EP3353006A1 - Procédé et dispositif de détermination de la position absolue d'un véhicule - Google Patents

Procédé et dispositif de détermination de la position absolue d'un véhicule

Info

Publication number
EP3353006A1
EP3353006A1 EP16765959.8A EP16765959A EP3353006A1 EP 3353006 A1 EP3353006 A1 EP 3353006A1 EP 16765959 A EP16765959 A EP 16765959A EP 3353006 A1 EP3353006 A1 EP 3353006A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
transmitter
positioning
parking
infrastructure
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Withdrawn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
EP16765959.8A
Other languages
German (de)
English (en)
Inventor
Thomas Röhrl
Stephan Bartz
Peter Säger
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.)
Continental Automotive GmbH
Original Assignee
Continental Automotive GmbH
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 Continental Automotive GmbH filed Critical Continental Automotive GmbH
Publication of EP3353006A1 publication Critical patent/EP3353006A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B60L53/10—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
    • 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
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • 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
    • B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
    • 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
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B60L2240/622—Vehicle position by satellite navigation
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B60L2240/627—Vehicle position by WLAN
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/66—Ambient conditions
    • B60L2240/665—Light intensity
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/66—Ambient conditions
    • B60L2240/667—Precipitation
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/14—Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing

Definitions

  • the present invention relates to a method for determining the absolute position of a vehicle for the Nah Schlspo ⁇ sitioning of the same when parking the vehicle.
  • the invention is further directed to a device for carrying out such a method.
  • parking is here the automatic parking but also the manual parking, for example, supported by a visual display, meant.
  • the automatic parking of vehicles is known. This may be, for example, the parking of a vehicle on a marked parking lot or parking in a garage.
  • a special case concerns the inductive charging of electrically powered vehicles, which have to go to a corresponding parking space, which offers such a charging option (for example, there is a transmitting coil in the ground).
  • an accurate arrangement of the vehicle is essential because between the inductive charging unit (the bottom coil) and the vehicle-mounted receiving unit (vehicle coil), a magnetic field dependent on the electric power is applied. It serves the security, if the magnetic field un ⁇ below the vehicle, barely accessible to people generated.
  • the vehicle thus ensures even for a starting ⁇ shielding effect, so that a radiation of the fields is significantly reduced in the area.
  • this advantage entails the disadvantage that the driver can hardly estimate whether an exact positioning has taken place between the two coils under the vehicle.
  • the coupling factor decreases and the efficiency decreases as the unwanted stray fields increase.
  • the efficiency already drops by 2% with only 8 cm offset.
  • 2% of a transmission power of 4 kW, for example already corresponds to 80 W additional power loss.
  • the driver must therefore park without visual contact to a few centimeters, which is difficult to ensure without tools.
  • an automated parking process is conceivable.
  • the present invention relates to a parking operation, in particular automated parking operation, wherein the parking for inductive charging of the vehicle here represents a special case.
  • FIG. This figure shows schematically a parking lot from above.
  • the vehicle can determine the x and y offsets of the ground coil with respect to the vehicle itself.
  • the positions 1-3 shown in the figure all give the same result.
  • the location of the parking lot can also be detected by means of a camera system, but this process would again result in dependence on weather conditions, such as snow and foliage.
  • the present invention is therefore based on the object to provide a method of the type described available, which allows a particularly accurate parking of the vehicle. This object is achieved by a method of the type described above, in which an inductive positioning method is performed, wherein a first transmitter in the infrastructure or in the vehicle for generating a positioning magnetic field and a second
  • Transmitter are excited in the infrastructure or in the vehicle to generate a positioning signal, the positioning magnetic field and the positioning signal from a receiving device in the vehicle or in the infrastructure are received and based on the received positioning magnetic field and positioning signal, the absolute position of the vehicle is determined.
  • the receiving device is located in the vehicle and that the transmitters are located in the infrastructure, ie in the vicinity of the vehicle. If the following is a parking bay or a parking lot, these terms should cover all possible parking spaces, including covered parking spaces or garages and those that are equipped with charging facilities.
  • the vehicle In order to determine the orientation of the parking lot in addition to the position of the first transmitter, the vehicle needs another reference point, which is located in the infrastructure. In the method described here, in which a positioning field is measured by the first transmitter is a such point a second transmitter on the side of the infrastructure. Thus, not only the x and y offset of the vehicle relative to the first transmitter can be determined, but also the x and y offset of the second transmitter with respect to the coordinate system of the vehicle.
  • the method according to the invention thus finds a second transmitter or auxiliary transmitter use. While, as described above, the positions 1-3 can not be distinguished from each other without a second transmitter, a clear distinction between the individual positions is possible with the aid of the second transmitter. The reason for this is that now two points of the infrastructure are known and thus the relative coordinate system of the vehicle can be transferred into the absolute coordinate system of the infrastructure. In addition to the advantage of knowing exactly where the vehicle is located in the infrastructure , however, the complexity of the system also increases since both a positioning magnetic field and a positioning signal have to be transmitted and evaluated.
  • a second transmitter which also generates a positioning magnetic field.
  • two positioning magnetic fields are used.
  • both fields may overlap, so that as a result of re ⁇ consulted a field that has a more complex shape than it has exhibited the A ⁇ zelfelder.
  • the second transmitter is arranged, its influence on the positioning field is different.
  • the position of the second transmitter is standardized with respect to the first transmitter.
  • the algorithm for calculating the position would be much more complex.
  • the solution algorithm would therefore have to be adapted to this complex form.
  • the position of the second transmitter with respect to the first transmitter is determined first. If this position is known, the calculated distance between vehicle and transmitters can be used to calculate the position of the vehicle in the infrastructure. For example, the position of the second transmitter can be determined via another channel, in particular WLAN. This variant has the advantage that the second transmitter can be adapted to local conditions.
  • the first transmitter and the second transmitter are preferably excited sequentially.
  • the x and y offset of the individual transmitters can be detected separately.
