DE102010063665A1 - Method for guiding electric car to charging position, involves determining position data of car from measured distance and measured angles based on charging position, where position data serve as basis for starting electric car - Google Patents

Method for guiding electric car to charging position, involves determining position data of car from measured distance and measured angles based on charging position, where position data serve as basis for starting electric car

Info

Publication number
DE102010063665A1
DE102010063665A1 DE102010063665A DE102010063665A DE102010063665A1 DE 102010063665 A1 DE102010063665 A1 DE 102010063665A1 DE 102010063665 A DE102010063665 A DE 102010063665A DE 102010063665 A DE102010063665 A DE 102010063665A DE 102010063665 A1 DE102010063665 A1 DE 102010063665A1
Authority
DE
Germany
Prior art keywords
electric car
radar
charging
cooperative
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102010063665A
Other languages
German (de)
Inventor
Daniel Evers
Martin Honsberg-Riedl
Stefan Schwarzer
Andreas Ziroff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to DE102010063665A priority Critical patent/DE102010063665A1/en
Publication of DE102010063665A1 publication Critical patent/DE102010063665A1/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/168Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • B60L53/35Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/46Indirect determination of position data
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0213Road vehicle, e.g. car or truck
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

Abstract

The invention relates to a method for guiding an electric car (1) to a charging position (17) with at least one feed coil (3), so that at least one pick-up coil (2) of the electric car (1) above the at least one feed coil (3) without offset to the pick-up coil (2) is positioned for inductive energy transmission between the coils, whereby a radar-based guidance of the electric car (1) with a measurement of a distance and two angles between the electric car (1) and the charging position (17) locates the at a greater distance from the charging position ( 17) located electric cars (1), and where determined position data serve as the basis for a journey of the electric car (1) to the charging station (17) and for a mutual positioning of the at least one charging coil and the at least one feed coil without mutual offset.

