WO2016055245A1

WO2016055245A1 - Control device for positioning a vehicle, vehicle, charging station, and method

Info

Publication number: WO2016055245A1
Application number: PCT/EP2015/071157
Authority: WO
Inventors: Ahmet Kilic; Steffen Eppler
Original assignee: Robert Bosch Gmbh
Priority date: 2014-10-07
Filing date: 2015-09-16
Publication date: 2016-04-14
Also published as: DE102014220261A1

Abstract

The invention relates to a control device for positioning a vehicle having a secondary charging coil in a charging station having a primary charging coil and having a reference marking, said control device comprising a position-sensing apparatus, which is designed to sense the position of the reference marking, a computing apparatus, which is designed to compute a relative position of the secondary charging coil in relation to the primary charging coil on the basis of the sensed position of the reference marking, and a vehicle control apparatus, which is designed to control the vehicle on the basis of the computed relative position in such a way that the distance between the primary charging coil and the secondary charging coil is minimized. The invention further relates to a vehicle, to a charging station, and to a method.

Description

Description title

Control device for positioning a vehicle, vehicle, charging station and method

The present invention relates to a control device for positioning a vehicle, a corresponding vehicle, a corresponding charging station and a method for positioning a vehicle.

State of the art

In modern vehicles, more and more electric motors are used as drive motors either alone or as support of an internal combustion engine. In order to be able to carry sufficient electrical energy for driving these electric motors, such vehicles have an energy store, which is e.g. is charged at a charging station before starting to drive the vehicle. In this case, a cable-based connection between the vehicle and the charging station can be made to transfer electrical energy from the charging station in the energy storage.

Alternatively, an inductive charging process can also be carried out. In an inductive charging process, no intervention by a vehicle user is required to perform the charging because, for example, no cables need to be plugged. In addition, inductive charging offers protection against the effects of the weather and vandalism.

The inductive charging is based on the transformer principle, wherein typically the primary coil of the transformer is either embedded in the street floor or formed as a bottomed charge plate and is connected by means of suitable electronics to the power grid. The secondary coil of the transformer is typically firmly integrated in the underbody of the vehicle and in turn connected by means of suitable electronics with the energy storage in the vehicle. For energy transfer, the primary coil generates a high-frequency alternating magnetic field, which penetrates the secondary coil and induces a corresponding current there. Since, on the one hand, the transmittable power scales linearly with the switching frequency, and on the other hand the switching frequency is limited by the control electronics and losses in the transmission path, a typical frequency range of 20-150 kHz results, see also VDE 2122.

Since the energy transfer takes place inductively via the air gap between the two coils, the highest possible coupling between the two coils must be achieved in order to realize a highly efficient energy transfer. This is equivalent to minimizing the stray field. However, as the offset between the coils increases, the losses increase and the efficiency is reduced.

Inductive charging therefore requires precise positioning of the coil in order to minimize energy transfer losses.

WO 2014029439 A1 shows a charging device for the inductive charging of a vehicle battery, in which the vehicle-mounted coil is movably suspended in order to position it optimally.

20

Disclosure of the invention

The present invention discloses a control device having the features of claim 1, a vehicle having the features of patent claim 8, a charging station having the features of patent claim 9 and a method having the features of patent claim 10.

30 Accordingly, it is provided:

A control device for positioning a vehicle with a secondary charging coil in a charging station with a primary charging coil and with a reference marking, with a position detection device, which is designed to detect the position of the reference marking, with a computing device, which is designed to have a relative position

Position of the secondary charging coil relative to the primary charging coil based on the detected ten position of the reference mark, and with a vehicle control device, which is configured to control the vehicle based on the calculated relative position such that the distance between the primary charging coil and the secondary charging coil is minimized.

It is also provided:

A vehicle with a control device according to the invention and with an electronic vehicle system, which is coupled to the control device and which is configured to control the vehicle based on control signals output by the control device.

Furthermore, a charging station is provided with a primary charging coil, which is coupled to a power source, and with a reference marking, which is arranged in a predetermined relative position to the primary charging coil.

