DE102024104870A1 - Vehicle and method for operating a vehicle - Google Patents

Abstract

The invention relates to a vehicle (10), in particular a bus (12), comprising a door (16) with a lower door edge (18), a level control system (20) which is designed to adjust a height (23) of the lower door edge (18), and a control device (24), wherein the control device (24) is connected to the level control system (20) and is designed to control the level control system (20). The vehicle (10) comprises a height sensor (26), wherein the height sensor (26) is designed to detect a height (28) of an infrastructure edge (30) in an area (31) surrounding the vehicle (10). The height sensor (26) is connected to the control device (24). The control device (24) is designed to adjust the height (23) of the lower door edge (18) as a function of the height (28) of the infrastructure edge (30) by means of the level control system (20).

Description

The invention relates to a vehicle and a method for operating a vehicle.

Vehicles, such as buses, are known to have a door with a lower edge and a leveling system designed to adjust the height of the lower edge of the door. For example, the door is intended for passenger entry and exit.

Especially when city buses approach stops, the driver typically tries to keep the gap between the bottom edge of the door and the stopping edge as small as possible. This is intended to ensure the most barrier-free boarding and alighting experience possible. Various regulations also exist regarding this aspect. For example, EU R1300/2014 requires a maximum gap of 7.5 cm horizontally and 5 cm vertically between the vehicle and the stopping edge.

City buses typically have air suspension systems that allow them to adjust to height profiles with centimeter precision. Some vehicles also feature a button for the driver to lower the bottom edge of the door to a specified height. This lowering of the bottom edge of the door or the corresponding side of the vehicle is also known as "kneeling."

However, the specified height is not always applicable to all stops. For example, not every stop is designed to ensure the specified height. On the other hand, it is not always possible to guarantee the exact same stopping point for the vehicle at the stop, for example, because obstacles may be present at the stop in individual cases. Thus, even at a standard-compliant stop, it may not be possible to stop exactly at the intended location and at the specified height.

As a result, city buses are typically equipped with extendable ramps, which incur additional costs and require additional installation space in the vehicle and at stops. The use of ramps is also complex. While attempts are generally made to adapt the infrastructure, particularly the height of the stopping edge, to the specified height of the lowered door edge, this is also complex and difficult to ensure across the entire route network.

A similar problem exists with trucks. While these often also have a leveling system that allows the height of the lower edge of a door intended for loading to be adjusted, the loading edges often vary greatly in the infrastructure.

It is an object of the invention to ensure a barrier-free transition between a lower door edge of a vehicle and an infrastructure edge in an area surrounding the vehicle in a simple manner.

The problem is solved by a vehicle according to claim 1.

The vehicle can be designed, in particular, as a bus and comprises a door with a lower edge and a leveling system configured to adjust the height of the lower edge of the door. The vehicle can also be designed as a commercial vehicle, in particular a truck or commercial vehicle trailer, with a door intended for loading.

The vehicle comprises a control device connected to the level control system and configured to control the level control system.

The vehicle also includes a height sensor, which is configured to detect the height of an infrastructure edge in an area surrounding the vehicle. The height sensor is connected to the control device. The control device is configured to adjust the height of the lower edge of the door depending on the height of the infrastructure edge using the level control system.

Such a vehicle ensures a barrier-free transition between the bottom edge of the door and the edge of the infrastructure in a particularly simple manner. The height of the bottom edge of the door can be easily adjusted as high as necessary using the control device. This eliminates the need for additional ramps and thus additional installation space and costs. Furthermore, the infrastructure requirements are alleviated by not requiring all stops to be structurally adapted to a single, specified height.

In principle, it is possible for the height of the door's lower edge to be adjusted completely automatically, i.e., without any driver intervention. For example, a stop or an infrastructure edge can be detected, and the height of the door's lower edge can be automatically adjusted based on this detection. Adjusting the height of the door's lower edge can be particularly useful when the vehicle is stationary. of the vehicle. As an alternative to a fully automatic adjustment of the height of the lower edge of the door, an actuating device, such as a button on the driver's seat, can be provided for the driver, wherein the actuating device is configured to cause the control device to adjust the height of the lower edge of the door.