Description

  • The invention relates to the accurate positioning of electric cars having a pickup coil that needs to be positioned relative to a charging unit so that power from a power coil can be transferred to the pickup coil with high efficiency. The coupling factor between the two coils significantly determines the efficiency of the energy transfer and should therefore assume a maximum value. For a given coil geometry, this coupling factor essentially determines the characteristics of distance, tilt and offset. The two coils should be aligned as close as possible, without tilting their active surfaces and without misalignment.
  • Tilting between the coils can usually be compensated with simple means. For example, bumps are compensated by documents that are positioned on the parking space of the car. The pickup coil located in the car is positioned so that it can be aligned plane-parallel to the feed coil. The distance of the coils is usually constant, with dependencies on the tire diameter, the load and the chassis can result in a small degree. A lateral offset between the coils, so that their central axes do not coincide, can significantly affect the efficiency of energy transfer. To avoid this, an exact positioning of the vehicle with little or no offset is desirable.
  • In the case of so-called assistance systems, it is known that they can usually measure the distances to uncooperative obstacles in defined spatial sectors with the assistance of radar or ultrasound sensors. These are typically intended for fine positioning in close proximity to a parking space. Such parking aids are usually associated with numerous maneuvers that affect the ride comfort.
  • Furthermore, so-called GPS-based navigation systems (global positioning systems), which generally allow remote positioning, known. These are subject to a relatively large inaccuracy and are significantly disturbed by a lack of line of sight to the satellite.
  • Furthermore, it is possible to determine the coupling factor between the pickup and feed coil, possibly supplemented by other vehicle-side or infrastructure-side measuring coils in order to conclude on deviations and corresponding correction values. However, this method would in turn lead to the above-mentioned frequent driving maneuvers.
  • The invention has for its object to provide a method by which the current location of an electric car is determined when approaching a charging position, so that the electric car can be accurately aligned relative to the charging position and a Abnehmerspule in the electric car with a feed coil at the Aufladeposition can be brought to coincidence without offset.
  • The solution of this task is done by the feature combination of independently formulated claim.
  • The invention is based on the finding that the electric vehicle must be guided immediately after the initial detection by the radar in such a way that the optimum coverage of the coils is achieved so that a high coupling factor results during charging. This should happen as possible without additional driving maneuvers, which serve the fine positioning.
  • According to the invention, a feed coil at a charging position and a pickup coil in an electric car without mutual offset for inductive energy transfer between the coils are mutually positioned by a radar-based guidance of the electric car happens at the earliest possible time. For this purpose, a distance and two angles between the electric car and the charging position are measured, whereby the position of the electric car is detected and calculated position data are displayed as the basis for a further approach of the electric car to the charging position.
  • It is particularly advantageous in the area of the charging position, d. H. in the vicinity of the feed coil to use a cooperative and an uncooperative radar sensor for angle measurement or for angle and distance measurement, the uncooperative sensor emits in particular frequency ramps, but can not receive. The front radar then measures distance and angle. The cooperative radar sensor can send and receive. Both are positioned at a distance from each other, the location of the feed coil is known.
  • As antennas are simple, z. B. radiant antennas used, which are so embedded in the road and protected by a coating that they ensure all-round visibility and are mechanically protected against the car.
  • A further embodiment of the invention provides for the placement of only one cooperative radar sensor, for example in the middle of a Charging mat. It is used a multiple antenna, which also allows a transmitter-side and / or receiving side so-called "beam forming". Under 'Beam Forming' is a special training or control of antennas to understand what is used sende- or receiving side, in the event that measurements in the vicinity of the measurement object is not possible or only with great effort.
  • A front radar on an electric car is conveniently installed on the front bumper or in the area of the radiator grille of the car. This front radar can send and receive.
  • The viewing direction is forward. The opening angle should be sufficient to also receive signals from, for example, inductor mats, which are approached at right angles. This is advantageous if the station can be approached from different sides.
  • Another advantageous embodiment of the invention provides that radar sensors, here the front radar, in the car continuously measure both the distance and the angle to the cooperative radar sensor in the loading mat, as well as the angle to the uncooperative wireless sensor in the mat. Due to the principle, no distance can be determined for the radio transmitter.
  • Advantageously, the steering angle of the electric car can be measured and, in addition, the distance traveled. The angle measurement is usually associated with <1/10 ° error. The distance measurement can be based on errors <20 cm. The range is up to 100 m.
  • The radar sensor in the car, front radar, continuously measures the distance and angle to the cooperative radar sensor. The radar sensor in the mat also measures the angle at the radar sensor to the front radar in the car.
  • While an electric car is driving towards the mat, the position to the car is advantageously continuously calculated. Based on the measured data, three parameters can be determined in the plane: translation (x, y) and rotation (φ) between the two coordinate systems of the car and the mat. An advantage of continuous measurements is that current position data is constantly available at every position of the guided electric car and the direction of travel of the electric car relative to the charging position can be constantly adapted.
  • It is also advantageous to additionally determine the steering angle of the electric car to calculate the position of the car a few seconds in the future.
  • Based on the above-mentioned position data, the driver is presented with a recommended action for an adapted steering angle, with the aim being to bring the charging coil to cover with the pickup coil when driving on the mat, without having to correct the situation by elaborate driving maneuvers.
  • The calculation of a trajectory allows an additional display of position data.
  • If the measurement of a steering deflection is taken into account, the position of the electric car can be calculated a few seconds in the future. Alternatively, the vehicle can also be controlled autonomously.
  • Advantage of a large opening angle are that signals can be detected that occur at most at right angles to a longitudinal axis of the sensor. In this way, it is possible to detect vehicles which approach the charging station perpendicular to the primary orientation of a radar sensor.
  • In the following, exemplary embodiments will be described with reference to schematic figures, which do not limit the invention.
