EP2976655A1 - Procédé et dispositif de détermination de position - Google Patents

Procédé et dispositif de détermination de position

Info

Publication number
EP2976655A1
EP2976655A1 EP14721284.9A EP14721284A EP2976655A1 EP 2976655 A1 EP2976655 A1 EP 2976655A1 EP 14721284 A EP14721284 A EP 14721284A EP 2976655 A1 EP2976655 A1 EP 2976655A1
Authority
EP
European Patent Office
Prior art keywords
signal
sensors
sensor
determining
line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14721284.9A
Other languages
German (de)
English (en)
Inventor
Jörg Heuer
Anton Schmitt
Andreas Scholz
Martin Winter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2976655A1 publication Critical patent/EP2976655A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the invention relates to methods and devices for position determination.
  • pantograph a type of pantograph
  • DC +, DC- and GND DC, GND: ground
  • the object of the present invention is to provide methods and apparatuses with which by means of ultrasound positioning of a charging unit of a vehicle relative to a charging device of a charging station in a simple manner, with a large catching range and with high accuracy is possible.
  • the invention relates to a method for determining a position of a loading unit of a vehicle relative to a loading device of a loading station, comprising the following steps: assigning a first positioning unit to the loading device;
  • Determining a first distance taking into account a signal propagation time of the first signal, a signal propagation time of the second signal and a propagation velocity of signals in air;
  • Determining a second distance by forming a point of intersection of a first and a second line, wherein through the respective line possible locations of the first sensor relative to one of the at least two th sensors are displayed, wherein at least the first line (ALI) is formed due to the running time difference.
  • ALI first line
  • the energy flow can be optimally done, for example, in inductive charging. Therefore, in the near or short range, a more complex distance determination is performed compared to the far range.
  • the delay difference is determined upon receipt of a third signal by at least two of the second sensors.
  • the two-stage method makes it possible for a vehicle approaching the charging station to communicate by transmitting the first signal to the charging station, so that it can then be subsequently changed over from absolute to relative measurement
  • the changeover can, for example, be signaled to the charging station or the first sensor to a specific signal.
  • capture area is understood to mean the terms near and far range.
  • the minimum distance for example Im, defines the boundary between the near range and the far range after concrete implementation of the application, eg if the vehicle is a car or a tram, the minimum distance can be adjusted.
  • Signals are wirelessly transferable signal waves which, even at short distances between see vehicle and charging station allow accurate measurements. Short distances are understood to mean distances of several meters to a few centimeters.
  • the second line is formed by a transit time difference of two of the at least two second sensors, wherein none or only one of the second sensors is used in the generation of the first line.
  • the position determination can also be carried out if no reference points for determining the position of the vehicle with respect to the charging station are present, such as a predetermined driving distance of the vehicle.
  • the second line is determined on the basis of a route of the vehicle, wherein the second line runs parallel to the route and through the first sensor. This makes it possible to simplify the determination in determining the position of the vehicle with respect to the charging station in the vicinity.
  • the first sensor of the first positioning unit and the at least two second sensors of the second positioning unit are arranged.
  • the first, second and / or third signal are transmitted at different frequencies or with different signal patterns. In this way, the determination of the distance can be carried out more accurately, since disruptive influencing variables, such as reflections or echoes of the signals, can be recognized and taken into account in the determination.
  • the first and at least two second sensors operate with ultrasonic or radar waves.
  • the invention also relates to a device for determining a position of a charging unit of a vehicle relative to a charging device of a charging station, with
  • a first positioning unit of the loading device a second positioning unit of the loading unit, a first sensor associated with one of the first or second positioning units,
  • a determination unit for determining a first and a second distance between the first sensor and one of the at least two second sensors in which
  • the device shows the same advantages as the corresponding method. In a development, the device has another
  • a unit that is configured such that at least one of the method steps is implementable and executable.
  • the device shows the same advantages as the corresponding method.
  • Figure 4 is a flow chart describing the individual steps of the method. Elements with the same function and mode of operation are provided with the same reference numerals in the present application.
  • the invention and its variants are shown by means of ultrasonic sensors for sensors and ultrasonic signals for signals.
  • FIG. 1 shows a typical approach situation of a vehicle F, for example a bus, in the direction RI of a charging station LS.
  • the vehicle has inter alia a charging unit LEF, for example in the form of a pantograph or several contact points on the roof of the bus.
