DE102019002302A1 - Method for determining the position of a vehicle in a predetermined loading area and position determination arrangement - Google Patents

Abstract

The invention relates to a method for determining the position of a vehicle (10) in a predetermined loading area (22). A plurality of sensors (26, 28) are arranged distributed in the loading area (32). The vehicle (10) is detected by means of a first of the plurality of sensors (26). A first position of the vehicle (10) is transmitted by the first of the plurality of sensors (26, 28) and a location map of the loading area (32) to a receiving unit (12) of the vehicle (10). A second position of the vehicle (10) is in a region between the first sensor (26) of the plurality of sensors (26, 28) and a second sensor (26) of the plurality of sensors (26, 28) arranged in a predetermined direction (14). determined using the first position and odometry data of the vehicle (10).

Description

The invention relates to a method for determining the position of a vehicle in a predetermined loading area and a corresponding position determination arrangement.

With the increasing promotion of electromobility, it can be expected that more and more vehicles with main electric drive will take part in road traffic. For the energy required for this, it is correspondingly necessary to provide an adequate charging infrastructure. Various challenges have to be mastered. One possible approach is to equip existing parking areas and / or new parking areas with a charging infrastructure so that electric vehicles can be charged during the parking period.

Such parking areas can be very extensive, especially in the case of so-called shopping malls. Here it can be a pleasant relief not to have to maneuver the vehicle yourself to charge it, but to automate the journey of the vehicle to a suitable charging station. The term vehicles primarily refers to electric vehicles. In a larger parking area or loading area, however, it is a challenge to precisely maneuver the vehicle to the right charging station. It should be borne in mind that in parking garages, for example, often no external radio signals, such as GPS signals, are available. It is therefore necessary to provide a solution for how at least partially autonomous electric vehicles are to be maneuvered in a given area.

The publication US 9,925,886 B2 describes a method for communication with a charging system, which has a plurality of charging stations and communication control units. The electric vehicle is charged via a magnetic field. The method includes establishing a communication link between the electric vehicle and the communication controller of the charging system. With the aid of this communication connection, service information is provided which provides one or more inductive energy transfer options for the electric vehicle. The electric vehicle sends a request to a first charging station via the communication link, the first charging station having an interface for charging, which generates the magnetic field.

The disclosure DE 10 2015 218 410 A1 describes a method for determining an absolute position of a vehicle for short-range positioning when parking the vehicle. An inductive positioning method is carried out, a first transmitter in the infrastructure or in the vehicle being generated to generate a positioning magnetic field and a second transmitter in the infrastructure or in the vehicle being generated to generate a positioning signal. The positioning magnetic field and the positioning signal are received by a receiving device in the vehicle or in the infrastructure. The absolute position of the vehicle is determined based on the received position magnetic field and the positioning signal.

It is therefore an object of the invention to provide a method or an arrangement by means of which vehicles can be located in a loading area.

This object is achieved in accordance with the independent claims of this application. Useful further developments and alternative designs result from the subclaims, the description and the figures.

• In einem ersten Schritt a) wird das Fahrzeug mittels eines ersten der mehreren Sensoren erfasst. Der erste Sensor der mehreren Sensoren ist insbesondere jener Sensor, welcher dem Fahrzeug am nächsten angeordnet ist. Das Ladeareal kann als Parkfläche, Parkhaus oder Ladeinsel ausgebildet sein. Die in dem Ladeareal verteilten Sensoren können als Laserscanner, Ultraschallsensoren, Infrarotsensoren, kapazitive Sensoren, induktive Sensoren, optische Sensoren oder als Transceiver ausgebildet sein.

The invention relates to a method for determining the position of a vehicle in a predetermined loading area. Several sensors are distributed in the loading area. The process is characterized by the following process steps:

• In a first step a), the vehicle is detected by means of a first of the plurality of sensors. The first sensor of the plurality of sensors is in particular that sensor which is arranged closest to the vehicle. The loading area can be designed as a parking area, parking garage or charging island. The sensors distributed in the loading area can be designed as laser scanners, ultrasound sensors, infrared sensors, capacitive sensors, inductive sensors, optical sensors or as transceivers.