Finally, it is planned:

A method of positioning a vehicle having a secondary charging coil in a charging station with a primary charging coil and having a reference mark, comprising detecting the position of the reference mark, calculating a relative position of the secondary charging coil to the primary charging coil based on the detected position of the reference mark, and controlling the vehicle based on the calculated relative position such that the distance between the primary charging coil and the secondary charging coil is minimized.

Advantages of the invention

The finding underlying the present invention is that a precise positioning of the vehicle in a charging station for an inductive charging of the vehicle by a driver without support is difficult to carry out. The idea underlying the present invention is now to take this knowledge into account and to provide a possibility to assist a driver in positioning the vehicle or to remove the positioning of the vehicle from it.

For this purpose, the present invention provides a control device for positioning the vehicle.

A position detection device of the control device detects the position of a reference mark mounted in the charging station. Based on this detected position, a relative position of a secondary charging coil mounted in the vehicle against a primary charging coil located in the charging station is calculated and sent to a

Vehicle control device forwarded. The vehicle controller then controls the vehicle based on the calculated relative position such that the distance between the primary charge coil and the secondary charge coil is minimized.

According to the invention, therefore, only one reference mark detectable by the position detection device has to be applied in the loading station. This reference mark may be e.g. be an optical symbol or the like.

So there are no structural changes to the charging station necessary.

The present invention thus enables a very simple and exact positioning of the vehicle in a charging station.

Advantageous embodiments and further developments emerge from the dependent claims and from the description with reference to the figures. In one embodiment, the position detection device is embodied as a wireless position detection device, in particular an RFID-based and / or NFC-based and / or WLAN-based and / or Bluetooth-based position detection device. This makes it possible to combine known methods for data transmission with position detection and to reuse possibly existing communication interfaces in the vehicle. In one embodiment, the position detection device has at least one camera, in particular a stereo camera and / or near-real camera. This allows use of simple optical reference marks. Furthermore, existing cameras in the vehicle, for example a lane departure warning, can be used to detect the reference mark.

In one embodiment, the computing device is configured to calculate the relative position of the secondary charging coil relative to the primary charging coil further based on predetermined first geometric data identifying the position of the reference mark to the primary charging coil and predetermined second geometric data identifying the position of the secondary charging coil in the vehicle. This allows a very simple, e.g. vector-based calculation of the relative position of the secondary charging coil relative to the primary charging coil. In one embodiment, the control device has a communication interface, which is coupled to the computing device and is designed to exchange position data with the charging station.

In one embodiment, the computing device is configured to query the position of the reference marking relative to the primary charging coil via the communication interface, wherein the computing device has a geometry memory configured to store the position of the reference mark to the primary charging coil as the first geometry data, and wherein the computing device is configured to calculate the relative position of the secondary charging coil relative to the Primärladespule based on the detected position of the reference mark and the stored first geometry data. This makes it possible to use the control device according to the invention with different charging stations, in which the position of the reference marking relative to the primary charging coil is different. In one embodiment, the communication interface is designed to retrieve information about the type and shape of the reference mark from the charging station and forward it to the computing device. As a result, the control device according to the invention can be used in different charging stations, which can have different reference markings. In one embodiment, the control device has an identification interface that is configured to identify the vehicle with respect to the charging station. As a result, it is possible, for example, to display a vehicle position of a searched vehicle in parking lots having a plurality of charging stations on a display panel, or to carry out an automatic billing of the charging process.

In one embodiment, the vehicle control device is designed as a display device, which is designed to indicate, based on the calculated relative position, in which direction the primary coil is positioned with respect to the vehicle. Thereby, a driver can be assisted in the positioning of the vehicle, if he wants to control the vehicle itself.

In one embodiment, the vehicle control device is configured to forward control signals to an electronic vehicle system of the vehicle, which is designed to control the movement of the vehicle.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations of features of the invention which have not been explicitly mentioned above or described below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

Brief description of the drawings

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings. It shows:

1 shows a block diagram of an embodiment of a control device according to the invention;

2 shows a block diagram of an embodiment of a vehicle according to the invention; 3 shows a flow chart of an embodiment of a method according to the invention;

4 shows an illustration of an embodiment of a vehicle according to the invention and of a charging station according to the invention;

5 shows an illustration of an embodiment of a vehicle according to the invention and a charging station according to the invention; and

Fig. 6 is an illustration of an embodiment of a vehicle according to the invention and a charging station according to the invention.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - have been given the same reference numerals.

