DE102021112783A1 - Charging a motor vehicle at a stationary charging facility - Google Patents

Abstract

The invention relates i.a. a motor vehicle (10), which has an environment detection sensor (14, 16, 18, 20), a first driver assistance system (22), which is designed to guide a driver when driving the motor vehicle (10) based on a signal from the environment detection sensor (14, 16 , 18, 20) and a second driver assistance system (24) which is designed to detect the stationary charging device (12) and/or a label (38) on the basis of a signal from the surroundings detection sensor (14, 16, 18, 20) to recognize the stationary charging device (12). Based on this, a stopping position for charging the motor vehicle (10) at the stationary charging device (12) can be determined and the driver can be supported in driving the motor vehicle (10) to the determined stopping position and/or at least one piece of charging information assigned to the stationary charging device (12) can be determined .

Description

The invention relates to a motor vehicle. The invention also relates to a method for operating a motor vehicle.

Vehicles that are at least partially electrically powered may have traction batteries. An example of such vehicles are electrically operated buses (eBusse), which are used as regular service vehicles. Electric drives are advantageous for line vehicles because line travel times are usually limited and separated by periods (breaks) in which the battery can be charged. Furthermore, scheduled vehicles operate on fixed routes, so that charging stations can be set up along the route.

For the charging process, a charging interface of the charging station can be brought into contact with a charging interface of the vehicle. One of the two interfaces can include a pantograph for contacting. So that contact is actually possible, the contact interface of the vehicle must be positioned in a specified area relative to the contact interface of the charging station.

the WO 2017/174292 A1 discloses a positioning system for a charging station for an at least partially electrically powered vehicle. The position determination system is used to determine a position of a contact interface of the vehicle in relation to a charging interface of the charging station. The positioning system optically determines the position in at least two dimensions.

the EP 3 569 442 A1 discloses a system for identifying and determining the position of at least one vehicle relative to at least one charging station. The charging station can be coupled to the vehicle in order to electrically charge the vehicle. The system has at least one optical sensor that is designed to detect an identifier that is invisible to the human eye. The sensor is designed to detect an optical identifier on the vehicle. A control unit is designed to use the signals to identify the vehicle and to determine the location of the vehicle relative to the charging station.

The invention is based on the object of creating an improved technique for charging a motor vehicle at a stationary charging device.

The object is solved by the features of the independent claims. Advantageous developments are specified in the dependent claims and the description.

One aspect relates to a motor vehicle, preferably a commercial vehicle, particularly preferably a bus or truck. The motor vehicle can be electrically charged at a stationary charging device. The motor vehicle has an environment detection sensor, which is designed to detect an environment of the motor vehicle. The motor vehicle has a first driver assistance system, which is designed to support a driver when driving the motor vehicle based on a signal from the environment detection sensor (e.g. through visual, haptic and/or acoustic output and/or at least partially automated driving of the motor vehicle (e.g. steering intervention, accelerating, braking and/or maintaining speed, etc.)). The motor vehicle has a second driver assistance system which is designed to recognize the stationary charging device and/or an identification of the stationary charging device on the basis of a signal from the environment detection sensor. The second driver assistance system is also designed, based on the detection of the stationary charging device and/or the identification, to determine a stopping position for charging the motor vehicle at the stationary charging device and to support the driver in guiding the motor vehicle to the determined stopping position (e.g. by visual, haptic and/or acoustic output and/or automated driving of the motor vehicle (e.g. steering intervention, accelerating, braking and/or maintaining speed, etc.) Alternatively or additionally, the second driver assistance system is also designed to do this, based on the recognition the stationary charging device and/or the identification to determine at least one item of charging information associated with the stationary charging device.

The motor vehicle advantageously enables the initiation of a charging process and/or the charging process itself to be improved. The second driver assistance system can make it easier to position the motor vehicle in relation to the stationary charging device. Alternatively or additionally, the second Driver assistance systems make it possible for information relevant to charging to be determined in a simple manner in order to be able to control a charging process or, for example, to be able to carry out a compatibility check very early on. A special feature is that new environment detection sensors on the motor vehicle can be dispensed with. Instead, the second driver assistance system is configured in such a way that surroundings detection sensors that are already present on the motor vehicle for other driver assistance systems are used. The second driver assistance system can thus be implemented in a simple manner. In the ideal case, only a new software module that implements the second driver assistance system is required; all of the hardware is already present in the motor vehicle.

The variants described below make particularly effective use of the advantages explained.

In one embodiment, the environment sensing sensor is a camera device (e.g., having at least one camera). Alternatively, the environment detection sensor can be a camera device of a mirror replacement system of the motor vehicle, preferably a wide-angle camera of the mirror replacement system. Alternatively, the environment detection sensor can be a front camera device of the motor vehicle.

