 500.

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

In the second modification, the rear view camera device 60 is arranged 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 there is an error in the left-right direction in the arrangement position. It is possible to reduce the error in the left and right direction of the second external world information 600 acquired by the rear view camera device 60, which is susceptible to the influence of the rear view camera device 60.

In the second modification, the rear view camera device 60 is arranged in a position that intersects with the center line L1 in the left and right direction of the vehicle V more than the LiDAR device 50 in the left and right direction of the vehicle V, so that the rear view camera device 60 can acquire images. The horizontal error 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 this embodiment. It is clear that those skilled in the art can come up with various changes or modifications within the scope of the claims, and these naturally fall within the technical scope of the present invention. Understood. Further, each component in the above embodiments may be arbitrarily combined without departing from the spirit of the invention.

For example, in this embodiment, a vehicle has been described as an example of the moving object of the present invention, but the moving object is not limited to a vehicle. The moving object is not limited to a vehicle, but may also be a robot, a ship, an aircraft, etc. that is equipped with 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 an opening/closing body of a moving body, but the opening/closing body of a 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 about the rotation axis extending in the vertical direction. When the front door 10F is pivotally supported on 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 a side view of the vehicle V, and the plane of the front view, that is, the side view of the vehicle V. The direction perpendicular to the front-rear direction, which is the opening/closing direction of the front door 10F in a side view plane, is the up-down direction. Further, if the rear door 10R is a sliding door attached to the vehicle V so as to be able to open and close freely by sliding in the front-rear direction, the front view of the outer surface of the rear door 10R in the closed state of the rear door 10R is the side view of the vehicle V. The direction perpendicular to the front-rear direction, which is the opening/closing direction of the rear door 10R, in the plane seen from the front, that is, the plane seen from the side of the vehicle V, is the up-down direction.

Further, for example, in the present embodiment, the tailgate 18 provided on the rear surface of the vehicle V was 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 side of the moving body. Good too.

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

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

Further, for example, in the present embodiment, the information display section 221 is provided in the tail window 22, but if the information display section 221 can display various information toward the rear of the vehicle V, 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.

This specification describes at least the following matters. In parentheses, corresponding components 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) attached to be openable and closable;
A first external world information acquisition device (LiDAR device 50) attached to the opening/closing body,
A mobile body (vehicle V) capable of autonomous movement based on 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 movable body,
A handle portion (handle portion 185) for a user to open the opening/closing body is provided on an outer surface (outer surface 18a) of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device is configured to obtain, in a front view of the outer surface of the opening/closing body in the closed state of the opening/closing body, a first external world information acquisition device that is perpendicular to the opening/closing direction (vertical direction) of the opening/closing body in the plane of the front view. A movable body disposed at a position that does not overlap with the handle in one direction (left-right direction).

According to (1), the first external world information acquisition device is configured to detect, when the outer surface of the opening/closing body is viewed from the front in the closed state of the opening/closing body, a first direction orthogonal to the opening/closing direction of the opening/closing body in the plane of the front view. is arranged at a position that does not overlap with the handle, so that when the user grasps the handle and operates the opening/closing body, the load input by the user to the handle is transferred to the first external world information acquisition device. It becomes difficult to transmit. Thereby, it is possible to suppress changes in the mounting position and the 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.

(2) The mobile body described in (1),
The mobile body further includes a second outside world information acquisition device (rear view camera device 60) attached to the opening/closing body, and the mobile body further includes a second outside world information acquisition device (rear view camera device 60) that is attached to the opening/closing body. Moves autonomously without relying on
The second external world information acquisition device is located 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 and closing body in the closed state of the opening and closing body, and at least one The moving object 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 disposed at a position that does not overlap the handle in the first direction when viewed from the front of the outer surface of the opening and closing body in the closed state, so that the second external world information acquisition device When the user grasps the handle and opens the opening/closing body, the load input to the handle by the user becomes difficult to be transmitted to the second external world information acquisition device. Thereby, it is possible to suppress changes in the mounting position and the mounting angle of the second external world information acquisition device attached to the opening and closing body due to the opening operation of the opening and closing body by the user.
Further, the second external world information acquisition device is arranged at a position where at least a portion thereof overlaps with the first external world information acquisition device in the first direction when the outer surface of the opening and closing body is viewed from the front in the closed state of the opening and closing body. , it is possible to increase 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. This improves the degree of freedom in layout of the handle portion of the opening/closing body.