Embodiments of the invention

1 shows a block diagram of an embodiment of a control device 1 according to the invention for a vehicle 2 with a secondary charging coil 3 for positioning the vehicle 2 in a charging station 4 with a primary charging coil 5 and a reference marking 6.

The control device 1 has a position detection device 7, which detects a position 8 of a reference mark 6 (not shown in FIG. 1) and provides it to a computing device 9. The computing device 9 calculates from this detected position 8 a relative position 10 of the secondary charging coil 3 to the primary charging coil 5. Finally, a vehicle control device 1 1 controls the vehicle based on the calculated relative position 10 such that the distance of the primary charging coil 5 to the secondary charging coil 3 is minimized ,

In one embodiment, the position detection means 7 can be embodied, for example, as a logic module, a processor, a microcontroller or the like, which can process a camera signal, for example, and position 8 of the reference signal from the camera signal. mark 6 based eg on image processing and object recognition algorithms.

However, the position detection device 7 can also perform a different type of position detection instead of an optical position detection. For example, the position detection device 7 can perform a wireless electronic position detection. For this purpose, the position detection device 7 may be e.g. Use RFID or NFC tags or signals. Alternatively, the position detection device 7 can also use WLAN, Bluetooth signals or the like.

Also, the computing device 9 may be formed in one embodiment as a suitable logic device, processor, microcontroller or the like, which can perform the necessary calculations. For example, the position detecting device 7 and the secondary charging coil 3 can perform the calculations in a vehicle-fixed coordinate system originating at a fixed point of the vehicle 2, e.g. the position of the secondary charging coil 3, has. This enables a very simple vector-based calculation of the relative position 10 by the computing device 9.

In one embodiment, the vehicle control device 1 1 of the control device 1 is configured to communicate with and transmit to the vehicle electronic system 19 the relative position 10 or control signals 17 that cause the electronic vehicle system 19 to control the vehicle 2 in accordance with the control signals 17 to steer.

In one embodiment, the vehicle control device 1 1 can also be embodied as a separate vehicle control device, which can actuate actuators for setting the wheels of the vehicle 2 and can control an acceleration and braking of the vehicle 2.

For this purpose, the vehicle control device 1 1 can be coupled, for example via a vehicle bus of the vehicle 2, for example a CAN bus or a FlexRay bus, to an engine control unit or the control unit of an electronic steering system. In one embodiment, the position detection device 7 and / or the computing device 9 and / or the vehicle control device 11 may be embodied as a program module of a vehicle control device already present in the vehicle 2 and executed by a processor of the vehicle control device. For example, the vehicle controller may be an AUTOSAR based vehicle controller that executes the program module as one of many tasks.

2 shows a block diagram of an embodiment of a vehicle 2 according to the invention with a control device 1 according to the invention (not shown separately) and a secondary coil 3.

The control device 1 in the vehicle 2 has a camera 13 that is coupled to the position detection device 7 and that provides a camera image 20. The position detection device 7 calculates the position 8 of the reference mark 6 from the camera image 20 and forwards it to the computing device 9.

The computing device 9 in FIG. 2 has a geometry memory 21, in which the computing device 9 stores first geometry data 14 and second geometry data 15. The first geometry data 14 and second geometry data 15 may be e.g. be set in the manufacture of the control device 1 or stored in a configuration of the control device 1 in a vehicle 2 as a parameter data set in the geometry memory 21.

The computing device 9 is further coupled to a communication section 16-1 of the control device 1, via which the computing device 9 stores the first geometry data 14 from an external data memory, e.g. a arranged in the charging station 4 data storage can retrieve. These retrieved first geometry data 14 can also be stored in the geometry memory 21 and used for the positioning of the vehicle 2 in a corresponding charging station 4.

Based on the position 8 of the reference mark 6 and the first geometry data 14 and second geometry data 15, the computing device 9 calculates the relative position 10 of the secondary coil 3 to the primary coil 5 of the charging station 4 and outputs it to the vehicle control device 11. 2, the vehicle control device 1 1 is exemplarily coupled to the front wheels of the vehicle 2. This connection is merely an illustration of a control option of the vehicle control device 1 1. This means that the vehicle control device 1 1 can control the movement of the vehicle 2 in the direction and also the acceleration or braking of the vehicle 2. In an embodiment, this can be done directly by suitable actuators coupled to the vehicle control device 11. Alternatively, this can also be done indirectly. In this case, the vehicle control device 1 1 transmits control signals 17, for example via a vehicle bus of the vehicle 2, to further control devices of the vehicle 2, which take over the actual activation of the actuators.

