JP2021084566A - vehicle - Google Patents

Abstract

To provide a vehicle which can properly conduct vehicle operation by gestures of a user.SOLUTION: A vehicle 10 has: a kick sensor 60 which detects a predetermined gesture of a user; a power back door device 50 which conducts opening/closing operation of a back door 13 on condition that the predetermined gesture is detected by the kick sensor 60; and a vehicle height sensor 16 which detects a vehicle height. The kick sensor 60 can variably set detection conditions for detecting the predetermined gesture according to the vehicle height detected by the vehicle height sensor 16.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle having a function of operating a vehicle based on a user's gesture.

In recent years, in vehicles such as automobiles, a function of opening and closing a vehicle door based on a movement of a part of the user's body, a so-called gesture, has been put into practical use (for example, Patent Document 1). Such a vehicle is provided with a detection unit that detects a user's gesture. Then, when opening and closing the vehicle door, the user performs a predetermined predetermined gesture such as inserting a foot into the lower part of the vehicle in the vicinity of the vehicle door. In the vehicle, a predetermined gesture is detected by the detection unit, and the opening / closing operation of the vehicle door is executed based on the detection.

Japanese Unexamined Patent Publication No. 2013-7171

Here, in a vehicle having a function of variably setting the height of the vehicle (so-called vehicle height), the vehicle height changes with the use of this function. The vehicle height also changes depending on the number of passengers and the cargo capacity.

In the vehicle described in Patent Document 1, when the vehicle height changes, the relative position between a part of the user's body, specifically, a part (hand or foot) where a gesture is performed and a detection portion of the vehicle also changes. Therefore, even if the gesture by the user is the same, the detection mode by the detection unit may be different. Such variations in the detection mode by the detection unit are one of the factors that hinder the improvement of the detection accuracy of the user's gesture and, by extension, the execution accuracy of the vehicle operation based on the gesture.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle capable of properly performing a vehicle operation by a user's gesture.

The vehicle for solving the above-mentioned problems is fixed to the vehicle and has a gesture detection unit that detects a predetermined predetermined gesture that is a movement of a part of the user's body, and the gesture detection unit performs the predetermined gesture. Is detected, the vehicle operation unit that executes the vehicle operation, the vehicle height detection unit that detects the vehicle height, and the vehicle height detected by the vehicle height detection unit make the predetermined gesture. It is provided with a condition setting unit for variably setting the detection conditions to be detected.

According to the above configuration, the user makes a predetermined gesture according to the change in the relative position between the gesture detection unit fixed to the vehicle and the body part (hand or foot) of the user who performs the gesture due to the change in vehicle height. The detection conditions for detecting what has been done can be changed. This makes it possible to detect with high accuracy that a predetermined gesture has been performed. Therefore, the vehicle can be properly operated by the user's gesture.

In the vehicle, the gesture detection unit is provided in such a manner that at least a part of the detection range extends along the lower surface of the vehicle, and the predetermined gesture is a gesture including a movement of inserting the user's foot below the vehicle.

When inserting the foot below the vehicle, the lower limbs tilt around the base of the foot and the knee. Therefore, when the foot is brought close to the gesture detection unit to detect a predetermined gesture, the higher the vehicle height, the higher the foot needs to be raised, so that the angle at which the foot is raised increases. Then, due to this difference in angle, the positional relationship between the gesture detection unit and the user's foot at the time of detecting a predetermined gesture becomes different. According to the above configuration, it is possible to change the detection condition for detecting that the user has performed a predetermined gesture in accordance with such a change in the positional relationship.

In the vehicle, the gesture detection unit has a first detection unit and a second detection unit that are arranged along the outer surface of the vehicle in the inside / outside direction of the vehicle and detect the approach of a user, and the first detection unit. Is arranged so that the detection range is directed downward of the diagonal vehicle and outward of the diagonal vehicle, and the second detection unit is oriented downward of the vehicle and is on the lower side of the vehicle than the first detection unit. It is arranged at the position and the position on the inner side of the vehicle.

In the above configuration, the higher the vehicle height, the larger the angle at which the user raises his / her foot, and the tip of the foot becomes easier to approach the second detection unit. Therefore, the approach of the user's foot is more likely to be detected by the second detection unit. Become. According to the above configuration, the detection conditions by the first detection unit and the second detection unit can be set according to the tendency of detection by the first detection unit and the second detection unit. Therefore, it is possible to detect with high accuracy that a predetermined gesture has been performed.

