EP3408132A1 - Positionsbestimmungssystem - Google Patents

Positionsbestimmungssystem

Info

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
Application number
EP17710860.2A
Other languages
German (de)
English (en)
French (fr)
Inventor
Andre Rompe
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 Mobility 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 Siemens Mobility GmbH filed Critical Siemens Mobility GmbH
Publication of EP3408132A1 publication Critical patent/EP3408132A1/de
Pending 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
    • B60L53/30—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)
EP17710860.2A 2016-04-07 2017-03-10 Positionsbestimmungssystem Pending EP3408132A1 (de)

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 (zh)
EP (1) EP3408132A1 (zh)
CN (1) CN109195832B (zh)
CA (1) CA3019977C (zh)
DE (1) DE102016205804A1 (zh)
RU (1) RU2708827C1 (zh)
WO (1) WO2017174292A1 (zh)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7423666B2 (en) * 2001-05-25 2008-09-09 Minolta Co., Ltd. Image pickup system employing a three-dimensional reference object
US7671338B2 (en) * 2006-06-14 2010-03-02 Meyer Tool, Inc. Apparatus and method for analyzing relative outward flow characterizations of fabricated features
DE502006003264D1 (de) * 2006-06-27 2009-05-07 Brainlab Ag Medizintechnisches Markertracking mit Bestimmung der Markereigenschaften
WO2008130219A1 (en) * 2007-04-19 2008-10-30 Tele Atlas B.V. Method of and apparatus for producing road information
US20100201309A1 (en) * 2009-02-10 2010-08-12 Meek Ivan C Systems and methods for coupling a vehicle to an external grid and/or network
US9873347B2 (en) * 2009-03-12 2018-01-23 Wendell Brown Method and apparatus for automatic charging of an electrically powered vehicle
US7999665B2 (en) * 2009-08-18 2011-08-16 Ford Global Technologies, Llc Plug-in vehicle having a recharging port with a state of charge indicator
GB2475703A (en) * 2009-11-26 2011-06-01 Sylvan Ascent Inc Electric vehicle charging station and charge receiving arrangement for a vehicle
US20110221387A1 (en) * 2010-03-09 2011-09-15 Robert Louis Steigerwald System and method for charging an energy storage system for an electric or hybrid-electric vehicle
CN103038975B (zh) * 2010-04-26 2016-09-14 普罗特拉公司 用于电动车在充电站自动连接和充电的系统与方法
US8509982B2 (en) * 2010-10-05 2013-08-13 Google Inc. Zone driving
US20140067660A1 (en) * 2011-03-11 2014-03-06 Kevin Terrill Cornish Method and process for an electric vehicle charging system to automatically engage the charging apparatus of an electric vehicle
DE102011109834A1 (de) * 2011-08-09 2013-02-14 Leopold Kostal Gmbh & Co. Kg Ladestation und Verfahren zum induktiven Laden der Traktionsbatterie eines elektrisch angetriebenen Fahrzeugs
DE102011112610B4 (de) * 2011-09-05 2020-06-04 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum drahtlosen Übertragen elektrischer Energie auf Fahrzeuge in der Art "mobiler Zapfsäulen" sowie Computerprogramm und maschinenlesbarer Träger
US9114709B2 (en) * 2012-02-24 2015-08-25 Ford Global Technologies, Llc Limited operating strategy for an electric vehicle