(3) The mobile object according to (2),
The opening/closing body is arranged on the front or rear surface of the movable body,
The first external world information acquisition device and the second external world information acquisition device are arranged in the left-right direction of the mobile body at positions that intersect with a center line (center line L1) of the mobile body in the left-right direction. mobile object.

According to (3), the opening/closing body is disposed on the front or rear surface of the movable body, and the first external world information acquisition device and the second external world information acquisition device are arranged at the center of the movable body in the left-right direction. Since the first external world information acquisition device and the second external world information acquisition device are arranged at positions that intersect with the line, both the first external world information acquisition device and the second external world information acquisition device are located at the front or rear side of the mobile body, which is approximately symmetrical with respect to the center line in the left-right direction of the mobile body. The outside world information of the area can be acquired as first outside world information and second outside world information.

(4) The mobile body according to (3),
The handle includes a left handle (left handle 185L) provided at a position offset to the left from the center line in the left-right direction, and a right handle provided at a position offset to the right from the center line. It has a handle part (right handle part 185R),
On the front or rear surface of the movable body where the opening/closing body is arranged, there is a left lamp unit (left lamp unit 70L) provided at a position offset to the left from the center line, and a left lamp unit (left lamp unit 70L) provided at a position offset to the left from the center line. A right lamp unit (right lamp unit 70R) provided at a position offset to the right side is provided,
When the user approaches the opening/closing body outside the mobile body, the one of the left side light unit and the right side light unit that is closer to the user lights up.

According to (4), when the user approaches the opening/closing body outside the moving body, the one that is closer to the user among the left and right side light units lights up, so the left and right side handles Among the parts, the area nearer to the user becomes brighter. As a result, even if the surroundings of the mobile object are dark at night and it is difficult to recognize the position of the handle, the user can determine the position of the left handle or the right handle, whichever is closer to the user. easily recognizable.

(5) The mobile object according to (1),
The mobile body further includes a second outside world information acquisition device (rear view camera device 60) attached to the opening/closing body, and the mobile body further includes a second outside world information acquisition device (rear view camera device 60) that is attached to the opening/closing body. Moves autonomously without relying on
The second external world information acquisition device is arranged at a position where at least a portion of the outer surface of the opening/closing body overlaps with the handle portion in the first direction when viewed from the front of the outer surface of the opening/closing body in the closed state of the opening/closing body. , mobile object.

According to (5), the second external world information acquisition device is disposed at a position where at least a portion of the outer surface of the opening/closing body overlaps with the handle in the first direction when viewed from the front on the outer surface of the opening/closing body in the closed state. Therefore, the area of the outer surface of the opening/closing body that does not overlap with the handle portion in the first direction can be increased.
Furthermore, since the moving body moves autonomously without depending on the second external world information acquired by the second external world information acquisition device, the first external world information acquisition device in the opening/closing body can move without reducing the accuracy of the autonomous movement of the mobile body. The degree of freedom in layout is improved.

(6) The mobile object according to (5),
The opening/closing body is arranged on the front or rear surface of the movable body,
The first external world information acquisition device is capable of acquiring external world information in a region further away from the outside region from which the second external world information acquisition device can acquire external world information,
The second external world information acquisition device is located closer to the center line (center line L1) of the mobile body in the left-right direction than the first external world information acquisition device in the left-right direction of the mobile body. mobile object.

According to (6), the first external world information acquisition device is capable of acquiring external world information in a region further away from an area of the outside world from which the second external world information acquisition device can acquire external world information, and the second external world information acquisition device is located closer to the center line of the moving body in the left-right direction of the moving body than the first external world information acquisition device, so that the second outside world information acquisition device is easily influenced by errors in the left-right direction of the arrangement 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 mobile object according to any one of (1) to (6),
The opening/closing body is arranged on the front or rear surface of the movable body,
The movable body includes an information display section (information display section) that displays information in a visible manner when the user views the front or rear surface of the movable body on which the opening/closing body is disposed from the outside of the movable body. A display section 221) is provided,
When the user approaches the opening/closing body outside the mobile body, the information display section displays information that notifies the user of the position of the handle.