According to one embodiment, the control device is configured to adjust the height of the door's lower edge such that the height of the door's lower edge is at least substantially equal to the height of the infrastructure edge. This further reduces barriers.

The infrastructure edge can be, for example, a curb, a bus curb, or a loading ramp edge. Such infrastructure edges allow for precise height adjustment and minimize barriers. In general, the infrastructure edge can be, for example, the edge of a passenger waiting platform.

Various embodiments of the height sensor are described below. For example, one, several, or all embodiments can be implemented in the height sensor.

The altitude sensor can, for example, include a camera, such as a monocular camera. This allows for precise altitude determination with a simple design.

In particular, the control device can comprise an evaluation device configured to determine depth information using a structure-from-motion method by means of the height sensor, in particular by means of a monocular camera. This enables precise height determination with a simple design.

The height sensor can, for example, include a stereo camera. This allows for precise height determination with a simple setup.

The altitude sensor can, for example, include a time-of-flight camera. This allows for precise altitude determination with a simple setup.

The height sensor can, for example, include an ultrasonic sensor. This allows for precise height determination with a simple design.

The altitude sensor can, for example, include a radar sensor. This allows for precise altitude determination with a simple design.

The height sensor can, for example, include a lidar sensor. This allows for precise height determination with a simple design.

The height sensor can, for example, comprise a sensor with only one scanning plane, wherein the scanning plane runs at least substantially vertically with respect to a surface for the vehicle and/or perpendicular to the direction of extension of an infrastructure edge to be detected. This enables precise height determination with a simple design. In simplified terms, this design can also be described as a "fan" of measuring beams in one plane.

In principle, the level control system can be configured, in particular, to detect and adjust a target height. The target height typically refers to a predefined reference point on the vehicle. This reference point may differ from the bottom edge of the door. The control device is configured, in particular, to take into account any height difference between the reference point and the bottom edge of the door.

In principle, the height sensor can, for example, output the height of the infrastructure edge as an absolute height relative to a roadway on which the vehicle is located. However, the height sensor preferably outputs a distance or a vertical height between the height sensor and the infrastructure edge. In this case, the control device is configured to control the level control system accordingly. The height of the height sensor on the vehicle can preferably be stored in the control device, taking into account its adjustability by means of the level control system.

For example, the height sensor can also be configured to detect the height of the bottom edge of the door. In this case, a height difference between the bottom edge of the door and the edge of the infrastructure can be easily determined. The level control system can then be easily controlled based on the height difference. If the height of the bottom edge of the door is not detected as such by the height sensor, it can be calculated, for example, in the control system.

According to one embodiment, the control device and the height sensor are arranged in a sensor control unit. This provides a simple control-technical structure. For example, the sensor control unit can be configured to output a target height to the level control system. This further simplifies control.

The height sensor can be a smart sensor, for example. This reads the current height of the level control system via a bus, such as a CAN bus, and/or outputs a target value for the height to be set. The height to be set is determined from the sensor data of the height sensor and is composed, for example, of the vertical distance between the stop edge and the entry edge determined by the smart sensor and the current actual position of the level control system, such as an air suspension, determined by a travel sensor of the level control system and provided via the CAN bus.

According to one embodiment, the control device and the height sensor are arranged separately from one another. This allows the height sensor to be designed simply, and, for example, a control device typically provided anyway can be used to calculate a target height for the level control system. For example, the control device and the height sensor can be connected to each other via a bus system. The control device can preferably be configured to output a target height to the level control system, for example, via a bus system or another type of connection.

The height sensor can, for example, simply provide distance measurements and send them to the control device via a connection, such as CAN bus, Ethernet, or other communication standards. The control device can, for example, be or include a domain controller for the leveling system. The sensor data is processed in the domain controller or control device, for example, to determine the vertical distance between the infrastructure edge and the bottom edge of the door. The resulting target value for the leveling system or air suspension system is sent, for example, to one of several leveling system modules.