In a further exemplary embodiment, the environment detection sensor is a radar sensor, a lidar sensor or an ultrasonic sensor of the motor vehicle.

In a further exemplary embodiment, the first driver assistance system is a camera-based mirror replacement system, a parking assistance system, a distance assistance system, a turning assistance system, a lane change assistance system, a lane keeping assistance system or a cruise control system.

In a further exemplary embodiment, the environment detection sensor is arranged on a longitudinal outer side of the motor vehicle (e.g. passenger side or driver's side) or on a front side of the motor vehicle.

In a further exemplary embodiment, the motor vehicle has a charging connection (e.g. contact rail) to which the stationary charging device can be connected, the charging connection being arranged on a top side, preferably a roof, of the motor vehicle. The charging connection can preferably be designed for contacting a pantograph of the stationary charging device that can be moved, preferably lowered, towards the charging connection. Alternatively, the charging connection can be designed, for example, as an extendable pantograph for contacting the stationary charging device.

In a further exemplary embodiment, the second driver assistance system is designed to recognize the identifier using an image recognition algorithm, pattern recognition algorithm or an (artificial) neural network.

In a further exemplary embodiment, the second driver assistance system is designed to determine an actual relative position between the motor vehicle and the detected stationary charging device and/or the detected identifier (e.g. using an image recognition algorithm, pattern recognition algorithm or an (artificial) neural network).

In a further exemplary embodiment, the second driver assistance system is designed to determine the stopping position as the desired relative position between the motor vehicle and the identified stationary charging device or the identified identifier, or to read it out from the identified identifier.

In a further exemplary embodiment, the second driver assistance system is designed to support the driver when guiding the motor vehicle to the determined stopping position in such a way that a deviation between the actual relative position and the target relative position is reduced during guidance (e.g. with respect to a longitudinal axis and/or a transverse axis of the motor vehicle).

In one embodiment, the identifier is a 2D visual code, a 3D visual code, a QR code, a barcode, or a three-dimensional solid.

In a further specific embodiment, the second driver assistance system is designed to identify the stationary charging station designed as an overhead charging station, preferably a pantograph charging station, and/or the label attached to, on, or near (or in an area around) the overhead charging station based on the Recognizing the signal of the environment detection sensor.

In a further embodiment, the second driver assistance system is designed to determine and preferably output (e.g. visually, acoustically and/or by means of a user interface) the compatibility of a charging connection of the motor vehicle with the stationary charging device from the at least one charging information determined.

In a further embodiment, the motor vehicle also has an on-board charger which is designed to control and/or plan charging of the motor vehicle (e.g. a traction battery of the motor vehicle) at the stationary charging device based on the at least one charging information item determined.

In one embodiment variant, the at least one piece of charging information has a unique identifier for the stationary charging device, a type of stationary charging device, an electrical contact system for the stationary charging device (or its type), a voltage range for the stationary charging device, a power range for the stationary charging device, a maximum power for the stationary charging device Charging device, a pairing method (or coupling method) supported by the stationary charging device, the holding position z. B. relative to the label for charging the motor vehicle and / or supported by the stationary charging device positioning method.

In a further embodiment variant, the second driver assistance system is designed to read the at least one item of charging information from the recognized identifier and/or the at least one item of charging information from a (e.g. vehicle-internal or vehicle-external) data source (e.g. database) to which the recognized stationary charging device and / or marking refers to retrieve.

A further aspect of the present disclosure relates to a method for operating a motor vehicle (eg commercial vehicle, particularly preferably a bus or truck), preferably as disclosed herein. The method includes detecting an environment of the motor vehicle by means of an environment detection sensor. The method includes a first evaluation of the detected environment using a first driver assistance system when the first driver assistance system is activated. The method includes a second evaluation of the detected environment using a second driver assistance system when the second driver assistance system is activated. The second evaluation includes recognizing a stationary charging device and/or identifying a stationary charging device in the detected environment. Based on the detection, the method includes determining a stopping position of the motor vehicle for charging the motor vehicle at the stationary charging device and supporting the driver in driving the motor vehicle to the determined stopping position, preferably by visual output, acoustic output and/or at least partially automated driving of the motor vehicle , on. Alternatively or additionally, based on the detection, the method includes a determination of a piece of charging information associated with the stationary charging device. The same advantages that have already been described here for the motor vehicle can advantageously be achieved with the method.

• 1 eine Seitenansicht eines vorderen Abschnitts eines Kraftfahrzeugs gemäß einem Ausführungsbeispiel der vorliegenden Offenbarung;
• 2 eine perspektivische Ansicht einer stationären Ladeeinrichtung; und
• 3 eine schematische Draufsicht auf ein Kraftfahrzeug und eine stationäre Ladeeinrichtung.

