DE102015010324A1 - Method for autonomously positioning a plug-in hybrid vehicle or electric vehicle for wireless charging - Google Patents

Abstract

The invention relates to methods for autonomously positioning a first charging device of a plug-in hybrid vehicle or electric vehicle with respect to a stationary second charging device, wherein the first and second charging devices are each configured for contactless energy transmission, comprising the steps of: a) Activating an autonomous positioning operation as soon as the plug-in hybrid vehicle or electric vehicle has reached a predefinable first distance to the second charging device (S1); b) placing or holding the plug-in hybrid vehicle or electric vehicle in a purely electromotive driving mode and establishing or maintaining a rotationally fixed connection between the electric motor (s) and the transmission of the plug-in hybrid vehicle or electric vehicle (S2); c) performing a speed-guided approach to the second charging device (S3); d) initiating a final braking operation once the plug-in hybrid vehicle or electric vehicle has reached a second distance to the second charging device, the second distance being less than the first distance (S4); and e) stopping the plug-in hybrid vehicle or electric vehicle with sufficiently accurate positioning of the first charger with respect to the second charger and terminating the autonomous positioning operation (S5).

Description

The invention relates to a method for autonomously positioning a plug-in hybrid vehicle or electric vehicle for wireless charging of existing in the plug-in hybrid vehicle or electric vehicle, electric, rechargeable energy storage using the plug-in hybrid vehicle or Electric vehicle existing electromotive drive.

The today known charging methods for motor vehicles with electrified (such as in pure electric vehicles) or partially electrified (such as plug-in hybrid or serial hybrid vehicles) drive trains based either on plug-based and thus galvanically coupled charging (such as in AC charging mode 1-3, DC charging, CHAdeMO) or inductive charging.

When inductive charging a rechargeable energy storage device (so-called traction battery) of motor vehicles with an electrified or partially-electrified drive train energy is transmitted over an air gap across two coils according to the transformer principle. In this case, an alternating magnetic field is generated by means of alternating current in a normally stationary primary coil (charging plate) and induced by this voltage in a vehicle-side secondary coil. The vehicle-side secondary coil is connected to the traction battery by means of an electrically conductive cable and can therefore charge it (again) by the electrical voltage generated in the vehicle-side secondary coil. The vehicle-side secondary coil is often arranged in the region of the vehicle floor and the primary coil in or on the ground. In addition, solutions are known in which the primary coil is arranged approximately in / on a charging station or in / on a wall and the vehicle-side secondary coil at a corresponding point of the motor vehicle.

In order to enable inductive charging and thereby to achieve the highest possible efficiency, it is necessary for a charging process, the primary and the secondary coil are aligned as closely as possible to each other and have a distance within a predetermined range to each other.

Against this background, a number of solutions are already known from the prior art, with which the most accurate alignment between the primary and secondary coil to be achieved.

For example, describes the DE 10 2010 053 058 A1 a motor vehicle device for an electric and / or hybrid motor vehicle, with a charging unit, which has an energy transfer device for charging a battery device, which is provided for a contactless energy transfer, and with a positioning unit, which is intended to autonomous the electric and / or hybrid motor vehicle to position for a charging operation and having at least one guide coil, which is provided for determining a position of the electric and / or hybrid motor vehicle to receive an inductive contact with an inductive guide element of a charging device.

However, in current solutions, the positioning accuracy for inductive (wireless) charging is often not accurate enough; H. The loading position is not optimally reached. In addition, the stopping process for the occupants of the vehicle as uncomfortable (because, for example, too abrupt) perceived.

It is therefore an object of the present invention to at least alleviate or completely overcome these disadvantages of the prior art. This object is achieved by the method according to claim 1. Advantageous developments of the method are the subject of the dependent claims.

• a) Aktivieren eines autonomen Positioniervorgangs, sobald das Plug-in-Hybridfahrzeug oder Elektrofahrzeug einen vorgebbaren ersten Abstand zu der zweiten Ladeeinrichtung erreicht hat;
• b) Verbringen oder Halten des Plug-in-Hybridfahrzeugs oder Elektrofahrzeugs in einen rein elektromotorischen Fahrtmodus und Herstellen oder Beibehalten einer drehfesten Verbindung zwischen dem Elektromotor/den Elektromotoren und dem Getriebe des Plug-in-Hybridfahrzeugs oder Elektrofahrzeugs;
• c) Durchführen einer drehzahlgeführten Annäherung an die zweite Ladeeinrichtung;
• d) Einleiten eines finalen Bremsvorgangs, sobald das Plug-in-Hybridfahrzeug oder Elektrofahrzeug einen zweiten Abstand zur zweiten Ladeeinrichtung erreicht hat, wobei der zweite Abstand kleiner ist als der erste Abstand; und
• e) Anhalten des Plug-in-Hybridfahrzeugs oder Elektrofahrzeugs bei hinreichend genauem Positionieren der ersten Ladeeinrichtung in Bezug auf die zweite Ladeeinrichtung und Beenden des autonomen Positioniervorgangs.