In a further step b), a first position of the vehicle is transmitted to a receiving unit of the vehicle by the first of the plurality of sensors and a location map of the loading area. The first position of the vehicle can take place, for example, by means of an optical analysis of a camera image. It is also possible that a position of the first of the plurality of sensors, for example an installation position of the first sensor in the loading area, is assigned to the vehicle. However, this preferably only applies if this first of the plurality of sensors is closest to the vehicle in comparison to all other sensors for this method. The first position determined in this way in particular represents an approximation for the position of the vehicle. By transmitting the location map of the loading area to a receiving unit of the vehicle, an internal control unit of the vehicle can facilitate maneuvering within the loading area. At the same time, a driver can be shown the position of his vehicle and other useful information. This additional useful information can include, for example, information about lifts, entrances or exits.

In a further step c), a second position of the vehicle is determined in a region between the first sensor of the plurality of sensors and a second sensor of the plurality of sensors arranged in a predetermined direction by means of the first position and odometer data of the vehicle. For example, if the vehicle passes the first of the plurality of sensors, the position of the first sensor can be determined as the simplified position of the vehicle. In the further course, however, the vehicle generally moves further and thus leaves an area around the first of the several sensors. In this case, the position of the vehicle no longer corresponds to the approximate assumed position of the first of the plurality of sensors.

Therefore, the second position of the vehicle is determined in this case. The first position of the vehicle and odometer data of the vehicle are used. For example, a distance traveled can be determined from the first position using a wheel odometry. With the help of this distance, it is possible to infer from the first position to the second position.

This determination of the second position can also be implemented as part of a Kalman filter. Other more complex approaches can also be used, which can determine a more precise second position of the vehicle. The plurality of sensors are preferably distributed within the loading area. Ideally, these sensors are distributed in such a way that the vehicle can be detected in the entire area of the loading area. The first position of the vehicle and the location map of the loading area can be transmitted using a radio system. Such a radio system can in particular contain several transceivers, which can also be arranged distributed over the loading area. Radio signals can thus be transmitted from the transceivers to the receiver unit of the vehicle. These radio signals can be designed, for example, as a WLAN signal. The sensors and transceivers can

The invention also provides a position determining arrangement with a vehicle and a control unit. The vehicle has a receiving unit. The position determination arrangement also includes a plurality of sensors which are arranged distributed in a loading area. With the aid of these several sensors arranged in a distributed manner, the vehicle can be detected at least approximately within the loading area. A position of the sensor that is closest to the vehicle can be assigned as the position of the vehicle. The control unit can in particular be designed to access odometry data and / or vehicle data of the vehicle in order to determine a more precise position. Using this odometry data or vehicle data, the control unit can determine a second position from a first position, the second position being between two of the plurality of sensors. In this way, the vehicle can be located at the respective sensors that are distributed in the loading area, and at the same time the control unit can also determine the position of the vehicle between the sensors using the odometry data. The position of the vehicle can also be determined in the spaces between the sensors arranged in a distributed manner. This position data can be used by a control unit of the vehicle to autonomously maneuver the vehicle into a predetermined area around a charging station. The examples and advantages of the method mentioned apply analogously and analogously to the position determination arrangement and vice versa.

The invention will now be explained in more detail with reference to the accompanying drawings. The drawings and the associated description of the figures serve to show how the invention can be implemented in practice. In particular, the features mentioned in the description of the figures are to be understood as examples and not as restrictive features.

Further advantages, features and details of the invention emerge from the following description of preferred exemplary embodiments and from the drawings. The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the combination indicated in each case, but also in other combinations or on their own, without the scope of Leaving invention.

• 1 ein Ladeareal mit mehrere Ladestationen sowie einer Positionsbestimmungsanordnung; und
• 2 ein Fahrzeug unmittelbar vor dem Eintreffen in einen vorgegebenen Bereich um die Ladestation.

Show:

• 1 a loading area with several charging stations and a positioning arrangement; and
• 2 a vehicle immediately before it arrives in a predetermined area around the charging station.

In 1 is an example of a position determination arrangement 35 shown. To the Positioning arrangement 35 belongs to a loading area 32 which has several parking spaces cp 1 to cp10 having. In 1 is an example of a vehicle on the left 10 shown which is in along a given direction 14 emotional. The vehicle 10 has a receiving unit 12 on. The receiving unit 12 of the vehicle 10 can also be used as a transceiver 20 be trained. In 1 are two other vehicles 10 shown which are already parked in corresponding parking spaces. Above the vehicle 10 which is along the given direction 14 moved, is a sensor arrangement schematically 37 shown. In the 1 shown sensor arrangement 37 extends from the left side when the vehicle enters 10 straight to a right opposite side of the loading area 32 , This sensor arrangement 37 can have corresponding branches to other parking spaces.

