DE102013208678A1 - System for aligning a vehicle and using the system - Google Patents
System for aligning a vehicle and using the system Download PDFInfo
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- DE102013208678A1 DE102013208678A1 DE102013208678.4A DE102013208678A DE102013208678A1 DE 102013208678 A1 DE102013208678 A1 DE 102013208678A1 DE 102013208678 A DE102013208678 A DE 102013208678A DE 102013208678 A1 DE102013208678 A1 DE 102013208678A1
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Classifications
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION 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
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- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION 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
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- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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- B62D15/0285—Parking performed automatically
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- G—PHYSICS
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- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
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- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- Y—GENERAL 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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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- Y—GENERAL 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/14—Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing
Abstract
Die Erfindung betrifft ein System (100) zur Ausrichtung eines Fahrzeugs (1), umfassend eine an dem Fahrzeug (1) oder an einer stationären Einrichtung (10) angeordnete Sendeeinrichtung (18) zur Abstrahlung elektromagnetischer Wellen, wobei die Sendeeinrichtung (18) wenigstens eine Sendeeinheit (17a bis 17d) aufweist, eine an der stationären Einrichtung (10) oder in dem Fahrzeug (1) angeordnete Empfangseinrichtung (15) mit wenigstens zwei Empfangseinheiten (16a bis 16c) zur Erfassung der von der Sendeeinrichtung (18) abgestrahlten elektromagnetischen Wellen, einer Auswerteeinrichtung (20) zur Bestimmung der Position des Fahrzeugs (1) relativ zur stationären Einrichtung (10), und mit einer Einparkassistenzlogik (22) zur Bestimmung von erforderlichen Fahrmanövern des Fahrzeugs (1), um das Fahrzeug (1) zur stationären Einrichtung (10), wobei die Auswerteeinrichtung (20) dazu ausgebildet ist, aufgrund der von den wenigstens zwei Empfangseinheiten (16a bis 16c) empfangenen Signale der wenigstens einen Sendeinheit (17a bis 17d) sowohl den Abstand (Δd) des Fahrzeugs (1), als auch dessen Orientierung zur stationären Einrichtung (10) zu bestimmen.The invention relates to a system (100) for aligning a vehicle (1), comprising a transmission device (18) arranged on the vehicle (1) or on a stationary device (10) for emitting electromagnetic waves, the transmission device (18) having at least one Transmitting unit (17a to 17d), a receiving device (15) arranged on the stationary device (10) or in the vehicle (1) with at least two receiving units (16a to 16c) for detecting the electromagnetic waves emitted by the transmitting device (18), an evaluation device (20) for determining the position of the vehicle (1) relative to the stationary device (10), and with a parking assistance logic (22) for determining required driving maneuvers of the vehicle (1) in order to move the vehicle (1) to the stationary device ( 10), the evaluation device (20) being designed to receive signals from the at least two receiving units (16a to 16c) at least one transmitting unit (17a to 17d) to determine both the distance (Δd) of the vehicle (1) and its orientation to the stationary device (10).
Description
Stand der TechnikState of the art
Die Erfindung betrifft ein System zur Ausrichtung eines Fahrzeugs nach dem Oberbegriff des Anspruchs 1. Ferner betrifft die Erfindung die Verwendung eines erfindungsgemäßen Systems.The invention relates to a system for aligning a vehicle according to the preamble of claim 1. Furthermore, the invention relates to the use of a system according to the invention.