According to (7), when the user approaches the opening/closing body outside the movable body, information notifying the position of the handle is displayed on the information display section, so the user can easily understand the surroundings of the movable body when it is dark, such as at night. , the position of the handle can be easily recognized even in situations where it is difficult to recognize the position of the handle.

1 Outer shell member 18 Tail gate (opening/closing body)
18a Outer surface 185 Handle part 185L Left handle part 185R Right handle part 221 Information display part 50 LiDAR device (first external world information acquisition device)
500 First external world information 60 Rear view camera device (second external world information acquisition device)
600 Second external world information 70L Left lamp unit 70R Right lamp unit L1 Center line V Vehicle (moving object)

Claims (3)

An opening/closing body attached to open and close freely,
a first external world information acquisition device attached to the opening/closing body;
a second external world information acquisition device attached to the opening/closing body ;
A mobile body capable of autonomous movement based on first external world information acquired by the first external world information acquisition device without depending on the second external world information acquired by the second external world information acquisition device,
The opening/closing body is arranged on the front or rear surface of the movable body and constitutes a part of the outer shell member of the movable body,
A handle portion for a user to open the opening/closing body is provided on an outer surface of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device includes, in 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 perpendicular to the opening/closing direction of the opening/closing body in the plane of the front view; arranged at a position that does not overlap the handle portion ,
The second external world information acquisition device is located 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 and closing body in the closed state of the opening and closing body, and at least one is arranged at a position overlapping with the first external world information acquisition device in the first direction,
The first external world information acquisition device and the second external world information acquisition device are arranged in a left-right direction of the mobile body at a position intersecting a center line of the mobile body in the left-right direction,
The handle portion includes 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 or rear surface of the moving body where the opening/closing body is arranged, a left lamp unit is provided at a position offset to the left from the center line, and a left lamp unit is provided at a position offset to the right from the center line. A right side light body unit is provided.
When the user approaches the opening/closing body outside the mobile body, the one of the left side light unit and the right side light unit that is closer to the user lights up . An opening/closing body attached to open and close freely,
a first external world information acquisition device attached to the opening/closing body;
a second external world information acquisition device attached to the opening/closing body;
A mobile body capable of autonomous movement based on first external world information acquired by the first external world information acquisition device without depending on the second external world information acquired by the second external world information acquisition device,
The opening/closing body is arranged on the front or rear surface of the movable body and constitutes a part of the outer shell member of the movable body,
A handle portion for a user to open the opening/closing body is provided on an outer surface of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device includes, in 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 perpendicular to the opening/closing direction of the opening/closing body in the plane of the front view; arranged at a position that does not overlap the handle portion,
The second external world information acquisition device is disposed at a position where at least a portion of the outer surface of the opening/closing body overlaps the handle portion in the first direction when viewed from the front in the closed state of the opening/closing body,
The first external world information acquisition device is capable of acquiring external world information in a region further away from the outside region from which the second external world information acquisition device can acquire external world information,
A moving body, wherein the second external world information acquisition device is located closer to the center line of the moving body in the left-right direction than the first outside world information acquisition device. An opening/closing body attached to open and close freely,
a first external world information acquisition device attached to the opening/closing body;
A mobile body capable of autonomous movement based on first external world information acquired by the first external world information acquisition device ,
The opening/closing body is arranged on the front or rear surface of the movable body and constitutes a part of the outer shell member of the movable body,
A handle portion for a user to open the opening/closing body is provided on an outer surface of the opening/closing body, which is a surface outside the movable body;
The first external world information acquisition device includes, in 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 perpendicular to the opening/closing direction of the opening/closing body in the plane of the front view; arranged at a position that does not overlap the handle portion,
The movable body is provided with an information display section that displays information in a visible manner when the user views the front or rear surface of the movable body on which the opening/closing body is disposed from outside the movable body. has been
When the user approaches the opening/closing body outside the mobile body, the information display section displays information that notifies the user of the position of the handle.

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