According to the invention, a method for autonomously, sufficiently accurately positioning a first, vehicle-side charging device of a plug-in hybrid vehicle or electric vehicle with respect to a stationary second charging device is proposed, wherein the first and second charging devices are each configured for contactless energy transmission, comprising the successive steps:

• a) activating an autonomous positioning operation as soon as the plug-in hybrid vehicle or electric vehicle has reached a predefinable first distance to the second charging device;
• b) placing or holding the plug-in hybrid vehicle or electric vehicle in a purely electromotive driving mode and establishing or maintaining a rotationally fixed connection between the electric motor (s) and the transmission of the plug-in hybrid vehicle or electric vehicle;
• c) performing a speed-guided approach to the second charging device;
• d) initiating a final braking operation once the plug-in hybrid vehicle or electric vehicle has reached a second distance to the second charging device, the second distance being less than the first distance; and
• e) stopping the plug-in hybrid vehicle or electric vehicle with a sufficiently accurate positioning of the first charging device with respect to the second charging device and terminating the autonomous positioning operation.

At low rotational speeds of the electric motor / motors (electric / electric drive motor (s)) of a plug-in hybrid vehicle or electric vehicle and a rotationally fixed connection between the electric motor (s) and the transmission, a plug-in hybrid vehicle or electric vehicle can be very accurate and comfortable to move and be positioned centimeter-wise. In this case, depending on the known distance of the second charging device (primary coil, fixed charging plate), the target speed of the electric motor / the electric motors can be adjusted so that the desired position is reached exactly and an almost imperceptible deceleration is possible, which of inmates of the plug-in Hybrid vehicle or electric vehicle is perceived as very comfortable.

Also can be automatically compensated by the inventive method changes in driving resistance, such as. Are caused by small stones or an uneven road surface. The process of positioning the plug-in hybrid vehicle or electric vehicle with respect to the second charging device, which can often be done in the context of a parking operation, thus always takes place in the same and reliable manner.

In a plug-in hybrid vehicle or electric vehicle equipped with an automatic transmission, establishing or maintaining a rotationally fixed connection between the electric motor (s) and the transmission can be advantageously accomplished by closing the converter clutch of the automatic transmission.

Likewise, it can be provided in the method according to the present invention that the process of autonomous positioning is activated by an operator action of a vehicle occupant.

Further advantages result if the position of a second charging device with respect to the plug-in hybrid vehicle or electric vehicle is determined in a method by means of suitable sensors and / or short-range communication means in the method according to the present invention.

Furthermore, in the method according to the present invention, the position of the plug-in hybrid vehicle or electric vehicle can advantageously be determined in a preliminary method by means of a satellite-based navigation system and by a (computer-aided) comparison of the determined position of the plug-in hybrid vehicle or electric vehicle In a table or database recorded positions of second charging devices, the second charging devices are determined, which are located at a predeterminable distance to the current location of the plug-in hybrid vehicle or electric vehicle.

Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.

Showing:

1 An exemplary flowchart of the method according to the present invention;

2 A diagram illustrating an exemplary course of the rotational speed of the electric motor (s) as a function of the distance of the plug-in hybrid vehicle or electric vehicle to a second charging device.

In the figures, the same, similar or equivalent elements are provided with the same reference numerals.

If in the present application is spoken by an electric vehicle, including a motor vehicle to understand in which the drive of the wheel / wheels is done exclusively with the help of one or more electric motors, d. H. pure electric vehicles or so-called serial hybrid vehicles. A plug-in hybrid vehicle is to be understood as those motor vehicles in which the drive is effected selectively or according to predefinable criteria by means of one or more electric motors, one or more internal combustion engines or a combination thereof.

The present invention can make use of an autonomous control of a motor vehicle, as it is already known, for example, from the prior art for autonomous entry and Ausparkvorgänge. Therefore, the plug-in hybrid vehicle or electric vehicle can also use all the technical solutions (devices and methods) that have been or are being developed for a safe and reliable autonomous control of motor vehicles. These include, for example, the devices and methods for distance measurement, collision avoidance, calculation and departure of suitable trajectories, for the detection of suitable parking areas and for autonomous control and regulation of vehicle-mounted drive, steering and braking systems.