  • Figure 1 shows on the roof of the bus, a second positioning unit PE2 with 3 ultrasonic sensors US21, US22, US23.
  • a local orientation of the loading unit to the arrangement of the second positioning unit or to the arrangement of the respective second sensors is known.
  • the three second ultrasonic sensors are mounted in a row at a distance of 50 cm on the roof of the bus.
  • the loading unit is housed in Figure 1 in a field of 50x50 cm, which is arranged at a distance of 30 cm parallel to the second positioning unit PE2.
  • the charging station LS has a first positioning unit PE1 with a first ultrasonic sensor US1.
  • the charging station, the charging device LVS which is carried out, for example, of tensioned overhead lines that can transmit electrical energy through the charging device of the charging station and the charging unit of the vehicle in the battery of the vehicle after contacting the pantograph by the vehicle.
  • the loader is multiple with a pantograph extendable contact points, which are extended after reaching a position of the vehicle under the charging station and contacted with the charging points of the charging unit and configured after creation of the contact for transmitting electrical energy.
  • the charging unit and the charging device In order to ensure correct charging of the battery of the vehicle by the charging station, the charging unit and the charging device must be positioned exactly to each other. For this purpose, it is necessary, during the approach of the vehicle to the charging station to repeatedly determine the position to each other in order to achieve the correct positioning can.
  • first ultrasound sensor US1 transmits a first ultrasound signal SIG1, which is subsequently received by first ultrasound sensor US1.
  • first ultrasound sensor USl responds with a second ultrasound signal SIG2, which is subsequently received by the second ultrasound sensor US22. It is known to the second ultrasound sensor US22 at which point in time the first ultrasound signal was transmitted and the second ultrasound signal was received, that is to say the transit time DT of the first and second ultrasound signal.
  • the first distance is
  • the absolute measurement of the first distance between the first and the second ultrasonic sensor is performed in a simplified form, since it involves a first rough determination of the distance between the vehicle and the charging station.
  • the determination of the first distance can be improved in that a speed of the vehicle during the
  • the measurement can be accelerated and still differentiated between the echo of the first ultrasound signal and the second ultrasound signal by the first ultrasound sensor for the second ultrasound signal using a frequency that differs from a frequency of the first ultrasound signal and sufficiently far is removed from the frequency of the first ultrasonic signal, so that this can not be generated by the Doppler shift during a movement of the vehicle from the first ultrasonic signal.
  • the first and second ultrasonic signals may use the same frequencies, but with different amplitudes and / or signal characteristics. men.
  • a rectangular signal is modulated onto the first ultrasonic signal while the second ultrasonic signal has a triangular signal.
  • different, preferably orthogonal, matching filter pairs are used for the modulation and detection of the first and second ultrasound signal for the first and the second ultrasound signal.
  • a second distance is determined.
  • the first ultrasonic sensor transmits a third ultrasonic signal SIG3, which is received by two of the second ultrasonic sensors US21, US22. Shows that the signal transit times to
  • Receiving the third ultrasonic signal SIG3 are identical by the two second ultrasonic sensors, that is, a first delay difference LZU1 is 0, the first ultrasonic sensor US1 is the same distance from the two second ultrasonic sensors.
  • the location of the first ultrasonic sensor is to be found on a first line ALI, which corresponds to a straight line at a signal propagation time difference of 0.
  • the first line passes through the first ultrasonic sensor and center between the two second ultrasonic sensors.
  • a second line AL2 is required, wherein in an intersection of the first and second lines of the first ultrasonic sensor with respect to the second Ultrasonic sensors is located.
  • the vehicle moves on a predetermined route in the direction of the charging station.
  • the second line AL2 can be formed by running parallel to the track of the vehicle and through the first ultrasonic sensor, ie parallel to the track. For example, there is a predetermined line on the road to the charging station that follows the vehicle to the charging station.
  • the second line AL2 This is indicated in FIG. 3 with a line AL2 1 V which runs parallel to the distance AL2 'of the vehicle.
  • the location where the first ultrasonic sensor US1 is positioned At the intersection of the first and second lines is the location where the first ultrasonic sensor US1 is positioned. From this, the position of the first ultrasonic sensor with respect to the second ultrasonic sensors can be calculated.
  • a Cartesian coordinate system xy is spanned, in which the second distance can be determined by means of x and y components.
  • the first transit time difference LZU1 for the reception of the third ultrasound signal at the second ultrasound sensors US21, US22 and a second transit time difference LZU2 for the second ultrasound sensors US22, US23 are determined.
  • the first and the second transit time difference result in the first and the second line ALI, AL2, which in each case have an elliptical shape in the case of non-zero transit time differences. In its intersection lies the location of the first sensor US1.