The vehicle is provided with a vehicle height setting unit that variably sets the vehicle height.
In the above configuration, since the vehicle height setting unit is provided, the amount of change in vehicle height tends to be larger than that of a vehicle not provided with the vehicle height setting unit. Therefore, it can be said that the accuracy of detecting the user's gesture by the gesture detection unit is likely to decrease. According to the above configuration, it is possible to detect with high accuracy that a predetermined gesture has been performed in accordance with such a change in vehicle height.

According to the present invention, it is possible to properly execute the vehicle operation by the user's gesture.

The block diagram which shows the schematic structure of the vehicle of one Embodiment. The schematic which shows the schematic structure of a kick sensor. (A) is a schematic diagram showing the positional relationship between the kick sensor and the user when the vehicle height is low, and (b) is a schematic diagram showing the positional relationship when the vehicle height is high. A schematic diagram schematically showing the structure of an operation map used for setting a judgment value. A flowchart showing an execution procedure of an opening / closing operation process.

Hereinafter, one embodiment of the vehicle will be described.
As shown in FIG. 1, the vehicle 10 is provided with a smart ECU 11 mainly composed of a microcomputer. An electronic key 12 is used as the key for the vehicle 10. The smart ECU 11 and the electronic key 12 have a built-in wireless communication device. In the present embodiment, the electronic key system is configured by the smart ECU 11 and the electronic key 12.

In the electronic key system, a request signal as an ID code reply request is transmitted from the smart ECU 11. Then, when the user approaches the vehicle 10 while possessing the electronic key 12, the ID code is returned from the electronic key 12 to the smart ECU 11 in response to the request signal. The smart ECU 11 performs ID verification based on the ID code returned in this way. When the ID verification by the smart ECU 11 is established, the door lock can be locked and unlocked by operating the operation switch integrated with the electronic key 12, and the vehicle is started by operating the operation switch provided in the vehicle interior. Becomes possible.

The vehicle 10 is provided with a door lock device 20 for switching between locking and unlocking the back door 13. The door lock device 20 is composed mainly of a lock mechanism 21 for switching between a locked state and an unlocked state, an actuator 22 for operating the lock mechanism 21, and a microcomputer to control the operation of the actuator 22. It has a door lock ECU 23 to execute. As an operation switch for operating the door lock device 20, a door switch 24 is provided in the vehicle interior. The door switch 24 is connected to the door lock ECU 23, and the output signal of the door switch 24 is taken into the door lock ECU 23.

When the door switch 24 is operated, the operation control of the actuator 22 by the door lock ECU 23 is executed and the lock mechanism 21 is operated to switch the locking and unlocking of the back door 13.

The vehicle 10 is provided with a vehicle height adjusting device 30 for variably setting the vehicle height. The vehicle height adjusting device 30 includes a vehicle height adjusting mechanism 31 attached to the suspension mechanism 14 to change the length of the suspension mechanism 14 in the vehicle vertical direction, an actuator 32 for operating the vehicle height adjusting mechanism 31, and a micro. It has a body ECU 33 that is configured around a computer and executes operation control of the actuator 32. The vehicle height adjusting mechanism 31 and the actuator 32 are provided in each of the suspension mechanisms 14 provided on the four wheels of the vehicle 10. FIG. 1 shows one of the four suspension mechanisms 14, and the vehicle height adjusting mechanism 31 and the actuator 32 provided in the suspension mechanism 14. As an operation switch for operating the vehicle height adjusting device 30, a vehicle height switch 34 is provided in the vehicle interior. The vehicle height switch 34 is connected to the body ECU 33, and the output signal of the vehicle height switch 34 is taken into the body ECU 33.

When the vehicle height switch 34 is operated, the operation control of the actuator 32 by the body ECU 33 is executed according to the operation position of the vehicle height switch 34. As a result, the vehicle height adjusting mechanism 31 operates to raise or lower the vehicle height. In the present embodiment, the vehicle height adjusting device 30 corresponds to the vehicle height setting unit.