  • 1 shows an electric car 1 with a pickup coil 2 which is on a loading mat 4 at a charging position 17 without offset between the two coils,
  • 2 shows an implementation possibility of an antenna with connected electronics, in a loading mat 4 is integrated,
  • 3 shows a representation accordingly 1 , being in the area of the charging position 17 a single cooperative radar sensor 15 is available,
  • 4 shows the possibility of realization of an antenna with connected electronics on a loading mat, consisting of a multiple antenna, wherein the antennas are positioned in a row, radiate all around and can be designed for beam forming.
  • The lateral offset of the two coils involved in the charging process must be limited with an error of about 10 cm in the horizontal and in the vertical direction in order to ensure a high efficiency of energy transfer. An exact positioning is required.
  • In the approach of the present invention, a radar-based pilotage system / guidance system is proposed based on the ability of a radar locating system to measure distances and angles. It is only the angle measurement with high accuracy that is suitable for realizing a guidance system which enables the high positioning requirements of the scenario with minimum maneuvering effort. At the same time, the required positioning infrastructure is relatively simple and inexpensive to implement.
  • The described method pursues the approach of determining the position of the electric car for charging position already from a greater distance, for example 5-10 m, and thus providing navigation values which make it possible to optimize the approach trajectory / trajectory of the vehicle in such a way local fine positioning is unnecessary. This is due to the fact that the offset between the two coils is already taken into account regularly during the guided approach to the charging position.
  • The location of the radar sensors placed in the vicinity of the charging position to the charging position or charging coil is known in each case.
  • The 1 shows, starting from the electric car 1 with a pickup coil 2 a forward-facing front radar 7 which can send and receive. Indicated are the. vehicle longitudinal axis 18 as well as a distance 16 ,
  • The targets are a cooperative radar sensor 5 as well as an uncooperative radar sensor 6 , The radar sensor 5 can measure angle and distance. The uncooperative radar sensor 6 does not measure itself, but only sends out signals. The front radar 7 then measures distance and angle, for example with the help of the receiving side 'Beam Forming'. The connecting line of radar sensors 5 and 6 can through the feed coil 3 run. The entire layout on the landing page is with a loading mat 4 covered. The position of the feed coil 3 corresponds to the charging position 17 about which the electric car 1 is to be positioned, in such a way that the Abnehmerspule 2 without offset, ie without lateral offset, above the feed coil 3 comes to a standstill. Thus, an optimal, inductive charging process can take place.
  • The radar sensor 6 usually radiates frequency ramps, which can be designed differently. Through the front radar 7 can on the one hand the distance 16 between front radar and cooperative sensor 5 be determined and continue the angles 12 between the vehicle's longitudinal axis 18 and the distance 16 , as well as the angle 11 between the vehicle's longitudinal axis 18 and the connecting line between the front radar 7 and the uncooperative radar sensor 6 , From this, a relative position of the electric car can be regularly obtained with continuous measurement 1 relative to the charging position 17 determine. The associated navigation coordinates can be displayed and appropriate steering corrections can be proposed.
  • On the other hand, with known steering deflection of the electric car 1 a future position of the electric car can be predicted. It is essential that the early detection of the electric car with the radar system leads to an early consideration of corrections of the direction of travel for accurate mutual positioning of feed coil and pickup coil. It can also be initially set up a trajectory for the car, along which it, in particular automatically, can be performed. The origin of the respective specified coordinate systems lies in each case in the center of the pickup coil 2 or the feed coil 3 , Ideally, these coordinate systems are brought to coincidence without offset, which is synonymous with the positioning of the feed coil and Abnehmererspule without a particular lateral offset.
  • The realization possibility of an antenna for a system accordingly 1 , is in 2 shown. There is a radar antenna on the loading mat 8th placed directly with one in the loading mat 4 integrated radar electronics 10 connected is. To make the design of the antenna robust, this is with a potting compound 9 so that it can be hit by a car. The radiation of the radar antenna 8th happens as shown in 2 all around. The antenna would, if it is at the radar sensor 5 or 6 attached, have the same orientation as in 2 , The front radar 7 also has at least one T-shaped or mushroom-shaped antenna, the radiation occurring in a similar manner.
  • The 3 corresponds in many parts of the 1 , where in the area of the charging position 17 targets are changed. In 3 is just a single cooperative radar sensor 15 shown for measuring one distance and two angles. The location of the radar sensor 15 to the charging coil is known, in particular he is on the loading mat 4 positioned and the sensor longitudinal axis is parallel to the longitudinal extent of the loading mat 4 aligned. The also cooperative front radar 7 and the cooperative radar sensor 15 are used to determine the distance 16 used, in addition, the angle 13 receiver side and 14 be determined transmitter side. The aim in turn is the positioning of the pickup coil over the feed coil 3 , wherein the coordinate systems x, y, φ are each to bring to coincidence. Regarding the approach to the charging position 17 The electric car is moved in the same way as in the description 1 explained. The measuring systems between 1 and 3 differ.
  • 4 shows an implementation possibility of an antenna, which in the cooperative radar sensor 15 can be used. If this antenna arrangement at least two radar antennas 8th can be detected by the radar sensor 15 two angles, the angle 14 , transmitter side, and the angle 13 , receiving side, are determined.
  • 4 by the way shows the same in the loading mat 4 integrated structure of radar electronics 10 and the radar antenna 8th with appropriate potting compound.
  • As described above, problems with tilting between coils or setting a correct distance can be relatively easily eliminated. The misalignment dealt with here only relates to the lateral offset between the charging coil and the pickup coil, which is due to inaccurate positioning when approaching an electric car to a charging position 17 can arise at a charging station. The exact positioning forward or backward is done by timed stopping the electric car.
  • A front radar is usually mounted centrally on the electric car or with a known distance to the center of the vehicle.
  • A multiple antenna is to be understood as a multiple antenna in which several antennas are arranged in one line, one line or in a two-dimensional grid. The respective distance can be arbitrary. Essential is an efficient alignment of the entire unit and / or the individual antennas to each other.
  • Are the radar sensors 5 . 6 . 15 sufficiently spaced from the charging coil, so that the front radar 7 If an electric car does not drive over it, an electric car can be led to the final charging position.
  • The advantages of the method can generally be exploited when used in charging stations for motor vehicles such as road vehicles, watercraft or the like, which are in particular inductively charged.