  • the first, second and / or third ultrasound signal can be transmitted at different frequencies or with different signal patterns.
  • ultrasound signals which are transmitted with a time delay can also be generated, for example when the third ultrasound signal is transmitted at intervals of, for example, 20 s, with different frequencies and / or different signal patterns in order to avoid or reduce erroneous measurements.
  • the examples presented relate to a configuration in which the first positioning unit is the first
  • Ultrasonic sensor and the second positioning unit has been assigned a plurality of second ultrasonic sensors.
  • the invention can also be realized if the second ultrasonic sensors of the first positioning unit and the first ultrasonic sensor of the second positioning unit is assigned.
  • the long-range positioning determination can be improved by superposing two or more measurements.
  • more than three second ultrasonic sensors can be used, whereby a measurement accuracy can be increased.
  • a respective first or second opening angle OW1, OW2 for the radiation and the reception of the ultrasonic signal is introduced for a respective arrangement of the first and the second ultrasonic sensors.
  • the respective opening angle can be adjusted with a respective aperture in front of the respective ultrasonic sensor.
  • the opening angles of the first ultrasonic sensor and at least one of the second ultrasonic sensors for the measurement in the far field are aligned such that these ultrasonic sensors, as shown in FIG. 5, can transmit mutually ultrasonic signals both in the far field and in the near field.
  • FIG. 4 shows a flow chart of the method according to the invention. This starts in state STA.
  • the assignment of the first positioning unit to the loading device and the assignment of the second positioning unit to the loading unit are undertaken.
  • a second step ST2 an assignment of the first ultrasound sensor to one of the first or second positioning units and the assignment of at least two second ultrasound sensors to the first or second positioning unit, which is not yet associated with a first ultrasound sensor, are then performed.
  • the third step ST3 it is checked whether the vehicle is in the near or far field to the charging station.
  • the first distance is determined in the following fourth step ST4 in such a way that first the first ultrasound signal from one of the at least two second ultrasound sensors is transmitted to the first ultrasound sensor, furthermore the second ultrasound signal after reception of the first ultrasound signal by the first ultrasonic sensor is returned to one of the at least two second ultrasonic sensors and the first distance is determined taking into account a signal propagation time of the first and the second ultrasonic signal and a propagation speed of ultrasonic signals in air.
  • step ST6 it is checked whether the first distance indicates that the charging unit of the vehicle is already sufficiently accurately positioned with respect to the charging device of the charging station for a charging process. If this is the case, the state diagram is ended in step END.
  • a fifth step ST5 is performed instead of the fourth step ST4.
  • a third ultrasound signal is first emitted by the first ultrasound sensor and received by at least two of the at least two second ultrasound sensors, a respective transit time difference between the respective receiving of the third ultrasound signal determined by two of the at least two second ultrasound sensors and the second distance ABS2 by education determining an intersection point of a first and a second line, wherein possible locations of the first ultrasound sensor relative to one of the at least two second ultrasound sensors are indicated by the respective line, wherein at least the first line is formed on the basis of the running time difference.
  • the state diagram in the END state is ended. Otherwise, the state diagram is continued in step ST3.
  • information about the authorization is impressed on the respective ultrasound signals, for example by amplitude, phase and / or frequency modulation. In this way manipulation attempts or disturbances of unwanted third parties can be avoided.
  • the invention has been explained in more detail with reference to ultrasonic waves and sensors, but is not limited to this type of wireless waves. Rather, any type of waves can be used that allow communication from a few centimeters to a few meters, such as radar waves. These are sent and received with the help of radar sensors.
  • the method can be used in addition to loading with a pantograph also for inductive charging of vehicles, being used for the positioning of the vehicle with a receiving coil on a coil of the charging station.
  • the absolute field can be defined in the near field
  • Running time measurement and the measurement of the running time difference can be combined, so that errors due to signal delay delays can be detected, for. due to snow.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé et des dispositifs de détermination d'une position. L'invention utilise en cas de grande distance entre un véhicule et une station de charge un procédé de mesure qui consiste à effectuer une détermination de la distance au moyen d'une détermination absolue du temps de propagation. Une mesure relative du temps de propagation entre plusieurs signaux reçus est effectuée dans une zone proche entre le véhicule et la station de charge.
EP14721284.9A 2013-05-17 2014-04-22 Procédé et dispositif de détermination de position Withdrawn EP2976655A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013209235.0A DE102013209235A1 (de) 2013-05-17 2013-05-17 Verfahren und Vorrichtung zur Positionsbestimmung
PCT/EP2014/058120 WO2014183961A1 (fr) 2013-05-17 2014-04-22 Procédé et dispositif de détermination de position