The vehicle 10 is provided with an optical axis adjusting device 40 that automatically adjusts the angle of the optical axis of the headlight 15 according to the vehicle height set by the vehicle height adjusting device 30. The optical axis adjusting device 40 includes an optical axis adjusting mechanism 41 connected to the headlight 15 for changing the installation angle of the headlight 15 with respect to the vehicle body, an actuator 42 for operating the optical axis adjusting mechanism 41, and an actuator 42. It has a lamp ECU 43 that is configured around a microcomputer and executes operation control of the actuator 42. A vehicle height sensor 16 for detecting the vehicle height HC is provided in the vicinity of the suspension mechanism 14 in the vehicle 10. The vehicle height sensor 16 is connected to the lamp ECU 43, and the output signal of the vehicle height sensor 16 is taken into the lamp ECU 43. In this embodiment, the vehicle height sensor 16 corresponds to the vehicle height detection unit.

When the vehicle height is adjusted by the vehicle height adjusting device 30 and the vehicle height changes, the adjusted vehicle height HC is detected by the vehicle height sensor 16 and the operation control of the actuator 42 based on the vehicle height HC is executed. .. As a result, the optical axis adjusting mechanism 41 operates, and the angle of the optical axis of the headlight 15 is adjusted so as to illuminate a predetermined irradiation range.

The vehicle 10 is provided with a power back door device 50 for automatically opening and closing the back door 13. The power back door device 50 is mainly composed of an opening / closing mechanism 51 that is connected to the back door 13 and switches between an open state and a closed state of the back door 13, an actuator 52 for operating the opening / closing mechanism 51, and a microcomputer. It has a power door ECU 53 that executes operation control of the actuator 52. Further, the vehicle 10 is provided with a kick sensor 60. With this kick sensor 60, a predetermined gesture that is a movement of a part of the user's body, specifically, a foot is inserted into the lower part of the vehicle (specifically, the lower part of the rear bumper 18) and then pulled out. It is detected that the action of putting the foot in and out has been made. The kick sensor 60 is connected to the power door ECU 53, and the output signal of the kick sensor 60 is taken into the power door ECU 53. The structure and arrangement of the kick sensor 60 will be described in detail later. The vehicle 10 is provided with a vehicle speed sensor 17 for detecting the traveling speed. The detection signal of the vehicle speed sensor 17 is taken in by the power door ECU 53.

The power backdoor device 50 basically operates as follows. That is, when the user who possesses the electronic key 12 approaches the vehicle 10 in the stopped state where the traveling speed is "0" and makes a predetermined gesture, the kick sensor 60 detects that the user has performed the predetermined gesture. The power door ECU 53 determines that a predetermined gesture has been performed by the user based on the output signal of the kick sensor 60, and executes operation control of the actuator 52 by the power door ECU 53 based on the determination result. As a result, the opening / closing mechanism 51 is activated to open / close the back door 13. In the present embodiment, the kick sensor 60 corresponds to the gesture detection unit, and the power door ECU 53 corresponds to the vehicle operation unit that executes the opening / closing operation of the back door 13 as the vehicle operation.

In the present embodiment, the power door ECU 53, the body ECU 33, and the lamp ECU 43 are connected by a CAN (Controller Area Network) so as to be able to communicate with each other.

Hereinafter, the structure and arrangement of the kick sensor 60 will be described.
As shown in FIG. 2, the kick sensor 60 includes two detection units 61 and 62 for detecting the approach of a detection target (for example, a user's foot) and a control unit 63 mainly composed of a microcomputer. Have. Both the first detection unit 61 and the second detection unit 62 are configured by a capacitance type sensor. The output signals of the first detection unit 61 and the second detection unit 62 become high voltage signals when the detection target approaches and enters the detection range, and becomes higher voltage signals as the detection target approaches. .. The control unit 63 takes in the output signals of the first detection unit 61 and the second detection unit 62, performs various calculations based on the output signals, and outputs the calculation results to the power door ECU 53.