Claims (20)

  1. Method for driving an electric car ( 1 ) with at least one pickup coil ( 2 ) to a charging position ( 17 ) with at least one feed coil ( 3 ), so that the at least one pickup coil ( 2 ) over the at least one feed coil ( 3 ) is positioned without offset, whereby a radar based guidance of the electric car ( 1 ), which is a measurement of a distance ( 16 ) and two angles ( 11 . 12 ; 13 . 14 ) between - on the one hand a cooperative front radar ( 7 ) on the electric car ( 1 ), whose position to Abnehmerspule ( 2 ), and: - on the other hand, at least one cooperative and at least one uncooperative radar sensor ( 5 . 6 ) in the vicinity of the charging position ( 17 ) and their position to the feed coil ( 2 ), and each with a radar antenna ( 8th ) or - at least one cooperative radar sensor ( 15 ) in the vicinity of the charging position ( 17 ), whose position to the feed coil ( 3 ), and with at least two radar antennas ( 8th ), whereby from the measured distance ( 16 ) and the measured angles ( 11 - 14 ) Position data of the electric car ( 1 ) relative to the charging position ( 17 ), which serve as the basis for a further approach of the electric car ( 1 ) serve.
  2. Method according to claim 1, characterized by the following steps: - measurement of the distance ( 16 ) between the front radar ( 7 ) of the electric car ( 1 ) and the cooperative. Radar sensor ( 5 ) and an angle ( 12 ) between a vehicle longitudinal axis ( 18 ) and the distance ( 16 ), - measurement of an angle ( 11 ) between a vehicle longitudinal axis ( 18 ) and the connecting line between the front radar ( 7 ) and the uncooperative radar sensor ( 6 ).
  3. Method according to claim 1, characterized by the following steps: - measurement of the distance ( 16 ) between the front radar ( 7 ) of the electric car ( 1 ) and the at least one cooperative radar sensor ( 15 ), and an angle ( 13 ) between the vehicle longitudinal axis ( 18 ) and the distance ( 16 ), - measurement of an angle ( 14 ) between the distance ( 16 ) and a sensor longitudinal axis ( 19 ).
  4. Method according to one of the preceding claims, characterized in that the cooperative front radar ( 7 ) on the electric car ( 1 ) and the at least one cooperative and the at least one uncooperative radar sensor ( 5 . 6 ) are each operated with at least one simple antenna.
  5. Method according to one of the preceding claims, characterized by the use of the cooperative front radar ( 7 ) on the electric car ( 1 ) and the at least one cooperative radar sensor ( 15 ), wherein both the front radar, and the cooperative radar sensor are each operated with at least one multiple antenna.
  6. Method according to one of the preceding claims, characterized in that a multiple antenna is present, by means of the transmitter side and / or receiving side 'beam forming' can be performed.
  7. Method according to one of the preceding claims, characterized in that an opening angle of antennas of radar sensors ( 5 . 6 . 15 . 7 ) on the side of the charging position ( 17 ) is up to 180 °.
  8. Method according to one of the preceding claims, characterized in that as radar antennas ( 8th ) are used around radiating antennas.
  9. Method according to one of the preceding claims, characterized in that a charging of the electric car is done inductively.
  10. Method according to one of the preceding claims, characterized by the integration of the feed coil ( 3 ) in a loading mat ( 4 ), which at the charging position ( 17 ) of the electric car ( 1 ) is spread or incorporated into a road surface.
  11. A method according to claim 10, characterized by the formation of a loading mat in a rectangular or square shape.
  12. Method according to one of claims 10 to 11, characterized in that a radar antenna ( 8th ) and / or a multiple antenna with radar electronics ( 10 ) in the loading mat ( 4 ) to get integrated.
  13. Method according to one of the preceding claims, characterized in that a trajectory for the further approach of the electric car ( 1 ) to the charging position ( 17 ) is calculated.
  14. Method according to one of the preceding claims, characterized in that the measurements are made continuously.
  15. Method according to one of the preceding claims, characterized in that measurement results from an adjustable distance of the electric car from the feed coil ( 3 ), are used for a travel control.
  16. Verfuhren according to one of the preceding claims, characterized in that in addition a steering angle is measured on the electric car.
  17. Method according to one of the preceding claims, characterized in that recommendations for the course of the electric car are displayed.
  18. Method according to one of the preceding claims, characterized in that uncooperative sensors emit positioning signals in the form of frequency ramps.
  19. Method according to one of the preceding claims, characterized in that the radar sensor ( 15 ) is equipped with a multiple antenna, which is aligned in the direction of an approaching vehicle.
  20. Use of a method for driving an electric car ( 1 ) with a pickup coil ( 2 ) to a charging station ( 17 ) according to any one of claims 1-19, characterized in that the charging station comprises a feed coil ( 3 ) for inductive charging for motor vehicles.
DE102010063665A 2010-12-21 2010-12-21 Method for guiding electric car to charging position, involves determining position data of car from measured distance and measured angles based on charging position, where position data serve as basis for starting electric car Withdrawn DE102010063665A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102010063665A DE102010063665A1 (en) 2010-12-21 2010-12-21 Method for guiding electric car to charging position, involves determining position data of car from measured distance and measured angles based on charging position, where position data serve as basis for starting electric car

