WO2020144053A1 - Method for operating a motor vehicle to protect an operating unit of a charging cable - Google Patents

Method for operating a motor vehicle to protect an operating unit of a charging cable Download PDF

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Publication number
WO2020144053A1
WO2020144053A1 PCT/EP2019/086594 EP2019086594W WO2020144053A1 WO 2020144053 A1 WO2020144053 A1 WO 2020144053A1 EP 2019086594 W EP2019086594 W EP 2019086594W WO 2020144053 A1 WO2020144053 A1 WO 2020144053A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
operating unit
charging cable
markings
processing device
Prior art date
Application number
PCT/EP2019/086594
Other languages
German (de)
French (fr)
Inventor
Tobias ENZINGER
Dominik Kniffka
Michael Fuchs
Original Assignee
Audi Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi Ag filed Critical Audi Ag
Publication of WO2020144053A1 publication Critical patent/WO2020144053A1/en

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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
    • B60L53/14—Conductive energy transfer
    • B60L53/18—Cables specially adapted for charging electric 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the invention relates to a method for operating a motor vehicle comprising at least one energy storage to be charged via a charging cable to be connected to an external power source and an operating unit, as well as one or more cameras capturing the vehicle surroundings.
  • Modern motor vehicles are increasingly being designed as partially electric or fully electric vehicles and comprise one or more appropriately dimensioned energy stores which have to be charged from time to time.
  • a charging cable is used for this purpose, which is usually carried in the vehicle and which is to be connected on the one hand to a charging socket on the vehicle and on the other hand to a charging socket on an external power source or charging station.
  • the charging cable includes an operating unit that enables the user to control the charging process.
  • This control unit is arranged or integrated in the form of a housing on the cable.
  • This housing is designed to be very solid and stable, since it often lies on the floor during charging and it must be ensured that the housing is not damaged even if the motor vehicle rolls over unintentionally.
  • DE 10 2016 111 094 A1 discloses a charging station with a charging cable firmly connected to it, which is to be connected to the motor vehicle for charging a motor vehicle.
  • the charging station is provided with a monitoring device which serves to monitor the position of the charging cable at the charging station , and which in particular monitors whether the charging cable is placed in at least one loop around the charging cable holder. If this is not the case, the user receives appropriate information.
  • the invention is based on the problem of specifying a method which can prevent the charging cable or the control unit from being inadvertently driven over, so that the control unit can be carried out more easily and, in particular, less stably.
  • a processing device assigned to the camera or cameras evaluates the camera data in order to determine whether the control unit is in the possible travel path of the motor vehicle, the driving operation of the Motor vehicle is controlled depending on the determination result and / or warning information is output to the driver.
  • Modern motor vehicles generally have a plurality of cameras capturing the vehicle environment, usually at least four cameras, so that a 360 ° environment detection is possible.
  • the invention now makes use of the fact that an appropriate environment detection is possible with these cameras and provides for the processing device to be designed in such a way that it is able to determine within the recorded camera images whether the operating unit is located in the camera images , and if so, whether this is in a possible route of the motor vehicle. If no control unit is determined, there is no danger of being run over. However, if an operating unit is determined and located in the camera images If the vehicle is in a precarious position where it is basically possible to drive over it, the system reacts by actively controlling the future ferry operation accordingly, in order to prevent the actual crossing if the vehicle is moving or is already in motion .
  • driver warning information which indicates that the vehicle is potentially being driven over, so that the driver can react immediately.
  • driver information there is therefore an automatic driving operation intervention to prevent the operating unit from being driven over
  • driver information and corresponding driver-side information there is driver information and corresponding driver-side information.
  • the camera monitoring can ensure whether a potential overrun is possible and this potential overrun can be excluded by the procedure according to the invention, on the one hand the control unit is protected, on the other hand it can also be simpler and in particular less stable with regard to the Housing or the structure are carried out.
  • an active control intervention in the future or current ferry operation is possible to avoid a crossing.
  • the start of the ferry operation can in principle be blocked.
  • the plug on the vehicle was pulled out after a charging process in the garage, but the charging cable was not tidied up but was lying on the ground and could be rolled over.
  • the control unit is in the potential route, i.e. in an area that can basically be approached by the vehicle, the vehicle that is not yet moving cannot start the ferry operation according to this embodiment of the invention, so that the vehicle cannot be driven over.