Ein System nach dem Oberbegriff des Anspruchs 1 ist aus der
Das aus der genannten Schrift bekannte System zur Ausrichtung eines Fahrzeugs ist zwar dazu fähig, das Fahrzeug derart zu der wenigstens einen Sendeeinheit auszurichten, dass die Längsachse des Fahrzeugs in Überdeckung mit der Sendeeinheit angeordnet bzw. ausgerichtet ist, eine winkelgenaue Ausrichtung des Fahrzeugs zu der Sendeeinrichtung derart, dass beispielsweise eine der Energieübertragung dienende Einrichtung im Bodenbereich der Fahrbahn exakt mit einer damit zusammenwirkenden Ladespule o.ä. am Fahrzeug ausgerichtet ist, ist jedoch mit dem bekannten System nicht möglich. Dies rührt daher, da mittels des bekannten Systems zwar auf einen Winkel zwischen der Sendeeinheit und den Empfangsantennen geschlossen werden kann, ein derartiger Winkel sagt jedoch nichts über die Ausrichtung der Fahrzeuglängsachse zu der mit der Ladespule zusammenwirkenden Einrichtung in der stationären Ladeeinrichtung aus, da der besagte Winkel unabhängig von der tatsächlichen Orientierung des Fahrzeugs zur Sendeeinheit ist, und ein derartiger Winkel bei unterschiedlichen Positionen des Fahrzeugs zur Sendeeinheit ausgebildet sein kann. Darüber hinaus wird durch eine Auswertung der empfangenen Signalstärken an den beiden Empfangseinheiten zwar auf eine mittige bzw. außermittige Orientierung der Längsachse des Fahrzeugs zu der wenigstens einen Sendeeinheit geschlossen, eine Auswertung der Sendeleistung zur Feststellung des Abstands während des eigentlichen Annäherungsprozesses des Fahrzeugs an die wenigstens eine Sendeeinheit findet jedoch, mit Ausnahme des angesprochenen Erreichens des Schwellwerts, aus dem auf die Zielposition geschlossen wird, nicht statt. Dadurch ist bei Nutzung bzw. Unterstützung eines Parkassistentensystems eine optimale Anfahrstrategie an die wenigstens eine Sendeeinheit nicht möglich, da eine optimale Anfahrstrategie stets die Kenntnis der exakten Position, d.h. auch des augenblicklichen Abstands zur wenigstens einen Sendeeinheit, erfordert. Although the system known from the cited document for aligning a vehicle is capable of aligning the vehicle with the at least one transmission unit in such a way that the longitudinal axis of the vehicle is arranged or aligned with the transmission unit, the vehicle is aligned with the transmission device with angular accuracy such that, for example, an energy transmission device in the floor area of the roadway exactly with a cooperating charging coil o.ä. is aligned with the vehicle, but is not possible with the known system. This stems from the fact that although an angle between the transmitting unit and the receiving antennas can be deduced by means of the known system, such an angle does not say anything about the orientation of the vehicle longitudinal axis to the charging coil cooperating device in the stationary charging device, as said Angle is independent of the actual orientation of the vehicle to the transmitting unit, and such an angle may be formed at different positions of the vehicle to the transmitting unit. In addition, by an evaluation of the received signal strengths at the two receiving units, although a central or off-center orientation of the longitudinal axis of the vehicle to the at least one transmitting unit closed, an evaluation of the transmission power to determine the distance during the actual approach process of the vehicle to the at least one However, with the exception of the mentioned reaching of the threshold value from which the target position is reached, the sending unit does not take place. As a result, when using or supporting a parking assistant system, an optimal approach strategy to the at least one transmission unit is not possible, since an optimal start-up strategy always involves the knowledge of the exact position, i. Also the instantaneous distance to at least one transmitting unit requires.
Weiterhin sind aus dem Bereich der schlüssellosen Zugangs- und Startechnologie bei Kraftfahrzeugen Funksysteme bekannt, bei denen das Fahrzeug über mehrere Antennen Funksignale auf einer ersten Frequenz aussendet, die von einer bis zu drei Antennen aufweisenden Empfangseinheit am mobilen „Schlüssel“ empfangen werden. Dort erfolgt eine Auswertung der Signalstärke sowie eine Dekodierung des Signals. Nach anschließender Codierung wird das empfangene Signal an das Fahrzeug auf einer zweiten Frequenz zurückgesendet und dort wiederum dekodiert. Nach Abgleich der gesendeten und empfangenen Daten erfolgt zum Beispiel eine Autorisierung mit einer Entriegelung des Fahrzeugs oder eine andere Funktion. Furthermore, from the field of keyless access and launch technology in motor vehicles radio systems are known in which the vehicle emits radio signals via a plurality of antennas on a first frequency, which are received by a up to three antennas having a receiving unit on the mobile "key". There, an evaluation of the signal strength and a decoding of the signal. After subsequent encoding, the received signal is sent back to the vehicle at a second frequency where it is again decoded. After synchronization of the transmitted and received data, for example, an authorization with a release of the vehicle or another function takes place.