The preferred embodiments and features of the invention described above can be combined with one another as desired. Further details and advantages of the invention are described below with reference to the accompanying drawings. Show it:

• 1 12 is a side view of a front portion of a motor vehicle according to an embodiment of the present disclosure;
• 2 a perspective view of a stationary charger; and
• 3 a schematic plan view of a motor vehicle and a stationary charging device.

The embodiments shown in the figures correspond at least in part, so that similar or identical parts are provided with the same reference symbols and, for their explanation, reference is also made to the description of the other embodiments or figures in order to avoid repetition.

the 1 and 2 show a motor vehicle 10 and a stationary charging device 12.

The motor vehicle 10 can be driven electrically. For example, the motor vehicle 10 can have an electric central drive, several electric wheel hub drives and/or several electric drives close to the wheels.

The motor vehicle 10 is preferably designed as a bus, as in 1 is shown. However, it is also possible that the motor vehicle as another type of commercial vehicle, z. B. as a truck, or for example as a passenger car.

Motor vehicle 10 has at least one environment detection sensor 14 , 16 , 18 , 20 , a first driver assistance system 22 and a second driver assistance system 24 .

The at least one environment detection sensor 14, 16, 18, 20 is designed to detect an environment of motor vehicle 10. The at least one environment detection sensor 14, 16, 18, 20 can preferably be arranged on a longitudinal outer side and/or a front side of motor vehicle 10.

The environment detection sensor 14 may be a camera device, preferably a wide-angle camera, of a (outer rear) mirror replacement system. The surroundings detection sensor 14 may be arranged on a longitudinal outside of the motor vehicle 10 . For example, the environment detection sensor 14 may be located near a driver's door or a passenger door of the motor vehicle 10 . The mirror replacement system can also have at least one display device inside the motor vehicle 10 for displaying a recording or multiple recordings of the environment detection sensor 14 .

The environment detection sensor 16 may be a front camera device. The surroundings detection sensor 16 may be arranged at a front of the motor vehicle 10 . For example, the environment sensing sensor 16 may be located behind a windshield, e.g. B. top center or bottom center behind the windshield.

The environment detection sensor 18 can be, for example, a radar sensor, a lidar sensor or an ultrasonic sensor. The environment sensing sensor 18 may be located at a front of the motor vehicle 10, e.g. B. on a vehicle front, a radiator grille and / or below a windshield of the motor vehicle 10.

The environment detection sensor 20 can be a radar sensor, for example. The surroundings detection sensor 20 may be arranged on a longitudinal outside of the motor vehicle 10 . For example, environment detection sensor 20 can be arranged in the area of a front axle of motor vehicle 10, behind the front axle and/or on a fender for the front axle.

The first driver assistance system 22 is designed to support the driver of the motor vehicle 10 in driving the motor vehicle 10 . The support can consist, for example, in that the driver is informed acoustically, visually and/or tactilely by means of an output via a user interface. Alternatively or additionally, the support can consist, for example, in the motor vehicle being guided (partially) automatically, for example being steered, driven, braked and/or accelerated.

The first driver assistance system 22 can preferably be a camera-based mirror replacement system, a parking assistance system, a distance assistance system, a turning assistance system, a lane change assistance system, a lane keeping assistance system or a cruise control system.

The camera-based mirror replacement system can replace or supplement the conventional exterior rear view mirrors of the motor vehicle with a camera device. For example, the camera-based mirror replacement system can have or use the environment detection sensor 14 . The recording of the camera device can be displayed to the driver on a display unit. Additional information can optionally be displayed, for example in the form of augmented reality.

The parking assistance system can support a driver of motor vehicle 10 when parking motor vehicle 10 . The parking assistance system can have or use environment detection sensor 16 and/or environment detection sensor 20, for example. For example, the driver can be supported by the output of information regarding a distance to obstacles in front of, next to and/or behind motor vehicle 10 . It is also possible for the parking assistance system to automatically steer and/or drive motor vehicle 10 .

The distance assistance system can support the driver of motor vehicle 10 in maintaining a minimum distance from a motor vehicle driving in front. The distance assistance system can for example, have or use the environment detection sensor 16 and/or 18 . For example, the driver can be supported by the output of information regarding a distance from the vehicle driving ahead and/or from an obstacle ahead. It is also possible for the distance assistance system to carry out an automated emergency braking of the motor vehicle 10 and/or to carry out an identification maneuver in an automated manner.