  • the driver can be informed of this fact, for example with warning information output on a display, so that he can react accordingly and, for example, can move the control unit to another position or the like if he wishes to do so.
  • the starting drive excluded so that there is no danger to the control unit.
  • the motor vehicle can be automatically braked and stopped according to the invention or an automatic steering intervention can take place.
  • the motor vehicle is in motion for whatever reason, although it may be extremely slow.
  • the processing device detects an operating unit located in the possible route, then according to this embodiment the vehicle is automatically braked and stopped before it runs over, which is easily possible after the processing device also uses the camera data to exactly determine the relative position of the operating unit to determine the motor vehicle.
  • an automatic steering intervention is also conceivable in order to drive around the operating unit, that is to say to drive the vehicle automatically. So there is an active vehicle intervention to prevent the crossing.
  • the processing device has a corresponding analysis algorithm which is capable of detecting the operating unit, which, for example, has a corresponding specific geometry.
  • the processing device communicates with a corresponding control device of the respectively assigned system in order either to carry out the driving intervention or to issue the warning.
  • a charging cable with an operating unit having one or more optically detectable markings is preferably used, the processing device being designed to detect the one or more markings.
  • the operating unit therefore has specific markings which it identifies as such, these markings also being able to be attached in such a way that they also indicate the spatial position and operating unit size when they are analyzed in the camera image become.
  • the processing device is now configured accordingly to detect these markings, that is to say that the corresponding analysis seal algorithm is designed accordingly.
  • a charging cable with egg ner control unit is used, which has one or more luminous markings gene. These luminous markings also enable the control unit to be reliably determined in the dark, since they can be detected via the processing device or the analysis algorithm.
  • the markings can be of any geometry, for example as lines, as circles, as semicircles or as arcs, as triangles or as polygons, a free form is also conceivable.
  • the analysis algorithm is calibrated accordingly so that the markings can also be clearly identified, so that the control unit can be reliably detected.
  • warning information is output, it is used to provide the driver or any other person with immediate information.
  • Acoustic information can be output as warning information, for example via the infotainment system of the motor vehicle, which is controlled accordingly and outputs either a tone or a concrete warning announcement.
  • an optical information output is also conceivable, for example via a corresponding display in the motor vehicle, on which a warning pictogram or a warning text is displayed. This display can be provided either in the area of the center console or in the area of the instrument cluster.
  • the third alternative or additional information option is the output of haptic information. This can take place, for example, in the form of a steering wheel vibration or a seat vibration or the like. Of course, preferably several different types of information can be used simultaneously.
  • the invention further relates to a motor vehicle comprising at least one energy supply to be charged with an operating unit via a charging cable to be connected to an external power source. rather as well as one or more cameras capturing the vehicle surroundings.
  • the motor vehicle is characterized in that a processing device assigned to the camera or cameras is provided which is designed to evaluate the camera data in order to determine whether the operating unit is in the possible travel path of the motor vehicle, the ferry operating of the motor vehicle can be controlled depending on the result of the determination and / or warning information can be output to the driver.
  • the potential route can be determined by the processing device or by another control device. This is based, for example, on position information, information about the steering angle, information relating to the direction of travel or the selected gear level, etc. This information can be used to define a potential movement field in which the vehicle can move or a specific one to determine the predicted route in view of the given wheel position if, for example, the vehicle has already rolled slightly.
  • the ferry operation can be controlled via the processing device or a separate control device in such a way that the start of the ferry operation is blocked for a motor vehicle which is not yet driving.
  • the motor vehicle can be automatically braked and stopped in an already moving motor vehicle, alternatively, an automatic steering intervention can also take place.
  • One or preferably several optically detectable markings are provided on the operating unit, the processing device being designed to detect the one or more markings. Those who prefer to use luminous markings that are very well visible even in the dark are preferred.
  • the or each marking can have the shape of a line, an arc, an oval, a circle, a triangle or polygon or a free form.
  • Acoustic, optical or haptic information can be output as warning information, for which purpose corresponding output means that are usually already installed on the vehicle side are used.
  • the invention further relates to a charging cable for a motor vehicle of the type described, with an operating unit with a housing on which one or more markings in the form of a line, in the form of an arc, an oval, a circle in the dark or permanently illuminated , a triangle or polygon or a free form are provided.