  • the algorithm with which the position is calculated can then be much simpler and faster due to the simpler and more symmetrical geometry of the individual fields.
  • a further communication channel for example WLAN, between transmitter and vehicle can be used.
  • an identifier can be modulated onto a position signal, for example a coil identifier.
  • each parking space is provided with a first transmitter for emitting a positioning magnetic field, and has a second transmitter, which have the embodiments described above and can deliver a corresponding positioning signal, which is also a positioning magnetic field, but also other signals can act.
  • the first transmitters are units for inductive charging, which are preferably operated by a central charging station.
  • the corresponding loading units are best operated by a central charging station. If a vehicle now wants to occupy a completely empty inductive charging station, the vehicle sends, for example, a request via WLAN to the charging station. Since no vehicle is currently on a loading space, the vehicle is assigned the first bottom coil. Since in this case there is another bottom coil on the neighboring square, this further bottom coil (adjacent unit for inductive charging) can be used as a second transmitter. This can therefore be dispensed with a special auxiliary transmitter.
  • the respective neighboring inductive charging stations are already occupied, their units for inductive charging (ground coils) can no longer be used as auxiliary transmitters. Therefore, another system must be used, for example an optical system that acts as a second transmitter.
  • an optical system that acts as a second transmitter. For example, when a vehicle drives an average parking bay, in which already the right and left is a vehicle, the two vehicles can be used as an optical detection feature, so that the vehicle can automatically be parked even in the non-visible Parkplatzbe ⁇ demarcations.
  • the first transmitter positioning transmitter
  • Essential for the inventive method is that using a an inductive positioning method is performed on the first transmitter, regardless of whether the first transmitter is a charging unit or not.
  • the second station may be any station which emits a positioning signal, such as an optical ⁇ 's transmitter, whereby also here a station is preferably on an inductive basis.
  • the transmitters are located in the infrastructure and that a corresponding receiving device is provided in the vehicle.
  • a corresponding receiving device is provided in the vehicle.
  • at least three transmitters are used as receiving devices for determining the x and y offset.
  • the positions of the transmitters can be triangulated.
  • the receivers in the infrastructure can then triangulate the x and y offset of the vehicle to the transmitter and, for example, send it back to the vehicle via another channel (eg radio, WLAN). If the values of at least two receivers of the infrastructure are known, the position of the vehicle in the infrastructure can be calculated.
  • another channel eg radio, WLAN
  • the method according to the invention can also be combined with other methods.
  • existing cameras or Top-view systems are integrated, likewise fully automatic parking aids ⁇ tables and / Radcardieresensoriken,
  • the ground coil and the associated parking lot were measured in its geographical position. When approaching a vehicle, this is based on the magnetic fields, but also gets notified by coding or Wi-Fi info the geographical orientation of the parking lot. If the parking space is set, for example, in a north-south direction, then the vehicle can accurately approach the parking space on the basis of its GPS and compass orientation.
  • a positioning system which locates the vehicle in relation to the vehicle
  • the invention further relates to a device for carrying out the method described above.
  • Figure 1 is a representation of a parking lot from above in a method of the prior art with indistinguishable parking positions;
  • Figure 2 is a schematic view as Figure 1 at a
  • Figure 3 is a schematic view of a parking lot from above with three parking bays in another embodiment of the method according to the invention.
  • Figure 4 is a schematic view of a parking lot from above with three parking bays in yet another embodiment of the method according to the invention.
  • FIG. 5 is a schematic view of parking spaces from above, wherein various embodiments of the invention are shown.
  • a determination of the absolute position of a vehicle for short-range positioning thereof takes place during automatic parking of the vehicle. It is an inductive positio performed ⁇ n istsvon, wherein a recessed in the bottom of a parking floor 5 coil 6 (first transmitter) is excited to generate a magnetic field positioning. This magnetic field is received by a receiving device arranged in a vehicle 4. On the basis of the received positioning magnetic field, the position of the vehicle is determined.
  • FIG. 2 shows the same parking situation as in FIG. 1, but here an embodiment of the method according to the invention is carried out.
  • a second transmitter (auxiliary transmitter) 7 is used, which is arranged, for example, at the edge of the parking lot 5 ⁇ .
  • the bottom coil 6 used to load the vehicle 4 is used before loading as inductive Posi ⁇ tioning transmitter, which generates a positioning magnetic field.
  • the second station 7 generates a magnetic field approximately Positionin ⁇ . Both positioning magnetic fields are received by a receiving device in the vehicle 4, and on the basis of the received positioning magnetic fields, the absolute position of the vehicle is determined.
  • Figure 3 shows a plan view of a parking area with three parking bays or parking 5. In the bottom of each
  • Parkplatzes 5 is a bottom coil 6 embedded. All three bottom coils 6 are supplied by a common charging station 8.
  • the bottom coil 6 of the central parking bay serves as a second transmitter or auxiliary transmitter.
  • the vehicle 4 wants to load at the completely empty deep-bedding site, it sends a request, for example via WLAN, to the charging station 8. Since there is no vehicle at the moment at a loading place, the vehicle 6 is assigned the floor coil 6 of the uppermost parking bay.
  • the bottom coil 6 in the middle parking bay acts as a second transmitter or auxiliary transmitter.
  • each parking bay 5 has a bottom coil 6. All bottom coils 6 are supplied by a common charging station 8.
  • the situation shown here differs from that of Figure 3 in that the upper and lower parking bay in the figure are already occupied. The corresponding bottom coils 6 of these parking bays can therefore no longer be used as auxiliary transmitter.
  • the vehicle 4 can therefore only be parked in the middle parking bay. Since a vehicle is already an optical recognition feature on both sides of the middle parking bay, the vehicle 4 can be parked automatically using an optical system in this case as well.
  • Figure 5 shows a schematic view of various parking spaces from above, wherein various embodiments of the invention are shown.
  • a first transmitter in the form of a bottom coil 6 and a second transmitter 7 are provided in the infrastructure (in the area of the parking space).
  • the associated vehicle has a receiving device, which in this case has three receivers 11.
  • a first transmitter 6 and a second transmitter 7 are provided on the vehicle, while three receivers 11 are located in the parking area (in the infrastructure).
  • the embodiment of Figure 5 C) shows a first transmitter 6 and two second transmitter 7 on the vehicle and two receivers 11 in the parking area (infrastructure).
  • Figure 5 D shows a first transmitter coil as a bottom 6 and two second channels 7, which are arranged in the parking area, and two at the vehicle ⁇ parent receiver. 11
  • the receivers are outside the vehicle, they must send their data back to the vehicle so that the vehicle knows the position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Automation & Control Theory (AREA)

