EP3408132A1 - Positionsbestimmungssystem - Google Patents
PositionsbestimmungssystemInfo
- Publication number
- EP3408132A1 EP3408132A1 EP17710860.2A EP17710860A EP3408132A1 EP 3408132 A1 EP3408132 A1 EP 3408132A1 EP 17710860 A EP17710860 A EP 17710860A EP 3408132 A1 EP3408132 A1 EP 3408132A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- charging station
- interface
- charging
- contact interface
- 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.)
- Pending
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
- B60L53/30—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
- B60L53/10—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
- B60L53/14—Conductive 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
- B60L53/32—Constructional details of charging stations by charging in short intervals along the itinerary, e.g. during short stops
-
- 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
-
- 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
- B60L53/60—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
- 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
- B60L53/66—Data transfer between charging stations and vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- 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
- B60L2250/00—Driver interactions
- B60L2250/16—Driver interactions by display
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- 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
-
- 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
Definitions
- the invention relates to a position determining system for a charging station for an at least partially electrically driven vehicle.
- the invention further relates to a sol ⁇ Ches vehicle and a system with such a vehicle and a charging station.
- At least partially electrically powered vehicles include rechargeable batteries, also referred to as secondary batteries.
- An example of such vehicles are electrically powered line vehicles (eBusse). Electric actuators are advantageous for vehicles line is because normally limits the line travel times and time ⁇ space (operation pauses) are separated, in which the battery can be charged on ⁇ . Furthermore, scheduled vehicles operate on fixed routes so that charging stations can be set up on the route.
- a charging interface of the Ladesta ⁇ tion must be brought into contact with a contact interface of the vehicle.
- One of the two interfaces may include a pantograph for contacting.
- the contact interface must be positioned in a predetermined area relative to the charging station.
- the contact interface can be arranged on a roof of the vehicle and an inverse pantograph can form the charging station on the charging interface.
- the pantograph is arranged on a mast of the charging station.
- WO2014183961 proposes a different positioning method. Iteratively and ultrasound-based distances between the vehicle and the charging station are measured while the vehicle is traveling on a predetermined route. The object of the present invention is now to increase the accuracy and reliability of the position determination when starting charging stations.
- a position determination system according to claim 1 is provided.
- the positioning system is prepared for a charging station.
- the charging station is prepared for an at least partially electrically driven vehicle.
- the position-determining system used to determine a position of a contact interface of the vehicle in relation to egg ⁇ ner loading interface of the charging station.
- the position determination system optically determines the position in at least two dimensions.
- the vehicle Due to the at least two-dimensional position determination, the vehicle is no longer bound to a predetermined distance. This increases the accuracy and reliability of Positi ⁇ onsbetician. Information about and compliance with a given route is not necessary.
- the position determination system is configured to determine the position using geometry features of the contact interface. Relevant for the positioning is only the relative position of the contact interface to the charging interface.
- the contact interface forms an optically detectable, natural position marker.
- the Positionbeéesssys ⁇ tem be formed to determine the position using at least one, possibly additional position mark. This enables in particular a specially designed Posi ⁇ tion mark, which is particularly good and / or easy or reliabil ⁇ siger recognizable. Additionally or alternatively, may be co- diert In the game ⁇ vehicle height, vehicle type and / or vehicle ID in the cursor information for each vehicle.
- the position determination system may in particular comprise a camera and an evaluation unit.
- the evaluation unit may be adapted to determine the position using images of the camera.
- Camera-based positioning is particularly flexible.
- a further advantage of camera-based position determination is the possibility of determining a spacing of the contact cut parts from the loading interface using a size of the position mark in a camera image.
- an additional distance sensor may be used to determine the distance from the pantograph to the contact interface.
- the camera can be an infrared camera.
- a daylight-independent position marker is recognized. tion allows.
- the camera can additionally comprise a Infrarotbe ⁇ illumination unit.
- the charging station according to the invention presented according to claim 7 comprises a position determining system according to the invention and furthermore an infrared lighting unit.
- the Infrarotbe ⁇ illumination unit serves to illuminate an area with infrared light.
- the area includes a sub-area in which the contact interface must be located so that it can be contacted by means of the charging interface.
- the charging station can be prepared to release a charging process only if the position determination shows that the contact-cut parts are located in the partial area.
- An inventively presented vehicle according to claim 9 can be at least partially driven electrically and includes a memory for electrical energy and a contact interface.
- the contact interface can be contacted by ei ⁇ ne charging interface of a charging station, that the memory is loaded.
- the contact interface ⁇ summarizes at least one position mark.
- the position mark can be designed to selectively reflect and / or radiate light in a pre-given wavelength range.
- the position marker may include one or more light-emitting diodes.
- the cursor may include geometric figures or codes.
- the vehicle may comprise a heating element for heating the posi ⁇ onsmarke.