The turning assistance system can support the driver of motor vehicle 10 when turning motor vehicle 10 . The turning assistance system can have or use environment detection sensor 14 and/or environment detection sensor 20, for example. For example, the driver can be supported by the output of information (e.g. warning information) with regard to an environment adjacent to a longitudinal outside of motor vehicle 10, in particular in the blind spot of motor vehicle 10, expedient for recognizing cyclists and pedestrians approaching and/or crossing from behind in the immediate vicinity of motor vehicle 10. It is also possible for the turning assistance system to automatically perform emergency braking of the motor vehicle and/or to prevent motor vehicle 10 from turning.

The lane change assistance system can support the driver of motor vehicle 10 when changing lanes. The lane change assistance system can have or use the surroundings detection sensor 14, the surroundings detection sensor 18 and/or the surroundings detection sensor 20, for example. For example, the environment sensing sensor 20 may monitor whether a vehicle is approaching from behind. The lane change assistance system can monitor a lane next to motor vehicle 10 and/or a blind spot of motor vehicle 10 . For example, the driver of motor vehicle 10 can be informed of the presence of motor vehicles in the adjacent lane and/or in the blind spot of motor vehicle 10 . It is also possible for the lane change assistance system to carry out automated steering interventions in order to change lanes, e.g. B. to prevent danger and / or to carry out a (safe) lane change.

The lane departure warning system can support the driver of motor vehicle 10 in staying in the lane. The lane departure warning system can have or use the surroundings detection sensor 14, the surroundings detection sensor 16 and/or the surroundings detection sensor 18, for example. For example, compliance with the lane by the motor vehicle can be checked by monitoring the lane markings and the driver can be informed accordingly. It is also possible for the lane departure warning system to automatically intervene in the steering, for example to stay in lane.

The cruise control system can support the driver when driving the motor vehicle 10 . The speed control system can have or use the environment detection sensor 16 and/or the environment detection sensor 18 , for example. For example, a speed specified by the driver and/or a distance from the vehicle driving ahead can be maintained by automated acceleration, driving and braking of motor vehicle 10 .

The motor vehicle 10 can have a traction battery 26 , an electrical charging connection 28 and an on-board charger 30 .

The traction battery 26 can store electrical energy. The traction battery 26 can be charged by the stationary charging device 12 via the charging connection 28 , for example. The traction battery 26 can be arranged, for example, in a floor area of the motor vehicle 10 . Alternatively, the traction battery 26 can be arranged, for example, in the roof area or in the rear area of the motor vehicle 10 .

The charge port 28 is electrically connected to the traction battery 26 for charging the traction battery. A charging process using the charging connection 28 can be controlled by the on-board charger 30 .

The charging connection 28 is preferably arranged on an upper side of the motor vehicle 10 . The charging connection 28 is particularly preferably arranged on a roof of the motor vehicle 10 . For example, the charging connection 28 can be arranged directly above a front axle of the motor vehicle 10 on the roof of the motor vehicle 10 . Alternatively, the charging connection 28 can also be arranged at any other position on the motor vehicle 10 .

The charging connection 28 is preferably embodied as a contact rail for contacting a pantograph 32 of the stationary charging device 12 that can be moved toward the charging connection 28 . For example, the pantograph 32 can be lowered onto the charge port 28 from above. Alternatively, for example, the charging connection 28 itself can be designed as a pantograph, which can be extended to contact the stationary charging device 12 .

The stationary charging device 12 is preferably designed as an overhead charging device. The stationary charging device 12 can have a mast 34 and a cantilever 36 . The overhang 36 may be located at an upper end of the mast 34 . The projection 36 or the charging interface of the charging device 12 can project or be arranged over a desired holding position for the motor vehicle 19 for charging the motor vehicle 10 . The projection 36 can carry the pantograph 32 or an electrical contact rail, which can be contacted by a charging connection 28 designed as a pantograph, preferably on an underside of the projection. It is possible that the stationary charging device 12 is designed differently, e.g. B. as a portal or a charging station.

The stationary charging device 12 can have an identification 38 .

The marking 38 can preferably be arranged on the mast 34 . For example, the marking 38 can be arranged at a height of more than 2 m. In this way, for example, a risk can be reduced that the marking is covered by a person or a parked passenger car, for example. For example, the marking 38 can be directed towards a roadway on which the stationary charging device 12 is arranged. The marking 38 can, for example, be aligned parallel, transverse or at an angle to a course of the roadway. It is also possible that the marking 38 is arranged, for example, on the projection 36, on a distribution box 40 of the stationary charging device 12 or in the immediate vicinity of the mast 34 or the charging device 12 (e.g. radius ≦10 m, 5 m, 3m, 2m or 1m).

An arrangement of the identifier 38 can be adapted to the surroundings detection sensor 14, 16, 18 or 20 used for the second driver assistance system 24 and in particular to its field of vision. For example, the label 38 can be placed directly on the stationary charging device 12 if a camera is used for detection (e.g. environment detection sensors 14, 16). Alternatively, the identifier 38 can be arranged, for example, on a curb of the stationary charging device 12 if the environment detection sensor 20 is used by the second driver assistance system 24 .