Since the present invention is related to the precise positioning of a plug-in hybrid vehicle or electric vehicle with respect to an inductive charging device, the plug-in hybrid vehicle or electric vehicle can also use any technical solutions (devices and methods) that have been or will be developed for the most accurate positioning of the vehicle-side, first charging device with respect to the stationary second charging device, for example., Those in the above-mentioned DE 10 2010 053 058 A1 are described.

Of course, in the plug-in hybrid vehicle or electric vehicle, all of these technical solutions (devices and methods) can be used in any suitable combination.

As in 1 is shown, the method requires that the plug-in hybrid vehicle or electric vehicle of a stationary, provided for an inductive energy transfer, second charging device approaches to a first predetermined distance S0. Since such charging devices are often designed in the form of plate-like structures, the second charging device is hereinafter referred to as "loading plate" for the sake of simplicity.

Detecting a pallet and thus recognizing that the plug-in hybrid vehicle or electric vehicle is within a predeterminable first distance from the pallet may be accomplished in any suitable manner. Thus, for example, visible or even invisible markings on the floor or walls can be attached to a person, these markings being recognized, for example, by means of vehicle-side sensors (for example 3D camera devices, ultrasound, laser, radar, lidar sensors, etc.) can be. Further examples for detecting a position of a pallet would be the use of short-range communication means, such as by radio (such as car-to-X communication, WLAN, Bluetooth) or light (such as infrared light, laser light), etc. In all these solutions, of course, Devices and 3D methods are used.

It can also be provided that, in a preliminary method by means of a satellite-based navigation system, the position of the plug-in hybrid vehicle or electric vehicle is determined and by a (computer-assisted) comparison of the determined position of the plug-in hybrid vehicle or electric vehicle with positions recorded in a table or database Pallets are used to determine the pallets that are within a predeterminable distance from the current location of the plug-in hybrid vehicle or electric vehicle. Optionally, then the plug-in hybrid vehicle or electric vehicle can be directed or controlled by the satellite-based navigation system to a suitable or the nearest pallet.

If the plug-in hybrid vehicle or electric vehicle has reached a predefinable first distance, the process of autonomous positioning is activated S1.

The first distance between the plug-in hybrid vehicle or electric vehicle and the pallet from which the method according to the present invention is activated (started) is not particularly limited and may be, for example, several tens of centimeters or one or more meters (e.g. 50 cm, 75 cm, 1 m, 5 m, 10 m, 15 m). Advantageously, such a distance is selected in which the respective plug-in hybrid vehicle or electric vehicle usually accurate positioning with respect to the loading plate by a (possibly autonomous) traversing a suitable trajectory without multiple setting and resetting the plug in hybrid vehicle or electric vehicle is possible.

The method according to the present invention can either be started automatically when the first predeterminable distance is reached or else be activated by an operator action of a vehicle occupant, for example in connection with a driver's operation to start an autonomous parking operation.

With the activation of the method for autonomous positioning S1, according to the invention a purely electromotive driving mode is produced and / or ensured that such is maintained (until the end of the method according to the present invention) S2.

Further, in the plug-in hybrid vehicle or electric vehicle, a rotationally fixed connection between the electric motor (s) and the transmission is established or maintained S2. In this case, if necessary, of course, a suitable for the method according to the present invention gear selected. If necessary, the speed of the plug-in hybrid vehicle or electric vehicle must be reduced in advance to a predeterminable speed.

In this way, taking into account the size (of the circumference) of the driven wheels, the transmission ratio of the transmission, optionally the transmission ratio of Differentials and the speed of the electric motor / the electric motors are calculated very accurately the distance that will cover the plug-in hybrid vehicle or electric vehicle per revolution of the electric motor (s). With a known distance from plug-in hybrid vehicle or electric vehicle (more precisely, the first charging device arranged therein) to the charging plate and any trajectory already calculated up to the charging plate, it is thus possible to calculate in a simple manner how many revolutions of the electric motor (s) will be required until the plug-in hybrid vehicle or electric vehicle is positioned with sufficient accuracy at the pallet.

This required number of revolutions of the electric motor (s) is used according to the invention to perform a speed-controlled approach of the plug-in hybrid vehicle or electric vehicle to the charging plate S3. The control of the speed (as well as the steering of the vehicle to the pallet) takes place automatically by means of one or more suitable control devices. Of course - as with all autonomous driving processes - it must always be ensured that the driver can intervene at any time in the process, for example, can break it off.