- a heating element for heating the posi ⁇ onsmarke.
- a system with a vehicle and a charging station is also presented.
- the vehicle and the charging station may each comprise a unit for data transmission.
- the charging station can be designed to transmit the vehicle to the specific position.
- the charging station and / or the vehicle may comprise a telemetric unit for telemetering the determined position.
- the vehicle may include a display and be prepared for telemetering the determined position.
- the information transmitted via the light-emitting diodes can be used, for example, to unambiguously associate the vehicle with the charging station.
- Figure 1 shows an inventive system according to an embodiment and Figure 2 by way of example and schematically a contact section ⁇ point of a vehicle according to the invention.
- FIG. 1 shows a system 10 according to the invention with a charging station 100 and an at least partially electrically driven vehicle 200 according to an exemplary embodiment.
- the charging station 100 comprises a mast at the edge of a road ⁇ SSE 20 with an extending over the road 20 in the transverse direction Y perpendicular to the road direction X arm on which the pantograph is arranged.
- the charging station 100 comprises a position determination system which optically determines the position in the roadway direction X and in the transverse direction Y by means of a camera 170.
- the camera 170 detects a position tolerance ⁇ frame for contacting by the pantograph.
- Figure 2 shows by way of example and schematically a contact pattern parts 250 of a vehicle 200 according to the invention
- the contact interface 250 includes parallel contact rails 300.
- the contact interface 250 further includes representativessbei ⁇ play position marks 410, 420, 430.
- three position marks are shown schematically.
- the contact interface 250 may also comprise only one, two or more than three position markers.
- one of the position markers 410 is designed as a two-dimensional code in which information about the vehicle is coded.
- the other two illustrated position mark examples 420, 430 are T-shaped with transverse in the vehicle transverse direction Y * transverse to the vehicle X * crossbar. As a result, in particular an angle deviation between the vehicle direction X * and the roadway direction X in a camera image is easily determinable.
- an arrangement and a method are proposed, with or with which the vehicle position and orientation of electrically operated vehicles, for. B. eBussen, relative to a station-side charging interface with pantograph in the direction of the road and across it can be reliably and accurately determined.
- the position determination is carried out iteratively in the example and also delivers already position information as the bus approaches the charging station so that the position information provided by the position sensor can be used as a command variable for the driver.
- a camera is used in an exemplary embodiment.
- the field of view of the camera is directed to the position tolerance field. Since the contact interface is located on the roof of the bus, the camera is directed vertically from above or at a predetermined angle onto the contact interface.
- the camera is connected to an evaluation device which calculates signals for the orientation and position of the position mark from the camera images.
- the evaluation device may be a microprocessor or PC.
- the camera may be an infrared camera, for example, that detects a vicinity of a position tolerance range in which the contact interface must be located so that they can be contacted with ⁇ means of the charging interface.
- the said environment can be illuminated by a special IR illumination.
- IR illumination independence from the daylight can be achieved and the robustness relative to light card facts can be increased.
- the calculation of the position of the contact interface on the bus may be based on features that result from the geometry of the contact interface.
- the position determination is even more robust and independent if one or more position marks are present in the area of the contact interface.
- the position markers can then be designed specifically optically and / or geometrically in such a way that reliable optical position determination is possible under all daytime and weather conditions.
- the position mark, or the position marks is formed as an infrared reflector.
- the position marker may include one or more infrared light emitting diodes.
- An evaluation device determines from the image position of the detected position mark (s) in the camera image, the relative position of the contact interface of the bus to the charging station horizontally in two dimensions.
- the relative position of the contact interface of the bus to the charging station can also be determined vertically.
- the determined relative position is supplied to a charging control unit.
- the charge control unit uses the position Informa ⁇ tion to indicate to the driver the relative position of the contact interface of the bus to the charging station. This can be done, for example, by direction indicators such as directional arrows, a traffic light or a display on the charging station.
- the traffic light is particularly advantageous if the charging station is pre-aligned, only release the charging process when the bus is parked within the predetermined through the charging interface position tolerance range, so that the contact section parts in the region is, in which the Kon ⁇ clock interface must be located, so that it can be contacted by means of the charging ⁇ interface.
- the latter functionali ⁇ ty may be practiced without direction indicator.
- the position information for example via a wireless network, such as WLAN, transmitted to the bus and so telemetriert.
- the bus driver can then be displayed in real time position information online on the driver's display of the bus.
- Some buses can be lowered on an entry side ⁇ who, so as to facilitate the passengers boarding. This is called Kneeling.
- information can additionally or alternatively be transmitted to a kneeling-capable bus as to whether kneeling is possible or not at the given vehicle position.
- a corresponding free ⁇ input of these functions may be dependent on that information.