Within this sensor arrangement 37 several components are shown. Directly above the entering vehicle 10 is a first sensor 26 as well as a first transceiver 20 arranged. The first sensor 26 , the second sensor 28 and the transceiver 20 can be combined in one unit. Such a unit can be referred to as a sensor / transmitter system. So that the sensor arrangement 37 the multiple sensors 26 . 28 and at least one transceiver 20 exhibit. Within the loading area 32 several such sensor / transmitter units are arranged. Along the given direction 14 is another transceiver 20 as well as a second sensor 28 arranged. The transceivers 20 are especially for the transmission of radio signals 13 set up. The arrangement of these sensor / transmitter units is preferably oriented along a predetermined main direction. This main direction preferably corresponds to a direction of travel of the vehicle 10 within the loading area 32 , In case of 1 it is assumed that this direction is the given direction 14 equivalent. Each sensor / transmitter unit can pass the vehicle 10 detect along this point. In this respect, a combination of the transceiver 20 and the first sensor 26 or second sensor 28 can be understood as a "checkpoint".

This in 1 The radio system shown can be, for example, an RFID system with a tag on the transceiver 20 and a transponder in the vehicle 10 be carried out. The receiving unit 12 of the vehicle 10 can also be used as a transceiver 20 be executed.

The one in the sensor array 37 arranged sensors 26 . 28 can be designed as laser scanners, ultrasonic sensors, infrared sensors, capacitive sensors, inductive sensors or optical sensors. The sensors 26 . 28 the sensor arrangement 37 can differ in their type. For example, the first sensor 26 be designed as a camera and the second sensor 28 can be designed as an ultrasonic sensor. A number and type of the sensors used depend in particular on the possibilities of the sensor to be used in each case or on the specific circumstances on site. Using the multiple sensors 26 . 28 the sensor arrangement 37 in the loading area 32 can use the radio signals 13 Coordinates to the vehicle 10 be transmitted. These coordinates represent in particular a first position of the vehicle 10 , In particular, a control unit 30 of the vehicle 10 together with the coordinates a map of the loading area 32 transmitted. The control unit can use the transmitted coordinates and the location map 30 of the vehicle 10 the position of the vehicle 10 within the loading area 32 determine independently. The location map of the loading area 32 is preferred when you reserve the charging station 22 in the charging island 32 the control unit 30 of the vehicle 10 transmitted. At the control unit 30 can be a control unit 30 of the vehicle 10 or a control unit 30 the sensor arrangement 37 act. It is also possible that the control unit 30 outside the loading area 32 is arranged. Computationally intensive algorithms can be run on an external control unit 30 be carried out.

The control unit 30 of the vehicle 10 the vehicle position can also be in areas between two sensors 26 . 28 determine. Using the first position, which of the control unit 30 was transmitted, and existing odometry data of the vehicle 10 can the control unit 30 determine a more precise second position based on the first position. This more precise second position preferably indicates a point between two sensor / transmitter units. A position determination of the vehicle can thus also be carried out in an intermediate area between the sensor / transmitter units 10 respectively. The first position of the vehicle can be used to simplify the position determination 10 an installation position of that sensor 26 . 28 match which of the vehicle 10 detected. This is the case, for example, when the vehicle 10 the corresponding first sensor 26 happens. As the vehicle continues to maneuver 10 determines the control unit 30 of the vehicle 10 the second position (intermediate position between two respective sensors 26 . 28 ) using the odometry data and the previously transmitted first position. The first position is preferably represented using cylinder coordinates or Cartesian coordinates.

So the vehicle can 10 with the available position data up to a specified range 24 around the charging station 22 be maneuvered. 2 shows the situation in which the vehicle 10 this predetermined range 24 reached. The default range 24 is in particular a communication area of the charging station 22 , Within this range 24 can both the vehicle 10 as well as the charging station 22 corresponding radio signals directly 13 exchange with each other. Reaches the vehicle 10 the given area 24 , corresponding communication signals in particular 13 between the vehicle 10 and the charging station 22 replaced. In this case, authentication of the vehicle is preferred 10 carried out. So it can be checked whether the vehicle 10 is entitled to the charging station in question 22 to use. Furthermore, the in 2 radio signals shown 13 to be used the vehicle 10 in an effective area of the charging station 22 to be positioned exactly. So the vehicle can 10 precisely in the action area of the charging station 22 be maneuvered.