The identifier 38 can preferably be a 2D visual code, a 3D visual code or a three-dimensional body. For example, the 2D code can be a QR code or a bar code. The 3D code can be a colored QR code or a colored bar code, for example. The three-dimensional body can be designed as one or more reflectors. The at least one reflector can be designed to reflect in the frequency spectrum used by the respective environmental sensor (e.g. 20). The at least one reflex port can be arranged in a predetermined position relative to the stationary charging device 12 . Alternatively or additionally, the plurality of reflectors can be arranged at a predetermined distance from one another.

The design of the identifier 38 can be adapted to the environment detection sensor 14 , 16 , 18 or 20 used for the second driver assistance system 24 . For example, the identifier 38 can be a 2D visual code or a 3D visual code if a camera is used for detection (e.g., perimeter sensors 14, 16). Alternatively, the marker 38 may be a three-dimensional body when the environment sensing sensor 18 or 20 is utilized.

The second driver assistance system 24 is designed to support the driver of the motor vehicle 10 in assuming a correct stopping position at the stationary charging device 12 for the preferably automatic charging of the motor vehicle 10 . For this purpose, the second driver assistance system 24 uses a signal from at least one of the surroundings detection sensors 14, 16, 18, 20, which are already present for the first driver assistance system 22 anyway.

The second driver assistance system 24 recognizes the stationary charging device 12 and/or the identifier 38 in the signal of the respective surroundings detection sensor 14, 16, 18 and/or 20. The recognition depends on the surroundings detection sensor 14, 16, 18 and/or 20 used in each case. The recognition can preferably be an image recognition, a pattern recognition and/or the use have a neural network. For example, an image recognition algorithm or, in general, a pattern recognition algorithm or a neural network can be applied to a camera recording, a point cloud or the like from environment detection sensor 14 , 16 , 18 and/or 20 .

It is also possible that the image recognition algorithm or, in general, the pattern recognition algorithm proceeds in several stages and first tries to recognize one of the stationary charging device 12 and the identification 38 and, based on this, to recognize the other of the stationary charging device 12 and the identification 38. For example, a plausibility check of the detection can be made possible or a more targeted search for the stationary charging device 12 or the identification 38.

Depending on the design, the second driver assistance system 24 can carry out different actions that can be combined with one another based on the detection of the stationary charging device 12 and/or the identification 38 .

According to a first example, the second driver assistance system 24 can determine a stopping position for charging the motor vehicle 10 at the stationary charging device 12 based on the detection of the stationary charging device 12 and/or the identification 38 and can support the driver in guiding the motor vehicle 10 to the determined stopping position.

The second driver assistance system 24 can determine, for example, an actual relative position between the motor vehicle 10 and the identified stationary charging device 12 or the identified identifier 38 . For this purpose, the second driver assistance system 24 can evaluate, for example, a size and possibly an orientation of the identified stationary charging device 12 or the identified identifier 38 . For example, a pattern of the marker may be processed by the image recognition algorithm, pattern recognition algorithm, or neural network to calculate, for example, the viewing angle and distance between the surround-sensing sensor 14, 16, 18, or 20 and the marker 38. The second driver assistance system 24 can, for example, also access stored data such as a position of the respective environment detection sensor 14 , 16 , 18 , 20 on the motor vehicle 10 . The actual relative position can preferably be two-dimensional and relate to a longitudinal axis and a transverse axis of motor vehicle 10 .

The second driver assistance system 24 can, for example, determine the stopping position as the target relative position between the motor vehicle 10 and the identified stationary charging device 12 or the identified identifier 38 . For example, the holding position can be at a predetermined (longitudinal and/or transverse) distance from the identified stationary charging device 12 or the identified identifier 38 . It is also possible that the marking 38 itself contains readable information about where the holding position is positioned relative to the marking 38 . The target relative position can preferably be two-dimensional and relate to a longitudinal axis and a transverse axis of motor vehicle 10 .

The second driver assistance system 24 can support the driver when guiding the motor vehicle 10 to the determined stopping position in such a way that a deviation between the actual relative position and the target relative position is reduced (e.g. with respect to a longitudinal axis and/or a transverse axis of the motor vehicle).