DE102012205276A1 (de) * 2012-03-30 2013-10-02 Siemens Aktiengesellschaft Nicht schienengebundenes Fahrzeug
DE102012015262A1 (de) * 2012-08-01 2014-02-06 Audi Ag Verfahren zum Positionieren eines Kraftwagens, System mit einem solchen Kraftwagen sowie Kraftwagen
DE102012214199A1 (de) * 2012-08-09 2014-04-03 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und Verfahren zur Positionierung durch Triangulation
US9508146B2 (en) * 2012-10-31 2016-11-29 The Boeing Company Automated frame of reference calibration for augmented reality
WO2014078456A1 (en) * 2012-11-13 2014-05-22 Proterra Inc. Systems and methods for enabling fast charging of an electric vehicle at a charging station
BR112015025032B1 (pt) * 2013-03-29 2022-02-08 Nissan Motor Co., Ltd Sistema de fornecimento de energia sem contato
JP6107372B2 (ja) 2013-04-22 2017-04-05 富士通株式会社 画像処理装置、画像処理方法および画像処理プログラム
DE102013209235A1 (de) 2013-05-17 2014-11-20 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Positionsbestimmung
CN105263741B (zh) * 2013-06-13 2017-08-08 株式会社 Ihi 车辆供电系统
JP6442710B2 (ja) * 2013-07-23 2018-12-26 パナソニックＩｐマネジメント株式会社 固体撮像装置、撮像装置及びその駆動方法
US9493087B2 (en) 2013-08-07 2016-11-15 Powerhydrant Llc Method and system for automatic charging of electric vehicles
JP2015100230A (ja) * 2013-11-20 2015-05-28 トヨタ自動車株式会社 非接触送受電システム
GB2523186B (en) * 2014-02-18 2020-03-25 Ford Global Tech Llc Vehicle control system for aligning inductive charging connection
CN105517664B (zh) 2014-05-30 2018-11-20 深圳市大疆创新科技有限公司 无人飞行器对接系统及方法
DE102014210759A1 (de) * 2014-06-05 2015-12-17 Siemens Aktiengesellschaft Ortungssystem zur Bestimmung der Position eines Fahrzeugs in einer Ladestation
MX2017000043A (es) * 2014-07-07 2017-04-27 Koninklijke Philips Nv Deteccion de movimiento y/o posicion de un objeto vigilado.
AT516078A1 (de) 2014-07-23 2016-02-15 Siemens Ag Fahrzeugladestation mit einem Gelenkarm
AT516079A1 (de) 2014-07-23 2016-02-15 Siemens Ag Fahrzeugladestation mit einem zweigliedrigen Manipulator
US9573701B2 (en) * 2014-08-06 2017-02-21 Disney Enterprises, Inc. Robust and autonomous docking and recharging of quadrotors
KR101535038B1 (ko) * 2014-08-27 2015-07-08 현대자동차주식회사 차량의 무선 충전 방법
DE102014219466A1 (de) 2014-09-25 2016-03-31 Siemens Aktiengesellschaft Transportsystem mit einem über eine Oberleitungsanlage mit elektrischer Energie versorgbaren, nicht schienengebundenen Fahrzeug
DE102014015668B4 (de) * 2014-10-22 2018-05-24 Audi Ag Verfahren zum Positionieren eines Kraftfahrzeugs und zugehöriges Kraftfahrzeug
CN106103281B (zh) * 2014-11-21 2019-02-26 深圳市大疆创新科技有限公司 管理无人飞行器的系统和方法
JP2016207414A (ja) * 2015-04-21 2016-12-08 住友電装株式会社 コネクタ
US10300804B2 (en) * 2015-04-29 2019-05-28 General Electric Company Apparatus and method for automated positioning of a vehicle
US10411524B2 (en) * 2015-06-23 2019-09-10 Witricity Corporation Systems, methods and apparatuses for guidance and alignment in electric vehicles wireless inductive charging systems
DE102015219438B4 (de) * 2015-10-07 2024-02-22 Schunk Transit Systems Gmbh Schnellladesystem und Verfahren zur elektrischen Verbindung eines Fahrzeugs mit einer Ladestation

Also Published As

Publication number Publication date
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