As shown in FIG. 1, the kick sensor 60 is attached to the lower part of the rear bumper 18 of the vehicle 10 at the rear end. As shown in FIGS. 3 (a) and 3 (b), the first detection unit 61 and the second detection unit 62 of the kick sensor 60 are directed in and out of the vehicle so as to be along the outer surface of the vehicle 10 (in this embodiment, in the present embodiment). They are arranged in a line-up manner (in the front-rear direction of the vehicle). The first detection unit 61 is arranged so that the detection range indicated by “S1” in FIG. 3 is directed downward of the diagonal vehicle and outward of the diagonal vehicle. The second detection unit 62 has a mode in which the detection range indicated by “S2” in FIG. 3 is directed downward to the vehicle, is located below the vehicle below the first detection unit 61, and is on the inside side of the vehicle (in the present embodiment). , On the front side of the vehicle). As described above, in the present embodiment, the first detection unit 61 and the second detection unit 62 are provided in such a manner that the detection ranges S1 and S2 extend along the lower surface of the vehicle.

In the present embodiment, as a predetermined gesture by the user, an action of putting the foot in and out is defined such that the foot is put in and out of the lower part of the rear bumper 18 of the vehicle 10. Then, in the present embodiment, as detection conditions for detecting that a predetermined gesture has been made, the detection value of the first detection unit 61 and the second detection are based on the results of various experiments and simulations by the inventor. Five conditions (conditions A, B, C, D, and E) that enable high-precision detection based on the detection value of the unit 62 are defined.

In the present embodiment, it is determined whether or not the above five conditions are satisfied through arithmetic processing by the control unit 63 of the kick sensor 60 based on the output signals of the first detection unit 61 and the second detection unit 62 of the kick sensor 60. Will be done. Then, when it is determined that all five conditions are satisfied, the operation command signal of the back door 13 is output from the control unit 63 of the kick sensor 60 to the power door ECU 53, assuming that the user has made a predetermined gesture.

Here, as shown in FIGS. 3A and 3B, even if the user moves his / her foot in the same operation mode in order to open / close the back door 13, the user can move the foot according to the vehicle height HC. The timing at which the foot approaches the first detection unit 61 and the timing at which the foot approaches the second detection unit 62 vary. Therefore, the relationship between the detection mode of the user's foot by the first detection unit 61 and the detection mode by the second detection unit 62 is not constant.

Specifically, when the user inserts the foot below the rear bumper 18, the lower limbs tilt around the base of the foot and the knee. Further, when the foot is brought close to the kick sensor 60 in order to detect a predetermined gesture, the higher the vehicle height, the larger the angle at which the user raises the foot because the user needs to raise the foot higher. Then, due to this difference in angle, the positional relationship between the kick sensor 60 and the user's foot at the time of detecting a predetermined gesture becomes different.

Specifically, when the vehicle height shown in FIG. 3 (b) is high, the angle at which the user raises his / her foot is larger than when the vehicle height shown in FIG. 3 (a) is high. The tip portion of the user's foot can be easily approached to the second detection unit 62 arranged on the side portion. From this, the higher the vehicle height, the easier it is for the second detection unit 62 to detect the approach of the user's foot, and the user's foot is detected by the second detection unit 62 at an earlier timing. 2 It can be said that the output voltage of the detection unit 62 becomes high.

Based on this point, in the present embodiment, as shown in FIG. 4, the determination values JA, JB, JC, JD, and JE of (Condition A) to (Condition E) for detecting a predetermined gesture are set to the vehicle. It is set to be variable according to the high HC. In the present embodiment, the relationship between the above-mentioned determination value and the vehicle height HC, which can accurately identify that a predetermined gesture has been made, is obtained in advance based on the results of various experiments and simulations by the inventor. The same relationship is stored in the memory 64 of the control unit 63 of the kick sensor 60 as the calculation map shown in FIG.

Hereinafter, an execution mode of a process (open / close operation process) for opening / closing the back door 13 including a setting process for variably setting the determination values of (condition A) to (condition E) will be described with reference to FIG. ..

FIG. 5 shows an execution procedure of the opening / closing operation process, and a series of processes shown in the flowchart of the figure is executed by the control unit 63 of the kick sensor 60 as an interrupt process for each predetermined cycle. In the present embodiment, the control unit 63 of the kick sensor 60 corresponds to the condition setting unit.

As shown in FIG. 5, in this process, first, it is determined whether or not the vehicle height adjustment by the vehicle height adjusting device 30 has been executed (step S11). Then, when it is determined that the vehicle height adjustment by the vehicle height adjusting device 30 has been executed (step S11: YES), from the map shown in FIG. 4 based on the vehicle height HC at this time, (Condition A) to Judgment values JA, JB, JC, JD, and JE for (condition E) are obtained and set (step S12). Hereinafter, these determination values JA, JB, JC, JD, and JE are used to determine whether or not (Condition A) to (Condition E) are satisfied.