FIG. 2 also shows a display device 18, which likewise receives the relative position 10 from the computing device 9. For this purpose, the display device 18 merely displays by way of example a pictogram of a vehicle 2 and an arrow indicating the direction in which the vehicle 2 is to be moved.

Also, when the display device 18 is shown in FIG. 2 as a separate display device 18, it may be used in other embodiments, e.g. be already present in the vehicle 2 display device 2. For example, the relative position 10 may be communicated to an HMI (human machine interface) controller of the vehicle 2 and the HMI controller will display a direction indicator on its screen.

3 shows a flow chart of an embodiment of a method according to the invention for positioning a vehicle 2 with a secondary charging coil 3 in a charging station 4 with a primary charging coil 5 and with a reference marking 6.

The method provides the detection S1 of the position 8 of the reference mark 6. From the detected position 8, a relative position 10 of the secondary charging coil 3 relative to the primary charging coil 5 is calculated, S2. Finally, the vehicle 2 is controlled based on the calculated relative position 10 such that the distance 12 between the primary charging coil 5 and the secondary charging coil 3 is minimized.

Detecting S1 of position 8 can take place in different ways. For example, the detection S1 can be performed wirelessly, in particular RFID-based and / or NFC-based and / or WLAN-based and / or Bluetooth-based. Alternatively, you can the detection S1 can also be performed optically, for example by means of a camera (13, 13-1 - 13-6) and / or a stereo camera and / or a near-real camera.

Further, predetermined first geometric data 14 indicative of the position of the reference mark 6 to the primary charging coil 5 and predetermined second geometric data 15 indicative of the position of the secondary charging coil 3 in the vehicle 2 can be obtained in calculating S2 the relative position 10 of the secondary charging coil 3 Primary charging coil 5 can be used. As a result, the detected camera image can be used to deduce the exact position of the reference mark 6 and thus the primary charging coil 5 with respect to the secondary coil 3.

In an embodiment, the method may include exchanging position data with the charging station 4. Furthermore, information about the type and shape of the reference mark 6 can also be exchanged. For example, it is possible to query from the charging station 4 whether the reference marking 6 is an optical reference mark 6 or an electrical reference mark 6.

The method may also provide in one embodiment that the first geometry data 14 are not fixed. In such an embodiment, the first geometry data 14 may be e.g. are queried by the charging station 4 via WLAN or Bluetooth or the like and the queried first geometry data 14 are used in calculating S2 of the relative position 10.

Finally, the control S3 of the vehicle 2 can be done in different ways. For example, in one embodiment, the driver of the vehicle 2 can only be shown in which direction he has to steer the vehicle 2.

In one embodiment, however, the vehicle 2 can also be controlled autonomously. For this, e.g. Control signals 17 are forwarded to an electronic vehicle system 19 of the vehicle 2, which is designed to control the movement of the vehicle 2. Also a teilautonomes driving, in which the driver, for example. even the accelerator pedal and the brake pedal are actuated.

Figs. 4 to 6 show illustrations of an embodiment of a vehicle 2 according to the invention and a charging station 4 according to the invention in different positions relative to one another. In FIG. 4, the vehicle 2 is furthest away from the charging station 4. In FIG. 5, the vehicle 2 has already approached the charging station 4 so far that the vehicle 2 is approximately halfway in the charging station 4. In FIG. 6, the vehicle 2 has finally reached its charging position in the charging station 4.

The charging station 4 has in FIGS. 4-6 a primary charging coil 5 and a reference mark 6, which is arranged at a predetermined distance in the X direction and Y direction to the primary charging coil 5. For example only, the reference mark 6 may be e.g. in the X direction 1 m and in the Y direction also 1 m away from the primary charging coil 5, e.g. the center of the primary charging coil 5, be arranged.