Publications (1)

Publication Number Publication Date
EP2976655A1 true EP2976655A1 (fr) 2016-01-27

Family

ID=50639467

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14721284.9A Withdrawn EP2976655A1 (fr) 2013-05-17 2014-04-22 Procédé et dispositif de détermination de position

Country Status (5)

Country Link
US (1) US20160116568A1 (fr)
EP (1) EP2976655A1 (fr)
CN (1) CN105229489A (fr)
DE (1) DE102013209235A1 (fr)
WO (1) WO2014183961A1 (fr)

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DE102014207440A1 (de) 2014-04-17 2015-10-22 Siemens Aktiengesellschaft Herstellen einer Lade- und einer zugeordneten Kommunikationsverbindung
US9776520B2 (en) * 2015-03-27 2017-10-03 Proterra Inc. System and method to assist in vehicle positioning
DE102016205804A1 (de) 2016-04-07 2017-10-12 Siemens Aktiengesellschaft Positionsbestimmungssystem
DE102017115327A1 (de) 2017-07-10 2019-01-10 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren und Vorrichtung zur Positionierung eines Kraftfahrzeugs oberhalb einer Bodenplatte
WO2019036316A1 (fr) * 2017-08-14 2019-02-21 Siemens Aktiengesellschaft Techniques de localisation basées sur un signal sans fil pour le suivi de véhicules au niveau de stations de charge/ravitaillement en carburant
CN107825976B (zh) * 2017-10-26 2019-07-16 杭州电子科技大学 一种电动汽车无线充电装置及其充电方法
CN110014964A (zh) * 2017-12-15 2019-07-16 郑州宇通客车股份有限公司 一种车辆充电系统、充电桩及车辆
CN108088406B (zh) * 2018-01-09 2019-09-10 中国航空工业集团公司北京长城计量测试技术研究所 一种激波测速用压力传感器间有效距离测量方法
CN109720231A (zh) * 2018-12-13 2019-05-07 上海易沐科技有限公司 用于对准车辆充电导轨与受电弓的定位装置、以及车辆充电导轨对准受电弓的定位方法
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