In the present embodiment, the output signal (vehicle height HC) of the vehicle height sensor 16 captured in the lamp ECU 43 is captured in the power door ECU 53 through CAN communication and kicked from the power door ECU 53 through LIN (Local Interconnect Network) communication. It is taken into the sensor 60 and used for setting the determination value by the control unit 63 of the kick sensor 60. As described above, according to the present embodiment, the vehicle height HC used for setting the determination values of (Condition A) to (Condition E) is a vehicle incorporated in the lamp ECU 43 for adjusting the optical axis of the headlight 15. Since the high HC can be used, it is possible to avoid complicating the structure of the vehicle 10 for detecting the vehicle height HC used for setting the determination value.

If it is determined that the vehicle height adjustment has not been executed after the setting process for variably setting the determination values of (Condition A) to (Condition E) has been executed (step S11: NO), The above setting process is not executed (the process of step S12 is jumped).

After that, it is determined whether or not the opening / closing condition for opening / closing the back door 13 is satisfied (step S13). Here, it is determined that the opening / closing condition is satisfied when all the following three conditions are satisfied.

-All of (Condition A) to (Condition E) are satisfied.
-The electronic key 12 is detected behind the back door 13.
-The vehicle 10 is in a stopped running state (running speed = 0).

Then, when it is determined that the opening / closing condition is satisfied (step S13: YES), the power back door device 50 executes the opening / closing operation of the back door 13 (step S14). Specifically, when the back door 13 is closed in the unlocked state, the back door 13 is opened. When the back door 13 is closed in a locked state, the back door 13 is unlocked by the door lock device 20 and the back door 13 is opened by the power back door device 50. When the back door 13 is open, the power back door device 50 closes the back door 13.

On the other hand, when at least one of the above three conditions is not satisfied and it is determined that the above opening / closing condition is not satisfied (step S13: NO), a process of opening / closing the back door 13 is executed. This process is temporarily terminated without doing so (jumping the process in step S14).

As described above, according to the present embodiment, the effects described below can be obtained.
(1) The determination values of (Condition A) to (Condition E) for detecting that the user has performed a predetermined gesture are variably set according to the vehicle height HC. Therefore, the determination values of the above (condition A) to (condition E) can be changed according to the change in the relative position between the kick sensor 60 fixed to the vehicle 10 and the user's foot according to the vehicle height HC. it can. As a result, it is possible to detect with high accuracy that a predetermined gesture has been performed, so that it is possible to properly execute the opening / closing operation of the back door 13 by the user's gesture.

(2) A predetermined gesture including a movement of inserting the user's foot below the vehicle is detected by a kick sensor 60 provided in such a manner that a part of the detection range extends along the lower surface of the vehicle. When the foot is brought close to the kick sensor 60 to detect a predetermined gesture, the higher the vehicle height HC, the larger the angle at which the user raises the foot. The positional relationship between the kick sensor 60 and the user's foot is different. According to the present embodiment, it is possible to variably set the determination values of (Condition A) to (Condition E) for detecting that the user has performed a predetermined gesture in accordance with such a change in the positional relationship.

(3) The first detection unit 61 and the second detection unit 62 that detect the approach of the user are arranged in a manner of arranging along the outer surface of the vehicle in the front-rear direction of the vehicle. The first detection unit 61 is arranged so that the detection range is directed downward of the diagonal vehicle and outward of the diagonal vehicle, and the second detection unit 62 is oriented so that the detection range is directed downward of the vehicle, and the vehicle is more than the first detection unit 61. It is arranged at a position on the lower side and a position on the front side of the vehicle. According to the present embodiment, the detection by the first detection unit 61 and the second detection unit 62 is made according to the detection tendency that the approach of the user's foot is more easily detected by the second detection unit 62 as the vehicle height HC is higher. Since the determination values of the conditions (condition A) to (condition E) can be variably set, it is possible to detect with high accuracy that a predetermined gesture has been performed.

(4) Since the vehicle height adjusting device 30 is provided, the amount of change in the vehicle height HC is likely to be larger than that of a vehicle that does not have the vehicle height adjusting device, and the accuracy of detecting a predetermined gesture by the kick sensor 60 is high. It is possible to detect with high accuracy that a predetermined gesture is performed in accordance with a change in the vehicle height HC in the vehicle 10 which is likely to cause a decrease.