  • FIG. 1 shows a basic illustration of a motor vehicle according to the invention in a side view
  • Fig. 2 is a plan view of the arrangement of Fig. 1 and Fig. 3 is an enlarged schematic diagram of part of a charging cable with the control unit.
  • FIG. 1 shows a motor vehicle 1 according to the invention, with one or more energy stores 2, which are connected via an external, e.g. Power source 3 located in a garage can be charged with the aid of a charging cable 4 that can be detachably connected to it.
  • the motor vehicle 1 can drive partially or fully electrically.
  • the charging cable 4 can be connected via a first plug 5 to the power source 3, that is to say the charging station, and a connection to the motor vehicle is possible with a second plug 6 (see FIG. 2), this plug 6 not being plugged in here.
  • the charging cable 4 has an operating unit 7, which serves to control or operate the charging process.
  • the operating unit 7, which is shown in an enlarged view in FIG. 3, has a housing 8 a corresponding display device 9 and optionally control elements designed as a touchscreen 10 are provided on the top.
  • the operating unit 7 in the example shown has two arch-shaped or hoof-shaped markings 11, 12, which in the example shown are illuminated markings, which therefore light up themselves and can therefore also be recognized at night.
  • the charging cable 4 is only plugged into the power source 3 with the plug 5, but not with the plug 6 on the vehicle, the control unit 7 is on the ground, in a position (see FIG. 2) that, if that Motor vehicle according to arrow P1 shown in dashed lines, for example drives backwards into the garage, overrun by motor vehicle 1 who would.
  • the motor vehicle 1 has a plurality of cameras 13, in the present case a total of four cameras, which are provided on the front of the vehicle, the rear of the vehicle and the two sides of the vehicle and which are used to record the surroundings of the vehicle, so that these cameras virtually detect a 360 ° view can be shown, for example, on a display 14.
  • a processing device 15 provided according to the invention which processes the camera images, is designed to determine whether there is an operating unit 7 in the camera images and, if so, where it is positioned. It is important to find out whether the control unit 7 is in a position in which it can be rolled over by the motor vehicle 1 when it approaches when driving in.
  • a corresponding analysis algorithm is stored in the processing device 15, which is able to determine the operating unit 7 in the camera states.
  • the algorithm is designed in such a way that it is able to detect the specific markings 11, 12 which are specific to the operating unit 7, so that it is determined unambiguously, and which are also determined at night can.
  • the processing device 15 is able to define where the operating device 7 lies on the ground.
  • the control unit 7 is in the potential travel path, as described, as shown by the arrow P1. This is exactly determined by the processing device 15.
  • the potential travel path is also determined, for example, via the processing device 15 or via another control device, for example on the basis of the steering angle of the steerable front wheels 20, a drive step which may have been engaged, and the like. In this way, either a specific potential route is ascertained, or a driving space within which the motor vehicle 1 can easily move is determined, in order to then decide whether there is a potential risk to the operating unit 7 or not.
  • control unit 7 In the event that it is determined that the control unit 7 is potentially endangered and is located in a potential route or the driving area, different further scenarios are conceivable.
  • control operation 16 which is used to control the ferry operation, can in principle block the ferry operation, for example, so that in this case the motor vehicle 1 cannot even start as long the control unit 7 is not cleaned up. This case is conceivable if the plug 6 was pulled out after a previous charging process, but the charging cable 4 was not cleared up and the control unit 7 is consequently located in the route.
  • a further control device 17 which, like the control device 16, with the Processing device 15 communicates, an active braking operation takes place, for example, by actuating the rear brakes or all the brakes, so that the vehicle comes to a standstill, or the like.
  • an active steering intervention by steering the front wheels 20 would also be conceivable in order to avoid the operating unit 7.
  • warning information can take place, for example, in optical form on the display 14, where a corresponding warning text is reproduced or the like.
  • an acoustic signal in the form of a warning tone or a warning announcement can also be output via a loudspeaker system 18, and a haptic signal can also be output on the steering wheel or on the driver's seat via vibration sensors 19.
  • This various warning information is used to warn the driver or another person about the potential danger, so that the driver can actively intervene himself and is either informed about the control unit located in the guideway so that it can be cleared to the side, or the one that is about to start Braking the vehicle immediately or the like.