- the reflectors can also be optionally heated. Then ice and / or snow deposits can be thawed. In particular, the heating of the reflectors can take place when the temperature falls below a limit temperature and / or when snowfall is detected, so that ice can not form
- the position mark can take a simple geometric figure ⁇ .
- the figure may have a predetermined size, so that from imaging properties of the camera can be closed on a distance between the cursor and camera. Then, a vertical position of the cursor is limited hours ⁇ bar.
- a two-dimensional code for example a QR code, may be present on the vehicle in which information about the vehicle type, a vehicle identification number (vehicle ID) and / or a height of the vehicle is encoded.
- the position mark (s) may or may accordingly arranged, comprise selectively reflecting and / or radiating elements in a wavelength range in ⁇ play colored light emitting diodes or infrared emitting diodes.
- the position mark can be detected even more reliably.
- the position marker can be used in addition to information transmission , in order, for. B to transmit the vehicle ID, when the active radiating elements emit modulated accordingly.
- association In the case of wireless transmission of information between the charging station and the eBus, a clear association between the vehicle located under the charging station and this charging station must be established (association). This can be achieved when the camera reads the message transmitted from the active position ⁇ stamp information and used to uniquely Alloc ⁇ voltage of the vehicle to the charging station.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016205804.5A DE102016205804A1 (de) | 2016-04-07 | 2016-04-07 | Positionsbestimmungssystem |
PCT/EP2017/055657 WO2017174292A1 (de) | 2016-04-07 | 2017-03-10 | Positionsbestimmungssystem |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3408132A1 true EP3408132A1 (de) | 2018-12-05 |
Family
ID=58314179
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17710860.2A Pending EP3408132A1 (de) | 2016-04-07 | 2017-03-10 | Positionsbestimmungssystem |
Country Status (7)
Country | Link |
---|---|
US (1) | US10766375B2 (de) |
EP (1) | EP3408132A1 (de) |
CN (1) | CN109195832B (de) |
CA (1) | CA3019977C (de) |
DE (1) | DE102016205804A1 (de) |
RU (1) | RU2708827C1 (de) |
WO (1) | WO2017174292A1 (de) |
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PT3551496T (pt) | 2017-01-16 | 2023-05-12 | Siemens Ag | Sistema de carregamento de veículos e método de carregamento de veículos |
DE102018207750A1 (de) * | 2018-05-17 | 2019-11-21 | Siemens Aktiengesellschaft | Identifikation eines Fahrzeugs und/oder Ermittlung einer relativen Position des Fahrzeugs gegenüber einer Ladestation |
CN108688500A (zh) * | 2018-05-31 | 2018-10-23 | 上海理工大学 | 一种电动公交车视觉检测充电控制系统及其设计方法 |
DE102018217294A1 (de) * | 2018-10-10 | 2020-04-16 | Audi Ag | Induktives Ladesystem und Positionierverfahren |
CN111055714B (zh) * | 2018-10-17 | 2021-07-16 | 郑州宇通客车股份有限公司 | 一种新能源车辆充电定位方法和新能源车辆 |
CN109866633A (zh) * | 2019-03-08 | 2019-06-11 | 恒大智慧充电科技有限公司 | 充电设备、充电管理方法及计算机可读存储介质 |
CN110466369A (zh) * | 2019-08-12 | 2019-11-19 | 上海鼎充新能源技术有限公司 | 一种充电弓识别定位系统及方法 |
DE102020202253A1 (de) * | 2020-02-21 | 2021-08-26 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Positionierung eines Fahrzeugs, Steuergerät des Fahrzeugs und Fahrzeug sowie Verfahren zur Steuerung einer induktiven Ladestation, Steuergerät der Ladestation und Ladestation |
DE102021112783A1 (de) | 2021-05-18 | 2022-11-24 | Man Truck & Bus Se | Laden eines Kraftfahrzeugs an einer stationären Ladeeinrichtung |
DE102022132210A1 (de) | 2022-12-05 | 2023-02-16 | Daimler Truck AG | Verfahren zum Durchführen eines wenigstens teilautomatisierten Bremsvorgangs eines Kraftwagens während einer Rückwärtsfahrt |
CN116729155A (zh) * | 2023-08-10 | 2023-09-12 | 湖南中车智行科技有限公司 | 适用于电子导向胶轮系统的智能驾驶全自动充电控制方法 |
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DE102016205804A1 (de) | 2017-10-12 |
CN109195832A (zh) | 2019-01-11 |
WO2017174292A1 (de) | 2017-10-12 |
US10766375B2 (en) | 2020-09-08 |
RU2708827C1 (ru) | 2019-12-11 |
CN109195832B (zh) | 2022-02-08 |
US20190143842A1 (en) | 2019-05-16 |
CA3019977C (en) | 2021-05-25 |
CA3019977A1 (en) | 2017-10-12 |
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