According to one embodiment, the height sensor is configured to detect the height of the infrastructure edge as the vehicle approaches it. This reduces the time the vehicle must spend at the infrastructure edge. In particular, the time required to detect the height of the infrastructure edge while the vehicle is stationary is avoided. As the vehicle approaches the stop, the infrastructure edge is scanned over time, for example, so that 3D information about the infrastructure edge can be derived. During the approach, e.g., below a certain speed, the height of the infrastructure edge can then be averaged over a sliding time window and, if necessary, divided into several preset values, for example, if different heights are to be set on the various axles for an articulated bus. The height sensor can be camera-based, for example, using a structure-from-motion method. The height sensor can preferably comprise a 2D lidar or a time-of-flight camera. The measuring principle preferably corresponds to a line scanner.

According to one embodiment, the height sensor is configured to detect the height of the infrastructure edge when the vehicle is at least substantially stationary at the infrastructure edge. This enables particularly precise detection of the height of the infrastructure edge.

The vehicle may, for example, include a driver assistance system. According to one embodiment, the driver assistance system is connected to the height sensor and is configured to provide a driver assistance function using the height sensor. This embodiment is particularly cost-effective because one and the same height sensor can be used for multiple purposes. Many driver assistance systems already comprise various sensors. Thus, existing sensors that are already provided on the vehicle can be used as height sensors and for controlling the height of the lower edge of the door. The sensor technology for adjusting the height of the lower edge of the door can therefore advantageously be combined with available sensor technology from driver assistance systems, such as for monitoring the side area when turning or in the blind spot.

The driver assistance system can, for example, include a turning assistance system. A turning assistance system typically includes a sensor positioned to determine the height of an infrastructure edge in the area surrounding the vehicle, particularly in the area of the door. This advantageously saves costs for an additional sensor.

According to one embodiment, the control device is configured to detect a person in the area surrounding the vehicle using the height sensor. This facilitates monitoring of the vehicle and the area surrounding the vehicle without the need for an additional sensor. The control device can, for example, be configured to count people boarding and/or disembarking. This allows passenger numbers to be recorded particularly easily.

The control device may alternatively or additionally be designed to to detect persons with disabilities, such as wheelchair users. For example, if a person with disabilities is detected, an additional boarding aid, such as a ramp, can be provided automatically, or the need for such additional boarding aid can be indicated to the driver.

According to one embodiment, the height sensor is additionally configured to detect a horizontal distance between the lower edge of the door and the edge of the infrastructure. The control device can be configured to issue a warning signal to the driver of the vehicle if the horizontal distance between the lower edge of the door and the edge of the infrastructure exceeds a predetermined threshold. The driver can then, for example, drive the vehicle closer to the edge of the infrastructure to better adjust the horizontal distance to the specified values. Thus, for example, a ramp can be completely dispensed with, since a barrier-free transition can always be guaranteed.

The vehicle can, for example, have a second door with a second lower door edge. The level control system can preferably be configured to adjust a height of the second lower door edge. The control device can preferably be configured to adjust the height of the second lower door edge as a function of the height of a second infrastructure edge by means of the level control system. The control device can preferably be configured to adjust the height of the first lower door edge and the height of the second lower door edge differently as a function of a respectively assigned infrastructure edge or a respectively assigned section of an infrastructure edge. A low-barrier transition is thus easily improved for both doors.

According to one embodiment, the vehicle comprises a second height sensor, wherein the second height sensor is configured to detect the height of the second infrastructure edge in the surrounding area of the vehicle. This allows the precision of the height detection to be further improved. For example, each of the at least two height sensors can be assigned to one of at least two doors.

The level control system can, for example, comprise at least one gas spring, in particular several gas springs, wherein, for example, a gas quantity in the at least one gas spring can be adjustable. By adjusting the gas quantity, the level or height of the lower edge of the vehicle's door can be adjusted. The gas spring can, for example, be an air suspension. A level control system with air suspension is also referred to as "Electronically Controlled Air Suspension," or ECAS for short.

The vehicle can be, for example, a commercial vehicle, a truck, a passenger car, or a bus. For example, the vehicle can be an articulated bus.

The door may, for example, be intended for the passage of people. This may be particularly the case with a bus or similar vehicle. If the door is intended for the passage of people, the infrastructure edge may, in particular, be an edge of an infrastructure facility for the entry and exit of people, such as a waiting platform.