Abstract

A method for operating a motor vehicle (1) comprising at least one energy storage device (2) to be charged by an operating unit (7) via a charging cable (4) connected to an external power source (3), and comprising multiple cameras (13) that capture the vehicle environment, wherein a processing device (15) associated with the cameras (13) evaluates the camera data in order to determine whether the operating unit (7) is located in a possible travel path of the motor vehicle (1), and the driving mode of the motor vehicle (1) is controlled in accordance with the results of the determination and/or warning information is issued to the driver.

Description

Verfahren zum Betrieb eines Kraftfahrzeugs zum Schutz einer Bedieneinheit eines Ladekabels Method for operating a motor vehicle to protect an operating unit of a charging cable
BESCHREIBUNG: DESCRIPTION:
Die Erfindung betrifft ein Verfahren zum Betrieb eines Kraftfahrzeugs umfas send wenigstens einen über ein an einer externen Stromquelle anzuschlie ßendes Ladekabel mit einer Bedieneinheit zu ladenden Energiespeicher so wie eine oder mehrere das Fahrzeugumfeld erfassende Kameras. The invention relates to a method for operating a motor vehicle comprising at least one energy storage to be charged via a charging cable to be connected to an external power source and an operating unit, as well as one or more cameras capturing the vehicle surroundings.
Moderne Kraftfahrzeuge werden zunehmend als teilelektrisch oder voll elektrisch fahrende Fahrzeuge ausgeführt und umfassen einen oder mehrere entsprechend dimensionierte Energiespeicher, die von Zeit zu Zeit zu laden sind. Hierzu dient ein Ladekabel, das üblicherweise im Fahrzeug mitgeführt wird und das einerseits an eine Ladebuchse am Fahrzeug und andererseits an eine Ladebuchse an einer externen Stromquelle respektive Ladesäule anzuschließen ist. Das Ladekabel umfasst eine Bedieneinheit, die es dem Anwender ermöglicht, den Ladevorgang zu steuern. Diese Bedieneinheit ist in Form eines Gehäuses am Kabel angeordnet respektive integriert. Dieses Gehäuse ist sehr massiv und stabil ausgeführt, da es im Ladebetrieb häufig auf dem Boden liegt und sichergestellt werden muss, dass das Gehäuse auch bei einem unbeabsichtigten Überrollen durch das Kraftfahrzeug nicht beschädigt wird. Ein solches Überrollen ist beispielsweise dann denkbar, wenn in eine oder aus eiern Garage gefahren wird und von einem früheren Ladevorgang über eine in der Garage vorgesehene Ladestation herrührend noch das Ladekabel mit der Bedieneinheit am Boden liegt und nicht aufge räumt wurde, so dass es überrollt werden kann. Aus DE 10 2016 111 094 A1 ist eine Ladestation mit einem fest daran ange schlossenen Ladekabel bekannt, das zum Laden eines Kraftfahrzeugs mit dem Kraftfahrzeug zu verbinden ist. Um sicherzustellen, dass der Nutzer das Ladekabel nach dem Ladevorgang auch wieder ordnungsgemäß verräumt und an einem an der Ladestation vorgesehenen Ladekabelhalter mit zumin dest einer Schlaufe befestigt, ist die Ladestation mit einer Überwachungsein richtung versehen, die der Überwachung der Lage des Ladekabels an der Ladestation dient, und die insbesondere überwacht, ob das Ladekabel in zumindest einer Schlaufe um den Ladekabelhalter gelegt ist. Ist dies nicht der Fall, erhält der Nutzer eine entsprechende Information. Modern motor vehicles are increasingly being designed as partially electric or fully electric vehicles and comprise one or more appropriately dimensioned energy stores which have to be charged from time to time. A charging cable is used for this purpose, which is usually carried in the vehicle and which is to be connected on the one hand to a charging socket on the vehicle and on the other hand to a charging socket on an external power source or charging station. The charging cable includes an operating unit that enables the user to control the charging process. This control unit is arranged or integrated in the form of a housing on the cable. This housing is designed to be very solid and stable, since it often lies on the floor during charging and it must be ensured that the housing is not damaged even if the motor vehicle rolls over unintentionally. Such a rollover is conceivable, for example, when driving into or out of a garage and from a previous charging process via a charging station provided in the garage, the charging cable with the control unit is on the ground and has not been cleared up, so that it can be rolled over can. DE 10 2016 111 094 A1 discloses a charging station with a charging cable firmly connected to it, which is to be connected to the motor vehicle for charging a motor vehicle. In order to ensure that the user properly clears the charging cable after the charging process and fastens it to a charging cable holder provided with at least one loop at the charging station, the charging station is provided with a monitoring device which serves to monitor the position of the charging cable at the charging station , and which in particular monitors whether the charging cable is placed in at least one loop around the charging cable holder. If this is not the case, the user receives appropriate information.