The charging station 4 also has a communication interface 16-2, which is in communicative communication with the communication interface 16-1 of the vehicle 2.

The vehicle 2 of Figs. 4 to 6 has six cameras 13-1 - 13-6, which are respectively arranged at the corners of the vehicle 2 and laterally in the center of the vehicle 2. For example, these cameras 13-1 - 13-6 may be the cameras 13-1 - 13-6 of a surround view system which is arranged in the vehicle 2. For detecting the position 8 of the reference mark 6, therefore, no further sensors need to be mounted in the vehicle 2.

The control device 1 is shown in Figs. 4 to 6 for the sake of clarity not shown. It is understood, however, that the vehicle 2 of Figs. FIGS. 4-6 show a control device 1 according to the invention according to one of the illustrated embodiments.

Before the vehicle 2 approaches the charging station 4, e.g. already the position detection device 7 are activated and try to detect the reference mark 6. This can e.g. from a distance of 30m - 40m to the charging station 4. The distance may e.g. be determined by means of a navigation system of the vehicle 2.

FIG. 4 shows the relative position 10 of the secondary charging coil 3 with respect to the primary charging coil 5 with X = 3m and Y = -2m. This means that the vehicle 2 must be moved 3 m forwards and two meters to the left in order to achieve an overlap of the secondary charging coil 3 with the primary charging coil 5. A positive X value means that the vehicle 2 has to be moved forward. As a result, a negative X value means that the vehicle 2 has to be moved backwards. Likewise, a positive Y value means that the vehicle 2 must be moved to the right and a negative Y value that the vehicle 2 must be moved to the left.

The relative position 10 is therefore indicated in a coordinate system which originates in the vehicle 2 and whose X-axis extends in the longitudinal direction of the vehicle 2 and its Y-axis in the transverse direction of the vehicle 2.

The position 8 of the reference mark 6 may be standardized in one embodiment. In such an embodiment, it is not necessary for the control device 1 to inquire information about the position of the reference mark 6 in the loading station 4 from the loading station 4, since this standardized position is e.g. can be stored in a non-volatile memory of the control device 1.

But it is also possible that in different charging stations 4, the reference marks 6 are arranged at different positions. In such a case, the control device 1 can query via the communication interface 16-1 from the charging station 4, the relative position of the reference mark 6 to the primary charging coil 5 and considered in the calculations of the relative position 10.

In FIG. 5, the vehicle 2 of the charging station 4 has already been fed and is already half in the charging station 4. The distance in the X direction is indicated as 1 m and the distance in the Y direction as -1 m.

Finally, in Fig. 6, the primary charging coil 5 is disposed directly under the secondary charging coil 3. Consequently, the distance in the X direction is indicated by 0m and the distance in the Y direction by 0m.

The reference mark 6 can be arranged in the charging station 4 in any desired arrangement to the primary charging coil 5. For example, it may be arranged in the vicinity of or opposite to or laterally of the primary charging coil 5. Not in Figs. 1-6 is the connection of the primary charging coil 5 to a power grid, from which the primary charging coil 5 is supplied with electrical energy. However, it goes without saying that a corresponding control electronics is provided which takes over the supply of the primary charging coil 5.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention.

Claims

claims

1 . Control device (1) for positioning a vehicle (2) with a secondary charging coil (3) in a charging station (4) with a primary charging coil (5) and with a reference mark (6), with a position detection device (7) which is designed to position (8) record the reference mark (6); calculating means (9) configured to calculate a relative position (10) of the secondary charging coil (3) against the primary charging coil (5) based on the detected position (8) of the reference mark (6); and a vehicle control device (1 1) configured to control the vehicle (2) based on the calculated relative position (10) such that the distance (12) between the primary charge coil (5) and the secondary charge coil (3 ) is minimized.

2. Control device according to one of the preceding claims, wherein the position detection device (7) as a wireless position detection device (7), in particular an RFID-based and / or NFC-based and / or WLAN-based and / or Bluetooth-based position detection device (7) is trained; and / or wherein the position detection device (7) has at least one camera (13, 13-1 - 13-6), in particular a stereo camera and / or near-real camera (13, 13-1 - 13-6).