Offenbarung der ErfindungDisclosure of the invention
Ausgehend von dem dargestellten Stand der Technik liegt der Erfindung die Aufgabe zugrunde, ein System zur Ausrichtung eines Fahrzeugs nach dem Oberbegriff des Anspruchs 1 derart weiterzubilden, dass eine Fahrwegplanung mit exakter Ausrichtung des Fahrzeugs möglich ist. Diese Aufgabe wird erfindungsgemäß bei einem System zur Ausrichtung eines Fahrzeugs mit den Merkmalen des Anspruchs 1 dadurch gelöst, dass die Sendeeinrichtung wenigstens zwei voneinander beabstandete Sendeeinheiten umfasst, und dass die Auswerteeinrichtung dazu ausgebildet ist, aufgrund des Abstands und der Orientierung der wenigstens zwei Sendeeinheiten zu den wenigstens zwei Empfangseinheiten einen Winkel zwischen einer Bezugsachse des Fahrzeugs zu der stationären Einrichtung, insbesondere zu einer weiteren Bezugsachse der stationären Einrichtung, zu berechnen.Based on the illustrated prior art, the invention has the object, a system for aligning a vehicle according to the preamble of claim 1 such that a route planning with exact alignment of the vehicle is possible. This object is achieved in a system for aligning a vehicle with the features of claim 1, characterized in that the transmitting device comprises at least two spaced transmitting units, and that the evaluation device is adapted to, due to the distance and the orientation of the at least two transmitting units to the at least two receiving units an angle between a reference axis of the vehicle to the stationary device, in particular to another reference axis of the stationary device to calculate.
Vorteilhafte Weiterbildungen des erfindungsgemäßen Systems zur Ausrichtung eines Fahrzeugs sind in den Unteransprüchen aufgeführt.Advantageous developments of the system according to the invention for aligning a vehicle are listed in the subclaims.
In einer Weiterbildung der Erfindung wird vorgeschlagen, dass Identifikationsmittel zur Identifizierung des Fahrzeugs und/oder der stationären Einrichtung vorgesehen sind, und dass diesbezügliche Daten zwischen dem Fahrzeug und der stationären Einrichtung übermittelt werden. Eine derartige Ausbildung ermöglicht es beispielsweise beim Einsatz des Systems beim induktiven Aufladen einer Batterie z.B. auf ein bestimmtes Fahrzeug zu schließen, so dass beispielsweise Ladeparameter, wie eine übertragbare Sendeleistung, eine Ladedauer oder auch generell eine Berechtigung zum Laden des Fahrzeugs erkannt bzw. übermittelt werden können. Genauso gut können mit derartigen Identifikationsmitteln beispielsweise einem Fahrer Hinweise gegeben werden, dass dieser eine bestimmte Fläche beispielsweise nicht als Parkfläche nutzt, da diese zum Aufladen einer Batterie für ein anderes Fahrzeug vorgesehen ist. Bei einer Infrastruktur, bei der beispielsweise mehrere stationäre Ladestationen unmittelbar nebeneinander bzw. in der Reichweite einer Empfangseinheit des Fahrzeugs liegen, ist es durch derartige geeignete Identifikationsmittel (zum Beispiel über einen weiteren Kommunikationskanal o.ä.) möglich, eine eindeutige Zuordnung (Pairing) eine Fahrzeugs zu einer bestimmten Ladestation zu erzielen.In a further development of the invention, it is proposed that identification means be provided for identifying the vehicle and / or the stationary device, and that relevant data is transmitted between the vehicle and the stationary device. Such a design makes it possible, for example, when using the system in inductive charging of a battery, e.g. to close on a particular vehicle, so that, for example, charging parameters, such as a transmittable transmission power, a charging time or even generally authorized to charge the vehicle can be detected or transmitted. Just as well can be given with such identification means, for example, a driver notes that this does not use a certain area, for example, as a parking area, as this is intended to charge a battery for another vehicle. In an infrastructure in which, for example, several stationary charging stations are located directly next to each other or in the range of a receiving unit of the vehicle, it is possible by means of such suitable identification means (for example via a further communication channel or the like), an unambiguous assignment (pairing) Vehicle to achieve a specific charging station.
Ganz besonders bevorzugt ist es, wenn ein Umwelterkennungssystem, insbesondere ein ultraschall-, radar- oder kamerabasiertes System vorgesehen ist, und wenn die Einparkassistenzlogik dazu ausgebildet ist, die erforderlichen Fahrmanöver des Fahrzeugs zwischen einer Ist-Position und einer Soll-Position unter Nutzung der von dem Umwelterkennungssystem gewonnenen Daten zu berechnen. Gemeint ist hier z.B., dass unter Nutzung beispielsweise von anderen erkannten Fahrzeugen, Hindernissen o.ä. diese, über das Umwelterkennungssystem gewonnenen Daten der Einparkassistenzlogik als Eingangswerte zugeführt werden, so dass eine individuelle Anfahrstrategie gewählt wird, die insbesondere eine Kollision beispielsweise mit nahe bzw. auf dem direkten Weg zur Soll-Position befindlichen Objekten vermeidet.It is very particularly preferred if an environmental recognition system, in particular an ultrasound-, radar- or camera-based system is provided, and if the parking assistance logic is adapted to the required driving maneuvers of the vehicle between an actual position and a desired position using the to calculate the data obtained from the environmental detection system. For example, this means that, using, for example, other recognized vehicles, obstacles or the like. these, obtained via the environmental detection system data of Einparkassistenzlogik be supplied as input values, so that an individual approach strategy is selected, which avoids a collision, for example, with or located on the direct route to the target position objects.