Der Erfindung liegt das Problem zugrunde, ein Verfahren anzugeben, das ein unbeabsichtigtes Überfahren des Ladekabels respektive der Bedieneinheit vermeiden lässt, sodass die Bedieneinheit einfacher und insbesondere weni- ger stabil ausgeführt werden kann. The invention is based on the problem of specifying a method which can prevent the charging cable or the control unit from being inadvertently driven over, so that the control unit can be carried out more easily and, in particular, less stably.
Zur Lösung dieses Problems ist bei einem Verfahren der eingangs genann ten Art erfindungsgemäß vorgesehen, dass eine der oder den Kameras zu geordnete Verarbeitungseinrichtung die Kameradaten auswertet, um zu er- mittein, ob sich die Bedieneinheit im möglichen Fahrweg des Kraftfahrzeugs befindet, wobei der Fährbetrieb des Kraftfahrzeugs in Abhängigkeit des Er mittlungsergebnisses gesteuert wird und/oder eine Warninformation an den Fahrer ausgegeben wird. Moderne Kraftfahrzeuge verfügen in der Regel über mehrere die Fahr zeugumgebung erfassende Kameras, üblicherweise zumindest vier Kame ras, sodass eine 360°-Umfelderfassung möglich ist. Die Erfindung nutzt nun den Umstand, dass mit diesen Kameras eine entsprechende Umfelderfas sung möglich ist und sieht vor, die Verarbeitungseinrichtung derart auszufüh- ren, dass diese in der Lage ist, innerhalb der aufgenommenen Kamerabilder zu ermitteln, ob sich die Bedieneinheit in den Kamerabildern befindet, und wenn ja, ob diese in einem möglichen Fahrweg des Kraftfahrzeugs liegt. Wird keine Bedieneinheit ermittelt, so besteht keine Gefahr des Überfahrens. Wird jedoch eine Bedieneinheit in den Kamerabildern ermittelt und befindet sich diese an einer prekären Position, in der grundsätzlich ein Überfahren möglich ist, so reagiert das System, indem aktiv der zukünftige Fährbetrieb entsprechend gesteuert wird, um, sollte sich das Fahrzeug in Bewegung set zen oder bereits in Bewegung sein, die eigentliche Überfahrt zu verhindern. Zusätzlich oder alternativ besteht die Möglichkeit, dem Fahrer eine Warnin formation auszugeben, die ihn auf das potenzielle Überfahren hinweist, so- dass der Fahrer sofort reagieren kann. Im erst genannten Fall erfolgt also ein automatischer Fahrbetriebseingriff zur Vermeidung des Überfahrens der Be dieneinheit, im zweiten Fall erfolgt eine Fahrerinformation und eine entspre- chende fahrerseitige Information. To solve this problem, in a method of the type mentioned at the outset, it is provided according to the invention that a processing device assigned to the camera or cameras evaluates the camera data in order to determine whether the control unit is in the possible travel path of the motor vehicle, the driving operation of the Motor vehicle is controlled depending on the determination result and / or warning information is output to the driver. Modern motor vehicles generally have a plurality of cameras capturing the vehicle environment, usually at least four cameras, so that a 360 ° environment detection is possible. The invention now makes use of the fact that an appropriate environment detection is possible with these cameras and provides for the processing device to be designed in such a way that it is able to determine within the recorded camera images whether the operating unit is located in the camera images , and if so, whether this is in a possible route of the motor vehicle. If no control unit is determined, there is no danger of being run over. However, if an operating unit is determined and located in the camera images If the vehicle is in a precarious position where it is basically possible to drive over it, the system reacts by actively controlling the future ferry operation accordingly, in order to prevent the actual crossing if the vehicle is moving or is already in motion . Additionally or alternatively, there is the possibility of giving the driver warning information which indicates that the vehicle is potentially being driven over, so that the driver can react immediately. In the first-mentioned case, there is therefore an automatic driving operation intervention to prevent the operating unit from being driven over, in the second case there is driver information and corresponding driver-side information.