The door can also be designed, for example, for the passage of goods. This can be particularly the case with a truck. If the door is designed for the passage of goods, the infrastructure edge can, in particular, be an edge of an infrastructure facility for the loading and unloading of goods, such as a loading platform.

The vehicle can, for example, be a road vehicle or a rail vehicle.

The vehicle may, for example, be a single vehicle, a tractor or a trailer for a tractor-trailer combination or a tractor-trailer combination.

The object is also achieved by a method according to the independent claim directed thereto for operating a vehicle. The vehicle can, in particular, be of the type described above and comprises a door with a lower door edge, wherein a height of the lower door edge is adjustable. The method comprises the steps of: detecting a height of an infrastructure edge in an area surrounding the vehicle, wherein the detection of the height of the infrastructure edge comprises detecting the height of the infrastructure edge using a height sensor; adjusting the height of the lower door edge depending on the height of the infrastructure edge.

If devices and methods are described herein, the described methods can advantageously be developed further by the embodiments and individual features of the devices and vice versa.

• 1 zeigt ein Fahrzeug.
• 2 zeigt ein Fahrzeug.
• 3 zeigt ein Fahrzeug.
• 4 zeigt ein Fahrzeug.
• 5 zeigt ein Fahrzeug.
• 6 zeigt ein Verfahren zum Betreiben eines Fahrzeuges.

The invention is explained below using examples shown in schematic drawings.

• 1 shows a vehicle.
• 2 shows a vehicle.
• 3 shows a vehicle.
• 4 shows a vehicle.
• 5 shows a vehicle.
• 6 shows a method for operating a vehicle.

1 shows a vehicle 10, which may, for example, be a bus 12. The vehicle 10 may, for example, be used to transport a person 14.

The vehicle 10 comprises a door 16 with a door bottom edge 18. For example, the door 16 is provided for the entry and exit of the person 14.

The vehicle 10 includes a leveling system 20, which has a gas spring 22 and is configured to adjust a height 23 of the lower door edge 18 by means of the gas spring 22. The height 23 of the lower door edge 18 can be adjusted and maintained, for example, by regulating a gas quantity of the gas spring 22 of the leveling system 20.

Vehicle 10 of the 1 comprises a control device 24 which is connected to the level control system 20 and is configured to control the level control system 20.

Vehicle 10 of the 1 comprises a height sensor 26 configured to detect a height 28 of an infrastructure edge 30 in a surrounding area 31 of the vehicle 10. The height sensor 26 is connected to the control device 24.

The control device 24 is configured to adjust the height 23 of the door lower edge 18 as a function of the height 28 of the infrastructure edge 30 by means of the level control system 20.

The control device 24 is configured to adjust the height 23 of the door's lower edge 18 such that the height 23 of the door's lower edge 18 is at least substantially equal to the height 28 of the infrastructure edge 30. The height 23 of the door's lower edge 18 can generally be adjusted as high as necessary using the control device 24, thus ensuring a barrier-free transition between the door's lower edge 18 and the infrastructure edge 30.

The infrastructure edge 30 can be, for example, a curb edge 32, a bus stop edge 34 or a loading ramp edge 36.

The height sensor 26 comprises, for example, a monocular camera 37. The control device 24 comprises, for example, an evaluation device 38 which is configured to determine depth information 40 by a structure-from-motion method 42 using the monocular camera 37 in the surrounding area 31.

The height sensor 26 of the vehicle 10 from 1 alternatively or additionally comprises, for example, a stereo camera 50, a time-of-flight camera 52, an ultrasonic sensor 54, a radar sensor 56 and/or a lidar sensor 58. For the above-mentioned embodiments of the height sensor 26, a detection field 59 is indicated by way of example, wherein the detection field 59 can vary depending on the type of sensor.

The height sensor 26 comprises, alternatively or additionally, for example, a sensor 60 with only one scanning plane 62. The scanning plane 62 runs, for example, at least substantially vertically with respect to a ground 64 for the vehicle 10 and/or vertically to an extension direction 66 of the infrastructure edge 30 to be detected. The extension direction 66 runs in 1 parallel to the infrastructure edge 30 and perpendicular to the image plane. Thus, the scan plane runs parallel to the image plane in 1 . In 3 an extension direction 66 of an infrastructure edge 30 is indicated more clearly.