Weiterhin kann es vorgesehen sein, dass die Einparkassistenzlogik dazu ausgebildet ist, zusätzliche Fahrzeugbewegungsdaten zu verarbeiten, die von einer Fahrzeugbewegungsdateneinheit der Einparkassistenzlogik als Eingangswerte zugeführt werden. Unter zusätzlichen Fahrzeugbewegungsdaten werden beispielsweise, und nicht einschränkend, Daten wie die Radumdrehungszahl, die Beschleunigung des Fahrzeugs oder der Lenkwinkel, aber auch die Gierrate oder eine Richtungsmessung mittels Kompass o.ä. verstanden. Diese Daten können insbesondere zur Redundanz mit den von dem restlichen System gewonnenen Daten, z.B. im Sinne einer Kalibrierung verwendet werden, so dass beispielsweise die von der Auswerteeinrichtung gewonnenen Daten bzw. Ergebnisse entsprechend modifiziert werden. Dadurch werden eine erhöhte Genauigkeit des Systems und eine exaktere Positionierung des Fahrzeugs beispielsweise zu einer Ladestation ermöglicht. Furthermore, it may be provided that the parking assistance logic is configured to process additional vehicle movement data that is supplied by the vehicle movement data unit to the parking assistance logic as input values. By way of example, and not by way of limitation, additional vehicle movement data includes data such as the number of revolutions of the wheel, the acceleration of the vehicle or the steering angle, but also the yaw rate or direction measurement by means of a compass or the like. Understood. In particular, this data may be redundant with the data obtained from the rest of the system, e.g. be used in the sense of a calibration, so that, for example, the data or results obtained by the evaluation device are modified accordingly. As a result, an increased accuracy of the system and a more accurate positioning of the vehicle, for example, allows a charging station.
Ganz besonders bevorzugt ist es, wenn die Empfangseinrichtung zumindest drei Empfangseinheiten, vorzugsweise in Form von Transpondern, aufweist. Über die wenigstens drei Empfangseinheiten lässt sich in eindeutiger Art und Weise nicht nur die Ausrichtung des Fahrzeugs, beispielsweise der Fahrzeuglängsachse zu einer stationären Einrichtung (Ladestation) ermitteln, sondern gleichzeitig auch die Richtung, von welcher sich das Fahrzeug der stationären Einrichtung nähert. In alternativer Form kann die Richtung auch dadurch bestimmt werden, dass beispielsweise bei der Verwendung von lediglich zwei Transpondern diese eindeutige Identifikationsmittel aufweisen, so dass eine eindeutige Zuordnung eines Transponders möglich ist.It is very particularly preferred if the receiving device has at least three receiving units, preferably in the form of transponders. About the at least three receiving units can be in a unique manner not only the orientation of the vehicle, for example, the vehicle longitudinal axis to a stationary device (charging station) determine, but at the same time the direction from which the vehicle approaches the stationary device. In an alternative form, the direction can also be determined by the fact that, for example, when using only two transponders, these have unique identification means, so that a clear assignment of a transponder is possible.
Zur Bestimmung des exakten Abstands zwischen den wenigstens zwei Empfangseinheiten und den wenigstens zwei Sendeeinheiten sind verschiedene Möglichkeiten denkbar. Insbesondere kommen dabei Verfahren in Frage, bei denen die Auswerteeinrichtung dazu ausgebildet ist, aufgrund einer Erfassung der Signalstärke der elektromagnetischen Wellen den Abstand zu bestimmen. Alternativ ist es jedoch auch möglich, dass die Erfassung des Abstands aufgrund einer Laufzeitmessung der Wellen bestimmt wird.Various possibilities are conceivable for determining the exact distance between the at least two receiving units and the at least two transmitting units. In particular, methods are suitable in which the evaluation device is designed to determine the distance on the basis of a detection of the signal strength of the electromagnetic waves. Alternatively, however, it is also possible for the detection of the distance to be determined on the basis of a transit time measurement of the waves.