Aufgrund des Umstands, dass durch die Kameraüberwachung sichergestellt werden kann, ob ein potenzielles Überfahren möglich ist und dieses potenzi elle Überfahren durch die erfindungsgemäße Vorgehensweise ausgeschlos- sen werden kann, ist einerseits die Bedieneinheit geschützt, andererseits kann sie auch einfacher und insbesondere weniger stabil hinsichtlich des Gehäuses respektive des Aufbaus ausgeführt werden. Due to the fact that the camera monitoring can ensure whether a potential overrun is possible and this potential overrun can be excluded by the procedure according to the invention, on the one hand the control unit is protected, on the other hand it can also be simpler and in particular less stable with regard to the Housing or the structure are carried out.
Wie beschrieben ist gemäß einer Erfindungsalternative ein aktiver Steue- rungseingriff in den zukünftigen oder laufenden Fährbetrieb zur Vermeidung einer Überfahrt möglich. Dabei kann bei einem noch nicht fahrenden Kraft fahrzeug die Aufnahme des Fährbetriebs grundsätzlich gesperrt werden. Ei ne solche Situation ist denkbar, wenn der Stecker am Fahrzeug nach einem Ladevorgang in der Garage gezogen wurde, aber das Ladekabel nicht aufge- räumt wurde, sondern am Boden liegt und überrollt werden könnte. Befindet sich die Bedieneinheit also im potenziellen Fahrweg, also in einem Bereich, der grundsätzlich vom Fahrzeug angefahren werden kann, so kann das noch nicht fahrende Fahrzeug den Fährbetrieb gemäß dieser Erfindungsausge staltung erst gar nicht aufnehmen, sodass das Überfahren ausgeschlossen ist. Der Fahrer kann über diesen Umstand beispielsweise mit einer an einem Display ausgegebenen Warninformation informiert werden, sodass er ent sprechend reagieren kann und beispielsweise die Bedieneinheit an eine an dere Position bringen kann oder dergleichen, wenn er dies möchte. Grund sätzlich ist jedoch aufgrund des erfindungsgemäßen Sperren der Anfahrbe- trieb ausgeschlossen, sodass keinerlei Gefahr für die Bedieneinheit gegeben ist. As described, according to an alternative of the invention, an active control intervention in the future or current ferry operation is possible to avoid a crossing. In the case of a motor vehicle that is not yet moving, the start of the ferry operation can in principle be blocked. Such a situation is conceivable if the plug on the vehicle was pulled out after a charging process in the garage, but the charging cable was not tidied up but was lying on the ground and could be rolled over. If the control unit is in the potential route, i.e. in an area that can basically be approached by the vehicle, the vehicle that is not yet moving cannot start the ferry operation according to this embodiment of the invention, so that the vehicle cannot be driven over. The driver can be informed of this fact, for example with warning information output on a display, so that he can react accordingly and, for example, can move the control unit to another position or the like if he wishes to do so. In principle, however, due to the blocking according to the invention, the starting drive excluded so that there is no danger to the control unit.
