WO2014183926A3 - System zur ausrichtung eines fahrzeugs und verwendung des systems - Google Patents

System zur ausrichtung eines fahrzeugs und verwendung des systems Download PDF

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Publication number
WO2014183926A3
WO2014183926A3 PCT/EP2014/056897 EP2014056897W WO2014183926A3 WO 2014183926 A3 WO2014183926 A3 WO 2014183926A3 EP 2014056897 W EP2014056897 W EP 2014056897W WO 2014183926 A3 WO2014183926 A3 WO 2014183926A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
transmitting
stationary device
unit
stationary
Prior art date
Application number
PCT/EP2014/056897
Other languages
English (en)
French (fr)
Other versions
WO2014183926A2 (de
Inventor
Joerg Mecks
Markus Mayer
Gerald Heinrich Oettle
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2014183926A2 publication Critical patent/WO2014183926A2/de
Publication of WO2014183926A3 publication Critical patent/WO2014183926A3/de

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—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
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by 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
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0295—Proximity-based methods, e.g. position inferred from reception of particular signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Die Erfindung betrifft ein System (100) zur Ausrichtung eines Fahrzeugs (1), umfassend eine an dem Fahrzeug (1) oder an einer stationären Einrichtung (10) angeordnete Sendeeinrichtung (18) zur Abstrahlung elektromagnetischer Wellen, wobei die Sendeeinrichtung (18) wenigstens eine Sendeeinheit (17a bis 17d) aufweist, eine an der stationären Einrichtung (10) oder in dem Fahrzeug (1) angeordnete Empfangseinrichtung (15) mit wenigstens zwei Empfangseinheiten (16a bis 16c) zur Erfassung der von der Sendeeinrichtung (18) abgestrahlten elektromagnetischen Wellen, einer Auswerteeinrichtung (20) zur Bestimmung der Position des Fahrzeugs (1) relativ zur stationären Einrichtung (10), und mit einer Einparkassistenzlogik (22) zur Bestimmung von erforderlichen Fahrmanövern des Fahrzeugs(1), um das Fahrzeug (1) zur stationären Einrichtung (10), wobei die Auswerteeinrichtung (20) dazu ausgebildet ist, aufgrund der von den wenigstens zwei Empfangseinheiten (16a bis 16c) empfangenen Signale der wenigstens einen Sendeinheit (17a bis 17d) sowohl den Abstand (Δd) des Fahrzeugs(1), als auch dessen Orientierung zur stationären Einrichtung (10) zu bestimmen.
PCT/EP2014/056897 2013-05-13 2014-04-07 System zur ausrichtung eines fahrzeugs und verwendung des systems WO2014183926A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013208678.4 2013-05-13
DE102013208678.4A DE102013208678A1 (de) 2013-05-13 2013-05-13 System zur Ausrichtung eines Fahrzeugs und Verwendung des Systems

Publications (2)

Publication Number Publication Date
WO2014183926A2 WO2014183926A2 (de) 2014-11-20
WO2014183926A3 true WO2014183926A3 (de) 2015-02-19

Family

ID=50478384

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/056897 WO2014183926A2 (de) 2013-05-13 2014-04-07 System zur ausrichtung eines fahrzeugs und verwendung des systems

Country Status (2)

Country Link
DE (1) DE102013208678A1 (de)
WO (1) WO2014183926A2 (de)

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DE102013110280A1 (de) * 2013-09-18 2015-03-19 Paul Vahle Gmbh & Co. Kg Positionsbestimmungssystem für Fahrzeuge
DE102014017544A1 (de) * 2014-11-28 2016-06-02 Sew-Eurodrive Gmbh & Co Kg Verfahren und System zum induktiven Übertragen von elektrischer Energie an ein Fahrzeug
DE102014017800A1 (de) * 2014-12-02 2016-06-02 Audi Ag Verfahren zur Positionierung eines Kraftfahrzeugs in einer Ladeposition und Kraftfahrzeug
US10486549B2 (en) 2015-05-15 2019-11-26 Ford Global Technologies, Llc Parking assist overlay
DE102015210314A1 (de) * 2015-06-03 2016-12-08 Audi Ag Verfahren zur Positionsbestimmung eines Kraftfahrzeugs relativ zu einer Primärspule, Kraftfahrzeug und Ladeplatte
GB2542182A (en) * 2015-09-11 2017-03-15 Bombardier Transp Gmbh A system and a method for determining a relative position and/or orientation between a primary and a secondary winding structure
DE102015012368A1 (de) * 2015-09-19 2017-03-23 Audi Ag Verfahren zur Ermittlung einer eine Relativposition eines Kraftfahrzeugs zu einer stationären, anzufahrenden Ladeeinrichtung beschreibenden Positionsinformation und Anordnung aus einem Kraftfahrzeug und einer stationären, anzufahrenden Ladeeinrichtung
DE102015218410A1 (de) 2015-09-24 2017-03-30 Continental Automotive Gmbh Verfahren und Einrichtung zum Bestimmen der Absolutposition eines Fahrzeuges
GB2544962B (en) * 2015-10-09 2019-06-12 Jaguar Land Rover Ltd Method and apparatus for assisted alignment of a vehicle with a charging device
DE102016221743A1 (de) * 2016-11-07 2018-05-09 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung zur automatischen Vorbereitung einer Energiezufuhr in einem hochautomatisiert fahrfähigen Fortbewegungsmittel
CN108146256A (zh) * 2016-12-06 2018-06-12 比亚迪股份有限公司 电动汽车及其无线充电自动对位装置和方法
DE102017209092A1 (de) * 2017-05-31 2018-12-06 Robert Bosch Gmbh Verfahren und Vorrichtung zur Lokalisierung eines Fahrzeugs für eine induktive Energieübertragung
DE102018105258A1 (de) * 2018-03-07 2019-09-12 Preh Gmbh System zum induktiven aufladen eines energiespeichers eines elektrischen fahrzeugs
CN109606149A (zh) * 2018-10-26 2019-04-12 惠州市德赛西威汽车电子股份有限公司 一种无线充电定位方法及系统
CN109991977B (zh) * 2019-03-04 2022-04-29 斯坦德机器人（深圳）有限公司 机器人的路径规划方法及装置
NL2023068B1 (en) 2019-05-03 2020-11-30 Prodrive Tech Bv System and method for positioning a mobile assembly
GB2587800A (en) * 2019-09-26 2021-04-14 Bombardier Primove Gmbh A system and a method for determining a relative pose between a primary winding structure and a secondary winding structure of a system for inductive power
DE102020102155A1 (de) * 2020-01-29 2021-07-29 Sick Ag Sicherheitssystem und Verfahren zur Lokalisierung
DE102022110612A1 (de) * 2022-05-01 2023-11-02 Erwin Hymer Group Se Freizeitfahrzeug, Freizeitanhänger, Anordnung zur Vorgabe von Abstellplätzen für Freizeitanhänger sowie System und Verfahren für einen Freizeitanhänger
DE102022206093A1 (de) * 2022-06-17 2023-12-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Koppeln eines Fahrzeugs mit einer Ladestation

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DE102011006504A1 (de) * 2011-03-31 2012-10-04 Robert Bosch Gmbh Verfahren zum Positionieren eines Kraftfahrzeugs
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Publication number Publication date
WO2014183926A2 (de) 2014-11-20
DE102013208678A1 (de) 2014-11-13

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