Wie bereits oben erwähnt, kann es zur Optimierung des Ausrichtvorgangs des Fahrzeugs vorgesehen sein, dass die Einparkassistenzlogik dazu ausgebildet ist, einen Kalibrierprozess aufgrund des von der Auswerteeinrichtung erfassten Abstands und der von dem Umwelterkennungssystem gewonnenen Daten und/oder der Fahrzeugbewegungsdaten durchzuführen.As already mentioned above, to optimize the alignment process of the vehicle it can be provided that the parking assistance logic is designed to carry out a calibration process on the basis of the distance detected by the evaluation device and the data and / or vehicle movement data obtained by the environmental recognition system.
Es kann auch vorgesehen sein, dass wenigstens drei Sendeeinheiten bzw. Empfangseinheiten vorgesehen sind, die an voneinander getrennten Orten, vorzugsweise im Front- und Heckbereich des Fahrzeugs angeordnet sind. Eine derartige Ausbildung ermöglicht es, beispielsweise eine exakte Positionierung des Fahrzeugs oberhalb der stationären Einrichtung zu ermöglichen, indem die unterschiedlichen Abstände der Sende- bzw. Empfangseinheiten im Front- und Heckbereich des Fahrzeugs ausgewertet wird.It can also be provided that at least three transmitting units or receiving units are provided, which are arranged at separate locations, preferably in the front and rear of the vehicle. Such a design makes it possible, for example, to allow an exact positioning of the vehicle above the stationary device by the different distances of the transmitting or receiving units in the front and rear of the vehicle is evaluated.
Besonders bevorzugt ist die Verwendung des erfindungsgemäßen Systems zur Ausrichtung eines einen elektrischen Antrieb mit einer wiederaufladbaren Batterie aufweisenden Fahrzeugs zu einer Ladestation, wobei das Laden der Batterie bevorzugt durch kontaktlos, insbesondere durch Induktion erfolgt. Es sind jedoch grundsätzlich auch andere Einsatzmöglichkeiten des Systems denkbar, bei denen es insbesondere nicht erwünscht ist, dass von außen erkennbare Merkmale eine gewünschte Soll-Position eines Fahrzeugs kennzeichnen. Particularly preferred is the use of the system according to the invention for aligning a vehicle having an electric drive with a rechargeable battery vehicle to a charging station, wherein the charging of the battery is preferably carried out by contactless, in particular by induction. However, there are also other possible uses of the system conceivable in which it is not desirable in particular that mark externally recognizable features a desired desired position of a vehicle.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnung.Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawing.
Diese zeigt in:This shows in:
Gleiche Elemente bzw. Elemente mit gleicher Funktion sind in den Figuren mit den gleichen Bezugsziffern versehen.The same elements or elements with the same function are provided in the figures with the same reference numerals.
In der
Entsprechend der Darstellung der
Die Ladestation
Das Fahrzeug
Die Elektronik des Fahrzeugs
Die Einparkassistenzlogikeinrichtung
Neben den bisher erwähnten Bestandteilen des Systems
In der
In der
Das soweit beschriebene System
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102011116321 A1 [0002] DE 102011116321 A1 [0002]
Claims (10)
Priority Applications (2)
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DE102013208678.4A DE102013208678A1 (en) | 2013-05-13 | 2013-05-13 | System for aligning a vehicle and using the system |
PCT/EP2014/056897 WO2014183926A2 (en) | 2013-05-13 | 2014-04-07 | System for the alignment of a vehicle and use of said system |
Applications Claiming Priority (1)
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DE102013208678.4A DE102013208678A1 (en) | 2013-05-13 | 2013-05-13 | System for aligning a vehicle and using the system |
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DE102013208678A1 true DE102013208678A1 (en) | 2014-11-13 |
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DE102013208678.4A Withdrawn DE102013208678A1 (en) | 2013-05-13 | 2013-05-13 | System for aligning a vehicle and using the system |
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WO (1) | WO2014183926A2 (en) |
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DE102015210314A1 (en) * | 2015-06-03 | 2016-12-08 | Audi Ag | Method for determining the position of a motor vehicle relative to a primary coil, motor vehicle and pallet |
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WO2021058733A1 (en) * | 2019-09-26 | 2021-04-01 | Bombardier Primove Gmbh | A system and a method for determining a relative pose between a primary winding structure and a secondary winding structure of a system for inductive power transfer |
EP3859367A1 (en) * | 2020-01-29 | 2021-08-04 | Sick Ag | Security system and locating method |
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WO2023241998A1 (en) * | 2022-06-17 | 2023-12-21 | Robert Bosch Gmbh | Method for coupling a vehicle to a charging station |
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WO2014183926A3 (en) | 2015-02-19 |
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