The height sensor 26 is, for example, additionally configured to determine a horizontal distance 68 between the lower edge 18 of the door and the infrastructure edge 30.

Vehicle 10 of the 1 includes a driver assistance system 72. The driver assistance system 72 is connected to the height sensor 26 and is configured to provide a driver assistance function 74 by means of the height sensor 26. The driver assistance system 72 of the vehicle 10 includes, for example, a turning assistance system 76. Using the height sensor 26, an obstacle, such as a person on a bicycle, can be detected and recognized, for example, while driving when turning.

The control device 24 is configured to detect a person 14 in the surrounding area 31 of the vehicle 10. In 1 Person 14 is located within the detection range 59 of height sensor 26. The control device 24 is configured to recognize person 14 as such and, for example, to count them as they board or exit the vehicle. In this way, the number of people in the vehicle 10 can be monitored.

The control device 24 and the height sensor 26 are in the 1 In the embodiment shown, it is arranged in a sensor control unit 78. The sensor control unit 78 is configured to output a target height 80 to the level control system 20 in order to control the level control system 20.

2 shows a vehicle 10 which, for example, is largely like that of the 1 The control device 24 and the height sensor 26 are in the 2 In the embodiment shown, they are arranged separately from one another and are connected to one another, for example, via a bus system 82. The control device 24 is configured to output a target height 80 to the level control system 20.

3 shows a vehicle 10 and an infrastructure edge 30 in a top view. The vehicle 10 is in 3 approaching the infrastructure edge 30, as indicated by an arrow. According to one embodiment, a height sensor 26 of the vehicle 10 is configured to detect a height of the infrastructure edge 30 as the vehicle 10 approaches the infrastructure edge 30. The height sensor 26 is arranged in front of a door 16 in the direction of travel. A detection field 59 is arranged, for example, in front of the door 16 in the direction of travel.

4 shows a vehicle 10 and an infrastructure edge 30 also in a view from above. The vehicle 10 is in 4 approached the infrastructure edge 30, so it is in 4 stationary at the infrastructure edge 30. A height sensor 26 of the vehicle 10 is configured to detect a height of the infrastructure edge 30 when the vehicle 10 is stationary at the infrastructure edge 30. The height sensor 26 is arranged near a door 16 with respect to a direction of travel of the vehicle 10. A detection field 59 is also arranged near the door 16.

5 shows a vehicle 10, for example one according to 1 , which has two doors 18, namely a first door 16.1 with a first door bottom edge 18.1 and a second door 16.2 with a second door bottom edge 18.2.

A level control system 20 of the vehicle 10 is configured to adjust both a height 23.1 of the first door lower edge 18.1 and a height 23.2 of the second door lower edge 18.2, in particular independently of one another. For this purpose, for example, a first gas spring 22.1 and a second gas spring 22.2 could be subjected to different gas pressures.

Vehicle 10 of the 5 is located at a stop with a first infrastructure edge 30.1 and a second infrastructure edge 30.2 in the surrounding area 31 of the vehicle 10. The first infrastructure edge 30.1 and the second infrastructure edge 30.2 are, for example, a few centimeters different in height.

Vehicle 10 of the 5 comprises two height sensors 26, namely a first height sensor 26.1 and a second height sensor 26.2. The first height sensor 26.1 is configured to detect a height 28.1 of the first infrastructure edge 30.1. The second height sensor 26.2 is configured to detect a height 28.2 of the second infrastructure edge 30.2. In this example, the height sensors 26.1 and 26.2 are each arranged above one of the doors 16.1 and 16.2.

A control device 24 of the vehicle 10 is configured to adjust the height 23.1 of the first door lower edge 18.1 as a function of the height 28.1 of the first infrastructure edge 30.1 by means of the level control system 20. The control device 24 is also configured to adjust the height 23.2 of the second door lower edge 18.2 as a function of the height 28.2 of a second infrastructure edge 30.2 by means of the level control system 20. The control device 24 is, in particular, configured to adjust the height 23.1 of the first door lower edge 18.1 and the height 23.2 of the second door lower edge 18.2 differently to the respective heights 28.1 and 28.2 of the associated infrastructure edges 30.1 and 30.2, respectively.