As in 2 is exemplified, the target speed of the electric motor / the electric motors is chosen to be smaller, the more the plug-in hybrid vehicle or electric vehicle approaches the pallet in a preferred manner. In this case, the distance between the plug-in hybrid vehicle or electric vehicle can also be newly determined or checked during the process of autonomous positioning continuously or at predeterminable time intervals with the aid of known devices and methods.

In the method according to the present invention can, as also in 2 by way of example, the reduction of the rotational speed per predeterminable distance unit (eg meter, cm) will be the lower, the more the plug-in hybrid vehicle or electric vehicle approaches the pallet. And it is preferably further provided that at a small distance of the plug-in hybrid vehicle or electric vehicle from the pallet, the target speed of the electric motor / the electric motors asymptotically a very small speed (possibly up to a speed of 0) approaches ,

If the attainment of the plug-in hybrid vehicle or electric vehicle is detected in a target area (the target area being defined as a predefinable second distance that is smaller than the first distance), a final braking operation is preferably automatically carried out S4, the plug-in. Hybrid vehicle or electric vehicle so positioned exactly at the pallet and the process of autonomous positioning ends S5. In the braking operation, if appropriate, the rotationally fixed connection between the electric motor / the electric motors and the clutch can be reversed again.

The method according to the present invention utilizes, advantageously and in an inventive manner, the fact that at low speeds of an electric motor / motors and a rotationally fixed connection between the electric motor (s) and the transmission of a plug-in hybrid vehicle or electric vehicle Vehicles can be accurately and conveniently positioned centimeter-wise. As a result, for example, in dependence on a known distance of the charging plate of a wireless charging device, the target speed of the electric motor / the electric motors can be adjusted so that the desired position is reached accurately and the stopping of the vehicle for the occupants of the vehicle takes place almost imperceptibly.

By the method according to the present invention, an accurate positioning capability is provided, such as for autonomous starting of a pallet. There is a perceived as comfortable by the vehicle occupants control of vehicle position and speed. Changes in running resistance (such as small stones or rough road) are automatically compensated, and thus the process of approaching a pallet, which is often also a parking operation, can always be performed in the same way.

Devices and methods which are necessary and / or helpful for carrying out the method according to the invention and its advantageous developments are known to the person skilled in the art, so that they need not be discussed in more detail here.

LIST OF REFERENCE NUMBERS

• S0

  Approach to pallet

  S1

  Activation autonomous positioning

  S2

  purely electric motor drive and rotatable connection between electric motor (s) and gearbox

  S3

  Speed-controlled approach to pallet

  S4

  Recognition of target area and braking process

  S5

  Pause and stop autonomous positioning

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• DE 102010053058 A1 [0006, 0023]

Claims (5)

A method for autonomously, sufficiently accurately positioning a first charging device of a plug-in hybrid vehicle or electric vehicle with respect to a fixed second charging device, wherein the first and the second charging device are each arranged for a contactless energy transfer, comprising the steps: a) activating an autonomous positioning operation as soon as the plug-in hybrid vehicle or electric vehicle has reached a predefinable first distance to the second charging device (S1); b) placing or holding the plug-in hybrid vehicle or electric vehicle in a purely electromotive driving mode and establishing or maintaining a rotationally fixed connection between the electric motor (s) and the transmission of the plug-in hybrid vehicle or electric vehicle (S2); c) performing a speed-guided approach to the second charging device (S3); d) initiating a final braking operation once the plug-in hybrid vehicle or electric vehicle has reached a second distance to the second charging device, the second distance being less than the first distance (S4); and e) stopping the plug-in hybrid vehicle or electric vehicle with a sufficiently accurate positioning of the first charging device with respect to the second charging device and terminating the autonomous positioning operation (S5). The method of claim 1, wherein establishing or maintaining a rotationally fixed connection between the electric motor (s) and the transmission of the plug-in hybrid vehicle or electric vehicle is by closing a converter clutch of an automatic transmission. A method according to claim 1 or 2, wherein the autonomous positioning operation is activated by an operator action of a vehicle occupant. Method according to one of the preceding claims, wherein in a pre-process by means of suitable sensors and / or short-range communication means, the position of a second charging device is determined with respect to the plug-in hybrid vehicle or electric vehicle. Method according to one of the preceding claims, wherein in a preliminary method by means of a satellite-based navigation system, the position of the plug-in hybrid vehicle or electric vehicle determined and by comparing the determined position of the plug-in hybrid vehicle or electric vehicle with recorded in a table or database positions of second charging devices, the second charging devices are determined, which are located at a predeterminable distance to the current location of the plug-in hybrid vehicle or electric vehicle.

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