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010063665A DE102010063665A1 (en) 2010-12-21 2010-12-21 Method for guiding electric car to charging position, involves determining position data of car from measured distance and measured angles based on charging position, where position data serve as basis for starting electric car

Publications (1)

Publication Number Publication Date
DE102010063665A1 true DE102010063665A1 (en) 2012-06-21

Family

ID=46512408

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102010063665A Withdrawn DE102010063665A1 (en) 2010-12-21 2010-12-21 Method for guiding electric car to charging position, involves determining position data of car from measured distance and measured angles based on charging position, where position data serve as basis for starting electric car

Country Status (1)

Country Link
DE (1) DE102010063665A1 (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012103302A1 (en) * 2012-04-17 2013-10-17 Conductix-Wampfler Gmbh Coil unit and device for inductive transmission of electrical energy
DE102013016880A1 (en) 2013-10-11 2014-07-03 Daimler Ag Method for positioning vehicle e.g. hybrid car, at inductive charging station to charge traction battery of vehicle, involves guiding vehicle on charging places of charging station depending on determined position of vehicle
WO2014183926A2 (en) * 2013-05-13 2014-11-20 Robert Bosch Gmbh System for the alignment of a vehicle and use of said system
DE102013212736A1 (en) * 2013-06-28 2014-12-31 Siemens Aktiengesellschaft Inductive charging device, electric vehicle, charging station and method for inductive charging
WO2015039797A1 (en) * 2013-09-18 2015-03-26 Paul Vahle Gmbh & Co. Kg Positioning system for vehicles comprising an electric drive and an inductive charging system
WO2016005104A1 (en) * 2014-07-08 2016-01-14 Robert Bosch Gmbh Device and method for operating an inductive charging system
DE102014010386A1 (en) * 2014-07-12 2016-01-14 Audi Ag Method for operating a driver assistance system of a motor vehicle for optimally positioning the motor vehicle relative to a wireless charging device and motor vehicle
WO2016045933A1 (en) * 2014-09-25 2016-03-31 Continental Teves Ag & Co. Ohg Localization of charging coils, which is integrated in distance sensors
DE102015208229A1 (en) 2015-05-05 2016-11-10 Zf Friedrichshafen Ag Method for driver assistance in an at least partially electrically driven motor vehicle
DE102016000252A1 (en) * 2016-01-12 2017-07-13 Audi Ag Method for determining an orientation of a motor vehicle
WO2017155859A1 (en) * 2016-03-08 2017-09-14 Qualcomm Incorporated Method and apparatus for positioning a vehicle
US9931954B2 (en) 2014-02-04 2018-04-03 Ford Global Technologies, Llc Vertical wireless power transfer system for charging electric vehicles
DE102017200383A1 (en) * 2017-01-11 2018-07-12 Astyx Gmbh Radar sensor with two-dimensional beam tilting and L, U or T-shaped structure for installation in the front radiator area of the automobile
US10069336B2 (en) 2013-06-28 2018-09-04 Siemens Aktiengesellschaft Inductive charging device, electric vehicle, charging station, and method for inductive charging