3. Control device according to one of the preceding claims, wherein the computing device (9) is formed, the relative position (10) of the secondary charging coil (3) relative to the Primärladespule (5) further based predetermined first geometry data (14) showing the position of the reference mark ( 6) to the primary charging coil (5), and predetermined second geometric data (15) indicating the position of the secondary charging coil (3) in the vehicle (2).

4. Control device according to one of the preceding claims, with a communication interface (16-1 - 16-2), which is coupled to the computing device (9) and is adapted to exchange position data with the charging station (4); wherein the communication interface (16-1 - 16-2) is further configured, in particular, to retrieve information about the type and shape of the reference mark (6) from the charging station (4) and forward it to the computing device (9).

5. Control device according to claim 4, wherein the computing device (9) is designed, via the communication interface (16-1 - 16-2) to query the position of the reference mark (6) relative to the primary charging coil (5); wherein the computing means (9) comprises a geometry memory (21) arranged to store the position of the reference mark (6) to the primary charging coil (5) as first geometry data (14); and wherein the calculating means (9) is arranged to calculate the relative position (10) of the secondary charging coil (3) with respect to the primary charging coil (5) based on the detected position (8) of the reference mark (6) and the stored first geometry data (14) ,

6. Control device according to one of the preceding claims, with an identification interface, which is designed to identify the vehicle (2) relative to the charging station (4).

7. Control device according to one of the preceding claims, wherein the vehicle control device (1 1) has a display device (18) which is designed to indicate, based on the calculated relative position (10), in which direction the primary coil relative to the vehicle (2 ) is positioned; and or wherein the vehicle control device (1 1) is adapted to forward control signals (17) to an electronic vehicle system (19) of the vehicle (2), which is designed to control the movement of the vehicle (2).

8. vehicle (2), with a control device (1) according to one of the preceding claims; and an electronic vehicle system (19), which is coupled to the control device (1) and which is designed to control the vehicle (2) based on control signals (17) output by the control device (1).

9. charging station (4), with a primary charging coil (5) which is coupled to a power source; and a reference mark (6) arranged in a predetermined relative position (10) to the primary charging coil (5).

10. A method for positioning a vehicle (2) with a secondary charging coil (3) in a charging station (4) with a primary charging coil (5) and with a reference mark (6), comprising:

Detecting (S1) the position (8) of the reference mark (6);

Calculating (S2) a relative position (10) of the secondary charging coil (3) with respect to the primary charging coil (5) based on the detected position (8) of the reference mark (6); and controlling (S3) the vehicle (2) based on the calculated relative position (10) such that the distance (12) between the primary charging coil (5) and the secondary charging coil (3) is minimized.

1 1. Method according to claim 10, wherein the position (8) of the reference marking (6) is wireless, in particular RFID-based and / or NFC-based and / or WLAN-based and / or Bluetooth-based, and / or optical, in particular by means of a camera (13, 13). 1 - 13-6) and / or a stereo camera and / or a near-real camera (13, 13-1 - 13-6) is detected.

12. The method according to any one of claims 10 and 1 1, wherein in calculating (S2) the relative position (10) of the secondary charging coil (3) relative to the Primärladespule (5) further based on predetermined first geometry data (14) showing the position of the reference mark (6) to the primary charging coil (5), and predetermined second geometry data (15) indicating the position of the secondary charging coil (3) in the vehicle (2) is calculated.

13. The method of claim 10, comprising:

Exchanging position data with the charging station (4); and in particular, exchanging information with the charging station (4) about the type and shape of the reference mark (6).

14. The method of claim 13, wherein the charging station (4), the position of the reference mark (6) relative to the primary charging coil (5) is replaced; wherein the position of the reference mark (6) is stored to the primary charging coil (5) as the first geometric data (14); and wherein in calculating (S2), the relative position (10) of the secondary charging coil (3) against the primary charging coil (5) is calculated based on the detected position (8) of the reference mark (6) and the stored first geometric data (14).

15. The method according to any one of claims 10 to 15, wherein in controlling (S3) the vehicle (2) based on the calculated relative position (10) is displayed in which direction the primary coil (5) is positioned with respect to the vehicle (2); and / or wherein, during the control (S3) of the vehicle (2), control signals (17) are forwarded to an electronic vehicle system (19) of the vehicle (2), which is designed to control the movement of the vehicle (2).