The first height sensor 26.1 and/or the second height sensor 26.2 of the vehicle 10 comprises at least one of or a combination of: a monocular camera 37.1, 37.2, a stereo camera 50.1, 50.2, a time-of-flight camera 52.1, 52.2, an ultrasonic sensor 54.1, 54.2, a radar sensor 56.1, 56.2, a lidar sensor 58.1, 58.2.

For the first height sensor 26.1, 5 It is indicated that this can, for example, comprise a sensor 60.1 with only one scan plane 62.1. This also applies in principle to the second height sensor 26.2. The scan plane 62.1 extends vertically to the ground 64, vertically to the extension direction 66 of the first infrastructure edge 30.1 and in 5 vertical to the image plane.

In the case of the second height sensor 26.2, a detection field 59.2 of the second height sensor 26.2 is indicated by way of example, wherein the detection field 59.2 can have a different shape depending on the type of sensor, for example conical.

6 shows a method 84 for operating 85 a vehicle, for example a vehicle according to one of the 1 to 5 The vehicle includes a door with a door bottom edge. A height 23 of the door bottom edge is adjustable. The method 84 includes detecting 86 a height 28 of an infrastructure edge in an area surrounding the vehicle. Detecting 86 the height of the infrastructure edge includes detecting 87 the height 28 of the infrastructure edge using a height sensor. The method 84 includes adjusting 88 the height 23 of the door bottom edge depending on the height 28 of the infrastructure edge.

7 shows a vehicle 10 which is similar to those of the 1 to 5 The vehicle 10 of the 7 is designed as a truck 90. The vehicle 10 is positioned in the immediate vicinity of a loading ramp 92. Accordingly, a loading ramp edge 36 of the loading ramp 92 is located in the surrounding area 31 of the vehicle 10 and can be detected by the height sensor 26. The door 16 is located at the rear end of the vehicle 10 in this example, while the doors are in the 1 to 5 located on the side of the vehicle 10.

Where similar or identical elements are shown in different figures, reference numerals are assigned accordingly. For the sake of clarity, duplicate descriptions of similar or identical elements have been avoided. Nevertheless, the embodiments of the figures can be combined with one another and developed accordingly to the other embodiments and through their individual features.

Reference symbol (part of the description)

10

vehicle

12

omnibus

14

person

16

door

18

bottom edge of the door

20

Level control system

22

Gas suspension

23

Height of the bottom edge of the door

24

Control device

26

Altitude sensor

28

Height of the infrastructure edge

30

Infrastructure edge

31

surrounding area

32

curb

34

Buskapsteinkante

36

Loading ramp edge

37

monocular camera

37.1

monocular camera

37.2

monocular camera

38

Evaluation device

40

Depth information

42

Structure-from-Motion method

50

stereo camera

52

Time-of-Flight camera

54

Ultrasonic sensor

56

radar sensor

58

Lidar sensor

59

Capture field

60

sensor

62

Scan level

64

Underground

66

Direction of extension

68

horizontal distance

72

Driver assistance system

74

Driver assistance function

76

Turning assistance system

78

Sensor control unit

80

Target height

82

bus system

84

Proceedings

85

Operate

86

Capture

88

Set

Claims (15)