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5821728A (en) * 1996-07-22 1998-10-13 Schwind; John P. Armature induction charging of moving electric vehicle batteries
DE10137526A1 (en) * 2000-08-02 2002-06-06 Delphi Tech Inc Device and method for recharging a vehicle
DE102006040879A1 (en) * 2006-08-31 2008-03-27 Bayerische Motoren Werke Ag Driver assistance system for supporting driver during parking or backing of motor vehicle to e.g. parking spot, has trajectory calculating device calculating trajectory that navigates vehicle into parking spot based on control of vehicle
WO2010040962A1 (en) * 2008-10-09 2010-04-15 Peugeot Citroën Automobiles SA Electric or partially electric automobile, associated recharging infrastructure for automatically positioning the vehicle relative to the infrastructure, and related method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5821728A (en) * 1996-07-22 1998-10-13 Schwind; John P. Armature induction charging of moving electric vehicle batteries
DE10137526A1 (en) * 2000-08-02 2002-06-06 Delphi Tech Inc Device and method for recharging a vehicle
DE102006040879A1 (en) * 2006-08-31 2008-03-27 Bayerische Motoren Werke Ag Driver assistance system for supporting driver during parking or backing of motor vehicle to e.g. parking spot, has trajectory calculating device calculating trajectory that navigates vehicle into parking spot based on control of vehicle
WO2010040962A1 (en) * 2008-10-09 2010-04-15 Peugeot Citroën Automobiles SA Electric or partially electric automobile, associated recharging infrastructure for automatically positioning the vehicle relative to the infrastructure, and related method