Bei einem bereits fahrenden Kraftfahrzeug, das z.B. in eine oder aus einer Garage fährt, kann das Kraftfahrzeug erfindungsgemäß automatisch ge bremst und gestoppt werden oder ein automatischer Lenkeingriff erfolgen. In diesem Fall ist das Kraftfahrzeug aus welchem Grund auch immer in Bewe gung, wenngleich ggf. extrem langsam. Erfasst nun die Verarbeitungseinrich tung eine im möglichen Fahrweg befindliche Bedieneinheit, so wird gemäß dieser Ausgestaltung das Fahrzeug automatisch gebremst und gestoppt, bevor es zu einem Überfahren kommt, wobei dies ohne Weiteres möglich ist, nachdem die Verarbeitungseinrichtung aus den Kameradaten auch exakt die Relativposition der Bedieneinheit zum Kraftfahrzeug ermitteln kann. Alterna tiv oder zusätzlich ist auch ein automatischer Lenkeingriff denkbar, um um die Bedieneinheit herumzufahren, also das Fahrzeug automatisiert zu führen. Es erfolgt also ein aktiver Fahrzeugeingriff, um die Überfahrt zu verhindern. In the case of a motor vehicle that is already moving, e.g. drives into or out of a garage, the motor vehicle can be automatically braked and stopped according to the invention or an automatic steering intervention can take place. In this case, the motor vehicle is in motion for whatever reason, although it may be extremely slow. If the processing device detects an operating unit located in the possible route, then according to this embodiment the vehicle is automatically braked and stopped before it runs over, which is easily possible after the processing device also uses the camera data to exactly determine the relative position of the operating unit to determine the motor vehicle. As an alternative or in addition, an automatic steering intervention is also conceivable in order to drive around the operating unit, that is to say to drive the vehicle automatically. So there is an active vehicle intervention to prevent the crossing.
Die Verarbeitungseinrichtung weist zur Bildanalyse einen entsprechenden Analysealgorithmus auf, der in der Lage ist, die Bedieneinheit, die beispiels weise eine entsprechende spezifische Geometrie aufweist, zu erfassen. Bei Erfassung der Bedieneinheit und Erkennen des Umstands, dass ein Eingriff bzw. eine Warnsignalgabe erforderlich ist, kommuniziert die Verarbeitungs einrichtung mit einer entsprechenden Steuerungseinrichtung des jeweils zu geordneten Systems, um entweder den Fahreingriff vorzunehmen oder die Warnung auszugeben. For image analysis, the processing device has a corresponding analysis algorithm which is capable of detecting the operating unit, which, for example, has a corresponding specific geometry. Upon detection of the control unit and recognition of the fact that an intervention or a warning signal is required, the processing device communicates with a corresponding control device of the respectively assigned system in order either to carry out the driving intervention or to issue the warning.
Um die Erfassung der Bedieneinheit möglichst einfach zu gestalten, wird be vorzugt ein Ladekabel mit einer ein oder mehrere optisch erfassbare Markie rungen aufweisenden Bedieneinheit verwendet, wobei die Verarbeitungsein richtung zur Erfassung der einen oder mehreren Markierungen ausgebildet ist. Zur Erleichterung der Erfassung weist also die Bedieneinheit spezifische Markierungen auf, die sie als solche identifizieren, wobei diese Markierungen auch so angebracht sein können, dass sie gleichzeitig auch die räumliche Lage und Bedieneinheitsgröße angeben, wenn sie im Kamerabild analysiert werden. Die Verarbeitungseinrichtung ist nun entsprechend zur Erfassung dieser Markierungen konfiguriert, das heißt, dass der entsprechende Analy sealgorithmus entsprechend ausgelegt ist. Gemäß einer besonders vorteilhaften Ausbildung wird ein Ladekabel mit ei ner Bedieneinheit verwendet, die eine oder mehrere leuchtende Markierun gen aufweist. Diese Leuchtmarkierungen ermöglichen auch eine sichere Er mittlung der Bedieneinheit bei Dunkelheit, da sie zwingend über die Verarbei tungseinrichtung respektive den Analysealgorithmus erfasst werden können. In order to make the detection of the control unit as simple as possible, a charging cable with an operating unit having one or more optically detectable markings is preferably used, the processing device being designed to detect the one or more markings. To facilitate detection, the operating unit therefore has specific markings which it identifies as such, these markings also being able to be attached in such a way that they also indicate the spatial position and operating unit size when they are analyzed in the camera image become. The processing device is now configured accordingly to detect these markings, that is to say that the corresponding analysis seal algorithm is designed accordingly. According to a particularly advantageous embodiment, a charging cable with egg ner control unit is used, which has one or more luminous markings gene. These luminous markings also enable the control unit to be reliably determined in the dark, since they can be detected via the processing device or the analysis algorithm.