Vehicle (10), in particular an omnibus (12), comprising a door (16) with a lower door edge (18), a level control system (20) which is designed to adjust a height (23) of the lower door edge (18), a control device (24), wherein the control device (24) is connected to the level control system (20) and is designed to control the level control system (20), characterized in that the vehicle (10) comprises a height sensor (26), wherein the height sensor (26) is designed to detect a height (28) of an infrastructure edge (30) in an environmental area (31) of the vehicle (10), wherein the height sensor (26) is connected to the control device (24), wherein the control device (24) is configured to adjust the height (23) of the lower door edge (18) as a function of the height (28) of the infrastructure edge (30) by means of the level control system (20). Vehicle (10) to Claim 1 , wherein the control device (24) is designed to adjust the height (23) of the lower edge (18) of the door such that the height (23) of the lower edge (18) of the door is at least substantially equal to the height (28) of the infrastructure edge (30). Vehicle (10) according to one of the preceding claims, wherein the infrastructure edge (30) is a curb edge (32), a bus stop edge (34) or a loading ramp edge (36). Vehicle (10) according to one of the preceding claims, wherein the height sensor (26) comprises at least one or a combination of: a monocular camera (37), in particular wherein the control device (24) comprises an evaluation device (38) configured to determine depth information (40) by a structure-from-motion method (42) using the monocular camera (37); a stereo camera (50); a time-of-flight camera (52); an ultrasonic sensor (54); a radar sensor (56); a lidar sensor (58); a sensor (60) with only one scan plane (62), wherein the scan plane (62) extends at least substantially vertically with respect to a subsurface (64) for the vehicle (10) and/or vertically to an extension direction (66) of an infrastructure edge (30) to be detected. Vehicle (10) according to one of the preceding claims, wherein the control device (24) and the height sensor (26) are arranged in a sensor control unit (78), in particular wherein the sensor control unit (78) is configured to output a desired height (80) to the level control system (20). Vehicle (10) according to one of the preceding claims, wherein the control device (24) and the height sensor (26) are arranged separately from one another and are connected to one another, in particular via a bus system (82), wherein the control device (24) is configured to output a desired height (80) to the level control system (20). Vehicle (10) according to one of the preceding claims, wherein the height sensor (26) is configured to detect the height (28) of the infrastructure edge (30) as the vehicle (10) approaches the infrastructure edge (30). Vehicle (10) according to one of the preceding claims, wherein the height sensor (26) is configured to detect the height (28) of the infrastructure edge (30) when the vehicle (10) is stationary at the infrastructure edge (30). Vehicle (10) according to one of the preceding claims, wherein the vehicle (10) comprises a driver assistance system (72), wherein the driver assistance system (72) is connected to the height sensor (26) and is configured to provide a driver assistance function (74) by means of the height sensor (26). Vehicle (10) according to one of the preceding claims, wherein the driver assistance system (72) comprises a turning assistance system (76). Vehicle (10) according to one of the preceding claims, wherein the control device (24) is configured to detect a person (14) in the surrounding area (31) of the vehicle (10) by means of the height sensor (26). Vehicle (10) according to one of the preceding claims, wherein the height sensor (26) is additionally configured to detect a horizontal distance (68) between the lower edge of the door (18) and the infrastructure edge (30). Vehicle (10) according to one of the preceding claims, wherein the vehicle (10) has a second door (16.2) with a second door lower edge (18.2), wherein the leveling system (20) is configured to adjust a height (23.2) of the second door lower edge (18.2), wherein the control device (24) is configured to adjust the height (23.2) of the second door lower edge (18.2) as a function of the height (28.2) of a second infrastructure edge (30.2) by means of the leveling system (20), in particular wherein the control device (24) is configured to adjust the height (23.1) of the first door lower edge (18.1) and the height (23.2) of the second door lower edge (18.2) differently as a function of a respectively assigned infrastructure edge (30.1, 30.2). Vehicle (10) to Claim 13 , wherein the vehicle (10) comprises a second height sensor (26.2), wherein the second height sensor (26.2) is configured to detect the height (28.2) of the second infrastructure edge (30.2) in the surrounding area (31) of the vehicle (10). Method for operating (84) a vehicle (10), in particular a vehicle (10) according to one of the preceding claims, wherein the vehicle (10) comprises a door (16) with a lower door edge (18), wherein a height (23) of the lower door edge (18) is adjustable, the method being characterized by the steps: detecting (86) a height (28) of an infrastructure edge (30) in an environmental region (31) of the vehicle (10), wherein the detecting (86) of the height (28) of the infrastructure edge (30) comprises detecting the height (28) of the infrastructure edge (30) by means of a height sensor (26); adjusting (88) the height (23) of the lower door edge (18) as a function of the height (28) of the infrastructure edge (30).