The above embodiment can be modified and implemented as follows. The above embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.

-The device to which the vehicle height sensor 16 is connected can be arbitrarily changed, such as connecting the vehicle height sensor 16 directly to the kick sensor 60. In short, it suffices if the output signal of the vehicle height sensor for detecting the vehicle height can be taken into the control unit 63 of the kick sensor 60.

-The detection conditions for detecting that a predetermined gesture has been made can be arbitrarily changed.
-As the kick sensor 60, not only an electromagnetic induction type sensor is adopted, but also an ultrasonic type sensor, a radar type sensor, an image processing device having a camera, or the like can be adopted.

-A gesture detector that detects a predetermined gesture consists of two sensors (for example, a distance sensor and a proximity sensor) that detect the approach of the user, and one ECU that is configured around a microcomputer and captures the output signals of the two sensors. It may be composed of the three members of and.

-The position where the gesture detection unit for detecting a predetermined gesture is attached can be arbitrarily changed, such as the roof of the vehicle 10, the back door 13, and the back door pillar. In the same configuration, a predetermined gesture, which is the movement of a part of the user's body (hands and feet), may be predetermined according to the attachment position of the gesture detection unit. According to the above configuration, the detection condition for detecting a predetermined gesture can be set according to the change in the relative position between the user and the gesture detection unit due to the change in the vehicle height HC, so that the predetermined gesture is performed. Can be detected with high accuracy. Predetermined gestures include, for example, determining the action of holding a hand above the vehicle in a vehicle provided with a gesture detection unit on the roof, or left and right hands behind the back door in a vehicle having a gesture detection unit provided on the back door ( Alternatively, it is possible to determine the action of swinging up and down).

-The operation target operated on the condition that a predetermined gesture is detected by the gesture detection unit is not limited to the back door 13, but can also be the side door (swing door or sliding door) of the vehicle. .. In addition, the operation of switching the execution / stop of the automatic driving of the vehicle 10 and the operation of switching the lighting / extinguishing of the lights such as the headlight 15 can be the vehicle operation as the operation target.

-The vehicle according to the above embodiment can also be applied to a vehicle that does not have a vehicle height adjusting device. According to this configuration, it is possible to variably set the detection conditions for detecting that a predetermined gesture has been made according to the vehicle height that changes depending on the number of passengers of the vehicle and the load capacity of the cargo. Further, according to the above configuration, it is possible to variably set the detection conditions for detecting that a predetermined gesture has been made according to the difference in vehicle height due to the difference in vehicle type. As a result, it is possible to detect with high accuracy that a predetermined gesture has been made.

10 ... Vehicle 13 ... Back door 16 ... Vehicle height sensor 18 ... Rear bumper 30 ... Vehicle height adjusting device 50 ... Power back door device 60 ... Kick sensor 61 ... First detection unit 62 ... Second detection unit 63 ... Control unit

Claims (4)

A gesture detector that is fixed to the vehicle and detects a predetermined gesture that is a movement of a part of the user's body.
A vehicle operation unit that executes a vehicle operation on condition that the predetermined gesture is detected by the gesture detection unit, and a vehicle operation unit.
Vehicle height detection unit that detects vehicle height and
A condition setting unit that variably sets the detection conditions for detecting the predetermined gesture according to the vehicle height detected by the vehicle height detection unit.
Vehicles equipped with. The gesture detection unit is provided so that at least a part of the detection range extends along the lower surface of the vehicle.
The vehicle according to claim 1, wherein the predetermined gesture is a gesture including a movement of inserting the user's foot below the vehicle. The gesture detection unit has a first detection unit and a second detection unit that are arranged along the outer surface of the vehicle in the inside / outside direction of the vehicle and detect the approach of the user.
The first detection unit is arranged so that the detection range is directed downward of the diagonal vehicle and outward of the diagonal vehicle.
The vehicle according to claim 2, wherein the second detection unit is arranged at a position on the lower side of the vehicle and on the inner side of the vehicle with respect to the first detection unit in a manner in which the detection range is directed downward on the vehicle. .. The vehicle according to any one of claims 1 to 3, further comprising a vehicle height setting unit for variably setting the vehicle height.

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