Similar Documents

Publication Publication Date Title
EP3408132A1 (de) Positionsbestimmungssystem
EP2686842B1 (de) Vorrichtung zum überwachen eines fahrzeug-stellplatzes
DE102013012324A1 (de) Verfahren und Vorrichtung zur Fahrwegfindung
DE102018112513A1 (de) Verfahren und System zur Ableitung einer Trajektorie an einer Systemgrenze eines autonomen Fahrzeugs durch einen Teleoperator
WO2001087444A2 (de) Verfahren zur originalgetreuen, realitätsnahen automatischen oder halbautomatischen steuerung von gleisgeführten spielzeugen, insbesondere elektromotorisch betriebenen modellbahnen und modellzügen, anordnung zur durchführung eines solchen verfahrens, gleise, gleisstücke oder weichen zur verwendung bei einem verfahren
DE102009039450A1 (de) Verfahren und Vorrichtung zur Fahrspurerkennung für ein Fahrzeug
DE102011009209A1 (de) Verfahren und System zur Spurüberwachung eines Kraftfahrzeugs, Kraftfahrzeug und Infrastruktureinrichtung
EP2548088A2 (de) Anlage, verfahren zur bestimmung der position eines fahrzeuges innerhalb einer anlage und verfahren zum erstellen einer verbesserten soll-bahnkurve für ein fahrzeug innerhalb einer anlage
WO2016015827A1 (de) Fahrerassistenzsystem, kraftfahrzeug und betriebsverfahren
WO2019120774A1 (de) Verfahren zum assistieren eines fahrers eines kraftfahrzeugs bei einem überholvorgang; kraftfahrzeug; sowie system
WO2019233777A1 (de) Fahrassistenzsystem
DE102014211840A1 (de) Verfahren und Vorrichtung zum Ansteuern eines Stromabnehmers eines Schienenfahrzeugs und Ansteuersystem für einen Stromabnehmer eines Schienenfahrzeugs
EP2912489A1 (de) Verfahren und vorrichtung zur erkennung von gekennzeichneten gefahr- und/oder baustellen im bereich von fahrbahnen
DE3501036A1 (de) Verfahren zur uebermittlung von verkehrsinformationen
DE102020202334A1 (de) Verfahren zur Positionierung eines Fahrzeugs, Steuergerät für ein Fahrzeug, Fahrzeug, Verfahren zur Unterstützung einer Positionierung eines Fahrzeugs, Induktive Ladestation oder Kontrollvorrichtung
DE102018201441A1 (de) Ladestation, System und Verfahren zum Aufladen eines elektrischen Energiespeichers von Kraftfahrzeugen
DE102018202526B4 (de) Verfahren zum Betreiben einer Fahrerassistenzeinrichtung eines Kraftfahrzeugs mithilfe einer Navigationszielvorgabevorrichtung, Steuereinrichtung, Navigationszielvorgabevorrichtung, und Kraftfahrzeug
DE102021204967A1 (de) Verfahren zum Heizen einer Ladeeinheit zum elektrischen Laden einer Antriebsbatterie eines Fahrzeugs, Computerprogrammprodukt und Speichermittel
EP3640594B1 (de) System von künstlichen landmarken in einer umgebung zur verwendung für eine sensorgestützte lokalisierung von mobilen plattformen
DE102017208244A1 (de) System und verfahren
DE102018207719A1 (de) Vorrichtung und Verfahren zum Betreiben eines automatisierten Fahrzeugs
CN113928336B (zh) 一种汽车自动驾驶辅助方法及系统
EP3891034A1 (de) Verfahren zum steuern eines fahrerassistenzsystems, fahrerassistenzsystem, kraftfahrzeug und zentrale datenverarbeitungseinrichtung
EP3569442A1 (de) Identifikation eines fahrzeugs und/oder ermittlung einer relativen position des fahrzeugs gegenüber einer ladestation
DE102018214633A1 (de) Scheibenwischvorrichtung mit Visualisierungsfunktion, Betriebsverfahren und Fahrzeug

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180831

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20200403

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SIEMENS AKTIENGESELLSCHAFT