A further advantageous embodiment of the invention provides that the vehicle is based on the first and second position 10 to the given area 24 around the charging station 22 of the loading area 32 is maneuvered. An in-vehicle control unit can use the position data 30 the vehicle 10 independently to the charging station 22 maneuver.

Another advantageous embodiment provides that after the arrival of the vehicle 10 in the given range 24 around the charging station 22 the vehicle 10 by means of radio signals 13 between the charging station 22 and the vehicle 10 can be exchanged directly, authenticated and compared to the charging station 22 is aligned to the vehicle 10 to charge with electrical energy. This can ensure that only those vehicles 10 to the charging station 22 be maneuvered, which previously the appropriate charging station 22 have reserved or booked. During an absence of a vehicle user, the vehicle can 10 be charged with electrical energy. This can result in downtimes of electric vehicles that occur anyway 10 useful for charging the respective batteries of the vehicles 10 be used.

A further advantageous embodiment provides a position determination arrangement 35 before, the at least part of the multiple sensors 26 . 28 is designed as a laser scanner, ultrasonic sensor, infrared sensor, camera, capacitive sensor and / or inductive sensor. All sensors can be of the same type or the sensors can be of different types and can be adapted to the corresponding requirements on site. This can ensure that the vehicles 10 reliable within the loading area 32 can be detected.

Another advantageous embodiment provides that the vehicle 10 a first transceiver 20 has and in the loading area 32 in addition to the multiple sensors 26 . 28 multiple transceivers 20 for communication with the first transceiver 20 are distributed. This ensures that there is always reliable communication between the vehicle 10 and the sensor arrangement 37 of 1 is possible.

LIST OF REFERENCE NUMBERS

10

vehicle

12

receiver unit

13

radio signal

14

given direction

20

transceiver

22

charging station

24

predetermined range

26

first sensor

28

second sensor

30

control unit

32

loading area

35

Positioning arrangement

cp1 - cp10

parking

37

sensor arrangement

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• US 9925886 B2 [0004]
• DE 102015218410 A1 [0005]

Claims (6)

Method for determining the position of a vehicle (10) in a predetermined loading area (22), several sensors (26) being distributed in the loading area (32), characterized by the method steps: a) detecting the vehicle (10) by means of a first of the plurality Sensors (26), b) transmitting a first position of the vehicle (10) through the first of the plurality of sensors (26, 28) and a location map of the loading area (32) to a receiving unit (12) of the vehicle (10), c) determining a second position of the vehicle (10) in a region between the first sensor (26) of the plurality of sensors (26, 28) and a second sensor (28) of the plurality of sensors (26, 28) arranged in a predetermined direction (14) by means of the first position and odometry data of the vehicle (10). Procedure according to Claim 1 , the vehicle (10) being maneuvered to a predetermined area (24) around a charging station (22) of the charging area (35) based on the first and second position. Procedure according to Claim 2 , When the vehicle (10) arrives in the predetermined area (24) around the charging station (22), the vehicle (10) by means of radio signals (13) which are exchanged directly between the charging station (22) and the vehicle (10) , authenticated and aligned with the charging station (22) in order to charge the vehicle (10) with electrical energy. Position determination arrangement (35) with - a vehicle (10) which has a receiving unit (12), - A plurality of sensors (26, 28) and distributed in a loading area (32) - A control unit (30), which is designed, together with the sensors (26, 28), to carry out a method according to one of the preceding claims. Position determination arrangement (35) according to Claim 4 , at least some of the plurality of sensors (26, 28) being designed as laser scanners, ultrasound sensors, infrared sensors, cameras, capacitive sensors and / or inductive sensors (26, 28). Position determination arrangement (35) according to one of claims 4 to 5, wherein the vehicle (10) has a first transceiver (20) and in the loading area (32) in addition to the plurality of sensors (26, 28) a plurality of transceivers (20) for communication with the first transceiver (20) are arranged distributed.

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