When guiding the motor vehicle 10 to the stopping position, the second driver assistance system 24 can support the driver, for example, through acoustic and/or visual output using an output unit of the motor vehicle 10 and/or the stationary charging device 12 . For example, the stopping position and the actual position of the motor vehicle 10 can be displayed to the driver of the motor vehicle 10, e.g. B. in a coordinate system. Alternatively or additionally, the second driver assistance system 24 can support the driver when driving the motor vehicle 10 in that it at least partially takes over the driving of the motor vehicle 10 . For example, the second driver assistance system 24 can drive the motor vehicle 10 partially or fully automatically to the stopping position. In the area of partial automation, it is possible, for example, for the second driver assistance system 24 to take over steering, a drive and/or a brake of the motor vehicle 10 .

According to a second example, the second driver assistance system 24 can determine at least one piece of charging information associated with the stationary charging device 12 for further use based on the identification of the stationary charging device 12 and/or the identifier 38 .

The at least one item of charging information can have, for example, a unique identifier, a type, an electrical contact system, a voltage range, a maximum power, a supported pairing method (or coupling method) and/or a supported positioning method. It is also possible for the at least one item of charging information to have the stopping position relative to the identifier 38 for charging the motor vehicle 10 at the stationary charging device 12 .

              {
              "EVSE ID": „DE123E456789"
              „Type": „ACDP Charger",
              „Contact System": „EN 50696 System A2",
              "Voltage Range": "500 - 920 V",
              "Pmax": "350 kW',
              "Pairing": "QR Code",
              "Positioning": "none",
              "HLC Protocols": {
                  "OppCharge v1.3",
                  "ISO 15118-20"
                  }
              }

An example of a data structure for the at least one load information in JSON notation is as follows:

 {
              "EVSEID": "DE123E456789""Type":"ACDPCharger","ContactSystem":"EN 50696 System A2",
              "Voltage Range": "500 - 920V",
              "Pmax": "350kW',
              "Pair": "QR Code",
              "positioning": "none",
              "HLC Protocols": {
                  "OppCharge v1.3",
                  "ISO 15118-20"
                  }
              }

• EVSE ID: Eindeutige Kennung der Ladesäule gemäß ISO 15118
• Type: Typ der Ladestation (ACDP: Autoconnect Charging Device Pantograph)
• Contact System: Art des Kontaktsystems mit Nennung der Norm, in der das betreffende Kontaktsystem definiert ist (z. B. EN 50696 System A2 bei Stromschienen für Inverted Pantograph)
• Voltage Range: von der Ladestation unterstützter Spannungsbereich in Volt
• Pmax: maximale Leistung der Ladestation
• Pairing: von der Ladestation unterstützte Pairing-Methode(n): z. B. QR Code, RFID gemäß ISO 15118-20 oder Infrarot gemäß ISO 15118-20
• Positioning: von der Ladestation unterstützte Positioning-Methoden gemäß ISO 15118-20 (z.B. Infrarot), falls eine zusätzliche Feinpositionierung gewünscht / erforderlich ist

The example data structure contains the following data:

• EVSE ID: Unique identifier of the charging station according to ISO 15118
• Type: Type of charging station (ACDP: Autoconnect Charging Device Pantograph)
• Contact System: Type of contact system with specification of the standard in which the relevant contact system is defined (e.g. EN 50696 System A2 for busbars for inverted pantographs)
• Voltage Range: Voltage range supported by the charging station in volts
• Pmax: maximum power of the charging station
• Pairing: pairing method(s) supported by the charging station: e.g. B. QR code, RFID according to ISO 15118-20 or infrared according to ISO 15118-20
• Positioning: Positioning methods supported by the charging station according to ISO 15118-20 (e.g. infrared), if additional fine positioning is desired/required

The at least one piece of charging information can particularly preferably be read out directly from the identifier 38 . Alternatively or additionally, the identifier 38 can refer to a data source from which the at least one load information item can be retrieved. The data source can be in-vehicle, e.g. B. a database in a data memory of the motor vehicle 10. Alternatively or additionally, the data source can be external to the vehicle, z. B. a database on a server.

Alternatively or additionally, the identified identifier 38 and/or the identified stationary charging device 12 itself can be used as a reference in a vehicle-internal or vehicle-external database from which the at least one item of charging information can be retrieved. For example, the identifier 38 or the stationary charging device 12 can be recognized by the second driver assistance system 24 as a model XYZ and the at least one piece of charging information can be retrieved from the database for the model XYZ.

Based on the ascertained at least one piece of charging information, the second driver assistance system 24 can, for example, carry out a compatibility check (eg according to ISO 15118-8 - dated March 2021). It can be checked whether the charging port 28 is compatible with the stationary charging device 12 . For example, the unique identifier, the type and/or the electrical contact system of the stationary charging device 12 can be checked for compatibility with the charging connection 28 . A result of the compatibility check can be output to the driver of motor vehicle 10 visually and/or acoustically, for example.