Abstract

L'invention concerne un procédé de détermination de la position absolue d'un véhicule pour le positionnement en champ proche de celui-ci lorsque le véhicule se gare. Un procédé de positionnement inductif est mis en œuvre, un premier émetteur étant excité dans l'infrastructure ou dans le véhicule pour générer un champ magnétique de positionnement et un deuxième émetteur étant excité dans l'infrastructure ou dans le véhicule pour générer un signal de positionnement. Le champ magnétique de positionnement et le signal de positionnement sont reçus par un dispositif de réception dans le véhicule ou dans l'infrastructure, et la position absolue du véhicule est déterminée sur la base du champ magnétique de positionnement et du signal de positionnement reçus. De cette manière, cela permet au véhicule, en particulier à un véhicule à fonctionnement électrique, de se garer de manière particulièrement précise, pour la charge inductive.
EP16765959.8A 2015-09-24 2016-09-09 Procédé et dispositif de détermination de la position absolue d'un véhicule Withdrawn EP3353006A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015218410.2A DE102015218410A1 (de) 2015-09-24 2015-09-24 Verfahren und Einrichtung zum Bestimmen der Absolutposition eines Fahrzeuges
PCT/EP2016/071369 WO2017050595A1 (fr) 2015-09-24 2016-09-09 Procédé et dispositif de détermination de la position absolue d'un véhicule

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EP3353006A1 true EP3353006A1 (fr) 2018-08-01

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US (1) US10821844B2 (fr)
EP (1) EP3353006A1 (fr)
CN (1) CN108025656B (fr)
DE (1) DE102015218410A1 (fr)
WO (1) WO2017050595A1 (fr)

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US10821844B2 (en) 2020-11-03
WO2017050595A1 (fr) 2017-03-30
CN108025656B (zh) 2021-03-23
US20180208073A1 (en) 2018-07-26
CN108025656A (zh) 2018-05-11
DE102015218410A1 (de) 2017-03-30

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