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013156168A2 (en) 2012-04-17 2013-10-24 Conductix-Wampfler Gmbh Coil unit and device for the inductive transfer of electrical energy
DE102012103302B4 (en) * 2012-04-17 2014-02-27 Conductix-Wampfler Gmbh Coil unit and device for inductive transmission of electrical energy
DE102012103302A1 (en) * 2012-04-17 2013-10-17 Conductix-Wampfler Gmbh Coil unit and device for inductive transmission of electrical energy
WO2014183926A3 (en) * 2013-05-13 2015-02-19 Robert Bosch Gmbh System for the alignment of a vehicle and use of said system
WO2014183926A2 (en) * 2013-05-13 2014-11-20 Robert Bosch Gmbh System for the alignment of a vehicle and use of said system
DE102013212736A1 (en) * 2013-06-28 2014-12-31 Siemens Aktiengesellschaft Inductive charging device, electric vehicle, charging station and method for inductive charging
US10069336B2 (en) 2013-06-28 2018-09-04 Siemens Aktiengesellschaft Inductive charging device, electric vehicle, charging station, and method for inductive charging
WO2015039797A1 (en) * 2013-09-18 2015-03-26 Paul Vahle Gmbh & Co. Kg Positioning system for vehicles comprising an electric drive and an inductive charging system
WO2015051876A1 (en) 2013-10-11 2015-04-16 Daimler Ag Method for positioning a vehicle on an inductive charging station
DE102013016880A1 (en) 2013-10-11 2014-07-03 Daimler Ag Method for positioning vehicle e.g. hybrid car, at inductive charging station to charge traction battery of vehicle, involves guiding vehicle on charging places of charging station depending on determined position of vehicle
US9931954B2 (en) 2014-02-04 2018-04-03 Ford Global Technologies, Llc Vertical wireless power transfer system for charging electric vehicles
WO2016005104A1 (en) * 2014-07-08 2016-01-14 Robert Bosch Gmbh Device and method for operating an inductive charging system
CN106470870A (en) * 2014-07-08 2017-03-01 罗伯特·博世有限公司 For making the apparatus and method of induction type charging system work
CN106470870B (en) * 2014-07-08 2019-10-01 罗伯特·博世有限公司 Device and method for making induction type charging system work
EP2965964A3 (en) * 2014-07-12 2016-02-10 Audi Ag Method for operating a driver assistance system of a motor vehicle for optimal positioning of the motor vehicle relative to a wireless charging device, and motor vehicle
DE102014010386A1 (en) * 2014-07-12 2016-01-14 Audi Ag Method for operating a driver assistance system of a motor vehicle for optimally positioning the motor vehicle relative to a wireless charging device and motor vehicle
US10317526B2 (en) 2014-09-25 2019-06-11 Continental Teves Ag & Co. Ohg Localization of charging coils, which is integrated in distance sensors
WO2016045933A1 (en) * 2014-09-25 2016-03-31 Continental Teves Ag & Co. Ohg Localization of charging coils, which is integrated in distance sensors
DE102015208229A1 (en) 2015-05-05 2016-11-10 Zf Friedrichshafen Ag Method for driver assistance in an at least partially electrically driven motor vehicle
DE102016000252A1 (en) * 2016-01-12 2017-07-13 Audi Ag Method for determining an orientation of a motor vehicle
US10343537B2 (en) 2016-03-08 2019-07-09 Witricity Corporation Method and apparatus for positioning a vehicle
WO2017155859A1 (en) * 2016-03-08 2017-09-14 Qualcomm Incorporated Method and apparatus for positioning a vehicle
DE102017200383A1 (en) * 2017-01-11 2018-07-12 Astyx Gmbh Radar sensor with two-dimensional beam tilting and L, U or T-shaped structure for installation in the front radiator area of the automobile

Similar Documents

Publication Publication Date Title
US20180109762A1 (en) Display system utilizing vehicle and trailer dynamics
EP3250443B1 (en) Valet parking method and valet parking system
US9766333B1 (en) Use of motion data in the processing of automotive radar image processing
US10377329B2 (en) Vehicle and method for remotely controlling the same
US9321483B2 (en) System and method for maneuvering a vehicle-trailer unit in reverse travel
US9708000B2 (en) Trajectory planner for a trailer backup assist system
US9660487B1 (en) Intelligent wireless power transferring system with automatic positioning
JP2018512658A (en) Real-time occupancy mapping system for autonomous vehicles
US9238483B2 (en) Trailer backup assist system with trajectory planner for multiple waypoints
US10119812B2 (en) Trailer parameter identification system
US10491052B2 (en) Contactless electrical coupling for a rotatable LIDAR device
US8772960B2 (en) Power transmitting and receiving system for vehicle
US9374562B2 (en) System and method for calculating a horizontal camera to target distance
US9564759B2 (en) Wireless power supply system
US9120425B2 (en) Park assist system
US9723274B2 (en) System and method for adjusting an image capture setting
CN101722954B (en) Vehicle docking assistance system
US9199547B2 (en) Non-contact charging device
WO2016032780A1 (en) Methods and systems for vehicle radar coordinaton and interference reduction
US10688875B2 (en) Non-contact charging system and pairing method for non-contact charging system
US9915952B2 (en) System and method for coordinated control of agricultural vehicles
DE102012215013A1 (en) Self-propelled milling machine, as well as method for unloading milled material
US20160195407A1 (en) Vehicle driving guidance device and method
US10139238B2 (en) Systems, methods, and apparatus related to guidance and alignment for an electric vehicle and charging station
US20140132208A1 (en) System and method to align a source resonator and a capture resonator for wireless electrical power transfer

Legal Events

Date Code Title Description
R016 Response to examination communication
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee

Effective date: 20130702