Alternatively or additionally, the second driver assistance system 24 can transmit the at least one piece of charging information determined to the on-board charger 30 . The on-board charger 30 can control and/or plan a charging process at the stationary charging device 12 based on the at least one charging information item determined. For example, the on-board charger 30 can take into account the voltage range and the maximum power of the stationary charging device 12 .

the 3 shows an exemplary positioning of a motor vehicle 10 designed as a bus on the stationary charging device 12.

The environment detection sensor 14 can be given by one or more cameras, preferably with a wide-angle lens, a camera-based mirror replacement system or bird eye system. The camera may have a field of view 42, for example. The field of view 42 can, for example, have an area next to a longitudinal outside of the motor vehicle 10, preferably essentially along the entire length of the motor vehicle 10. The larger the field of view 42, the more easily the identification 38 can be recognized. The environment detection sensor 14 can preferably have a resolution that ensures reliable detection of the identifier 38 . The field of view 42 can, for example, have a length of 25 m or more (relative to a longitudinal axis L of the motor vehicle 10) and a width of 15 m or more (relative to a transverse axis Q of the motor vehicle 10).

When the motor vehicle 10 approaches (eg driving past or reversing) the stationary charging device 12 the (eg wide-angle) camera can capture the identification 38 . The marking 38, e.g. A QR code, for example, can be recognized by the camera using an image recognition algorithm or a neural network.

As mentioned, with this identification of the identification 38 a so-called “partitioning” (e.g. according to ISO 1511-20), ie a identification by the motor vehicle 10 as to whether it is actually a suitable or compatible stationary charging device, is possible be.

As mentioned, the marking can alternatively or additionally be used to fine-tune the positioning of the motor vehicle in relation to the electrical contact point of the stationary charging device 12 . The image recognition algorithm or neural network can calculate the viewing angle and the distance between the camera and the marker 38 and the relative position of the stationary charging device 12 to the motor vehicle 10 in a coordinate system, such as. Am 3 , represent for the driver.

For example, a reference point of charging connection 28 (e.g. center point of the contact rail system) can serve as a reference point, which can be given, for example, as an intersection between a transverse axis (e.g. first front axle) Q of motor vehicle 10 and a longitudinal axis L of motor vehicle 10 . Since the correct determination of the position of motor vehicle 10 relative to the reference point depends on the exact distance and the alignment of the camera position with respect to transverse axis Q, this value can be parameterized in motor vehicle 10 in a model-specific manner. A target distance between the reference point and the marking 38 with respect to the longitudinal axis L and the transverse axis Q can be specified in a vehicle-specific and/or charging device-specific manner or can be read from the marking 38, for example. An actual distance between the reference point and the marking 38 with respect to the longitudinal axis L and the transverse axis Q is determined. The driver is then supported in bringing the actual distance closer to the target distance.

The invention is not limited to the preferred embodiments described above. Rather, a large number of variants and modifications are possible, which also make use of the idea of the invention and therefore fall within the scope of protection. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to. In particular, the individual features of independent claim 1 are each disclosed independently of one another. In addition, the features of the dependent claims are also disclosed independently of all features of independent claim 1 and, for example, independently of the features relating to a presence and/or a configuration of the environment detection sensor, the first driver assistance system and/or the second driver assistance system of independent claim 1. All ranges herein are to be understood as disclosed such that all values falling within each range are disclosed individually, e.g. B. also as the respective preferred narrower outer limits of the respective area.

Reference List

10

motor vehicle

12

Stationary loading device

14

Environment Sensing Sensor

16

Environment Sensing Sensor

18

Environment Sensing Sensor

20

Environment Sensing Sensor

22

first driver assistance system

24

second driver assistance system

26

traction battery

28

charging port

30

onboard charger

32

pantograph

34

mast

36

cantilever

38

Labelling

40

junction box

42

field of view

Q

transverse axis

L

longitudinal axis

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was 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.

Patent Literature Cited

• WO 2017/174292 A1 [0004]
• EP 3569442 A1 [0005]

Claims (15)

Motor vehicle (10), preferably commercial vehicle, particularly preferably bus or truck, wherein the motor vehicle (10) can be electrically charged at a stationary charging device (12) and has: an environment detection sensor (14, 16, 18, 20) which is designed to detect an environment of the motor vehicle (10); a first driver assistance system (22) which is designed to support a driver when driving the motor vehicle (10) based on a signal from the environment detection sensor (14, 16, 18, 20); and a second driver assistance system (24) which is designed to recognize the stationary charging device (12) and/or an identifier (38) of the stationary charging device (12) on the basis of a signal from the surroundings detection sensor (14, 16, 18, 20) and based on that: - To determine a holding position for charging the motor vehicle (10) on the stationary charging device (12) and to support the driver in guiding the motor vehicle (10) to the determined holding position; and or - to determine at least one of the stationary charging device (12) associated charging information. Motor vehicle (10) after claim 1 wherein: the environment detection sensor (14, 16) is a camera device; or the environment detection sensor (14) is a camera device of a mirror replacement system of the motor vehicle (10), preferably a wide-angle camera of the mirror replacement system; or the environment detection sensor (16) is a front camera device of the motor vehicle (10). Motor vehicle (10) after claim 1 , wherein: the environment detection sensor (18, 20) is a radar sensor, a lidar sensor or an ultrasonic sensor of the motor vehicle (10). Motor vehicle (10) according to one of the preceding claims, wherein: the first driver assistance system (22) is a camera-based mirror replacement system, a parking assistance system, a distance assistance system, a turning assistance system, a lane change assistance system, a lane keeping assistance system or a cruise control system. Motor vehicle (10) according to one of the preceding claims, wherein: the environment detection sensor (14, 16, 18, 20) is arranged on a longitudinal outside of the motor vehicle (10) or on a front side of the motor vehicle (10). Motor vehicle (10) according to one of the preceding claims, further comprising: a charging connection (28) to which the stationary charging device (12) can be connected, the charging connection (28) being arranged on a top side, preferably a roof, of the motor vehicle (10), with preferably: the charging connection (28) is designed for contacting a pantograph of the stationary charging device (12) that can be moved, preferably lowered, towards the charging connection (28), or the charging connection (28) is designed as an extendable pantograph for contacting the stationary charging device (12). Motor vehicle (10) according to one of the preceding claims, wherein: the second driver assistance system (24) is designed to recognize the identifier (38) using an image recognition algorithm, a pattern recognition algorithm and/or a neural network. Motor vehicle (10) according to one of the preceding claims, wherein the second driver assistance system (24) is designed to: - to determine an actual relative position between the motor vehicle (10) and the identified stationary charging device (12) or the identified identification (38); and or - to determine the stopping position as the target relative position between the motor vehicle (10) and the identified stationary charging device (12) or the identified identification (38) or to read it out from the identified identification (38), and optionally - to support the driver when guiding the motor vehicle (10) to the determined stopping position in such a way that a deviation between the actual relative position and the target relative position is reduced when guiding. Motor vehicle (10) according to one of the preceding claims, wherein: the marking (38) is a visual 2D code, a visual 3D code, a QR code, a bar code or a three-dimensional body. Motor vehicle (10) according to one of the preceding claims, wherein: the second driver assistance system (24) is designed to detect the stationary charging station (12) designed as an overhead charging station, preferably a pantograph charging station, and/or the label (38) applied on, at or near the overhead charging station based on the signal from the To detect environment detection sensors (14, 16, 18, 20). Motor vehicle (10) according to one of the preceding claims, wherein: the second driver assistance system (24) is designed to determine and preferably output a compatibility of a charging connection (28) of the motor vehicle (10) with the stationary charging device (12) from the at least one charging information determined. Motor vehicle (10) according to one of the preceding claims, further comprising: an on-board charger (30) which is designed to control and/or plan charging of the motor vehicle (10) at the stationary charging device (12) based on the at least one charging information item determined. Motor vehicle (10) according to one of the preceding claims, wherein the at least one piece of charging information has: - A unique identifier of the stationary charging device (12); - a type of stationary charging device (12); - An electrical contact system of the stationary charging device (12); - A voltage range of the stationary charging device (12); - A power range of the stationary charging device (12); - A maximum power of the stationary charging device (12); - A pairing method supported by the stationary charging device (12); - The holding position relative to the marking (38) for charging the motor vehicle; and or - A positioning method supported by the stationary charging device (12). Motor vehicle according to one of the preceding claims, wherein the second driver assistance system (24) is designed to: - read out the at least one charge information item from the identified identifier; and or - Retrieve the at least one piece of charging information from a data source to which the identified stationary charging device (12) and/or identification refers. Method for operating a motor vehicle (10), preferably according to one of the preceding claims, the method comprising: detecting an environment of the motor vehicle (10) by means of an environment detection sensor (14, 16, 18, 20); first evaluation of the detected surroundings by means of a first driver assistance system (22) when the first driver assistance system (22) is activated; and second evaluation of the detected surroundings by means of a second driver assistance system (24) when the second driver assistance system (24) is activated, the second evaluation having: - detecting a stationary charging device (12) and/or an identification (38) of a stationary charging device (12) in the detected environment, and based on the detection: - Determining a stopping position of the motor vehicle (10) for charging the motor vehicle (10) on the stationary charging device (12) and supporting the driver in guiding the motor vehicle (10) to the determined stopping position, preferably by visual output, acoustic output and/or at least partially automated driving of the motor vehicle; and or - Determining one of the stationary charging device (12) associated charging information.

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