Die Markierungen können beliebiger Geometrie sein, beispielsweise als Li nien, als Kreise, als Halbkreise oder als Bögen, als Drei- oder als Mehrecke, auch eine Freiform ist denkbar. Der Analysealgorithmus ist entsprechend kalibriert, um die Markierungen auch eindeutig identifizieren zu können, so- dass eine sichere Erfassung der Bedieneinheit möglich ist. The markings can be of any geometry, for example as lines, as circles, as semicircles or as arcs, as triangles or as polygons, a free form is also conceivable. The analysis algorithm is calibrated accordingly so that the markings can also be clearly identified, so that the control unit can be reliably detected.
Wird eine Warninformation ausgegeben, so dient diese der unmittelbaren Information des Fahrers oder ggf. auch einer anderen Person. Als Warnin formation kann eine akustische Information ausgegeben werden, beispiels- weise über das Infotainment-System des Kraftfahrzeugs, das entsprechend angesteuert wird und entweder einen Ton oder eine konkrete Warnansage ausgibt. Zusätzlich oder alternativ ist auch eine optische Informationsausga be denkbar, beispielsweise über ein entsprechendes Display im Kraftfahr zeug, an dem ein Warnpiktogramm oder ein Warntext angezeigt wird. Dieses Display kann entweder im Bereich der Mittelkonsole oder im Bereich des Kombiinstruments vorgesehen sein. Als dritte alternative oder zusätzliche Informationsmöglichkeit ist die Ausgabe einer haptischen Information denk bar. Dies kann beispielsweise in Form einer Lenkradvibration oder einer Sitzvibration oder Ähnlichem erfolgen. Bevorzugt können natürlich mehrere unterschiedliche Informationsarten simultan verwendet werden. If warning information is output, it is used to provide the driver or any other person with immediate information. Acoustic information can be output as warning information, for example via the infotainment system of the motor vehicle, which is controlled accordingly and outputs either a tone or a concrete warning announcement. Additionally or alternatively, an optical information output is also conceivable, for example via a corresponding display in the motor vehicle, on which a warning pictogram or a warning text is displayed. This display can be provided either in the area of the center console or in the area of the instrument cluster. The third alternative or additional information option is the output of haptic information. This can take place, for example, in the form of a steering wheel vibration or a seat vibration or the like. Of course, preferably several different types of information can be used simultaneously.
Neben dem Verfahren selbst betrifft die Erfindung ferner ein Kraftfahrzeug, umfassend wenigstens einen über ein an einer externen Stromquelle anzu schließendes Ladekabel mit einer Bedieneinheit zu ladenden Energiespei- eher sowie eine oder mehrere das Fahrzeugumfeld erfassende Kameras. Das Kraftfahrzeug zeichnet sich dadurch aus, dass eine der oder den Kame ras zugeordnete Verarbeitungseinrichtung vorgesehen ist, die dazu ausge bildet ist, die Kameradaten auszuwerten, um zu ermitteln, ob sich die Bedie- neinheit im möglichen Fahrweg des Kraftfahrzeugs befindet, wobei der Fähr betrieb des Kraftfahrzeugs in Abhängigkeit des Ermittlungsergebnisses steu erbar ist und/oder eine Warninformation an den Fahrer ausgebbar ist. In addition to the method itself, the invention further relates to a motor vehicle comprising at least one energy supply to be charged with an operating unit via a charging cable to be connected to an external power source. rather as well as one or more cameras capturing the vehicle surroundings. The motor vehicle is characterized in that a processing device assigned to the camera or cameras is provided which is designed to evaluate the camera data in order to determine whether the operating unit is in the possible travel path of the motor vehicle, the ferry operating of the motor vehicle can be controlled depending on the result of the determination and / or warning information can be output to the driver.
Die Ermittlung des potenziellen Fahrwegs kann seitens der Verarbeitungs- einrichtung oder seitens einer anderen Steuerungseinrichtung erfolgen. Dies stützt sich beispielsweise auf Positionsinformationen, auf Informationen zum Lenkeinschlag, Informationen in Bezug auf die Fahrtrichtung respektive die eingelegte Fahrstufe etc.. Anhand dieser Informationen ist es möglich, ein potenzielles Bewegungsfeld zu definieren, in dem sich das Fahrzeug bewe- gen kann oder einen konkreten, prognostizierten Fahrweg in Anbetracht der gegebenen Radstellung zu ermitteln, wenn das Fahrzeug beispielsweise be reits leicht angerollt ist. The potential route can be determined by the processing device or by another control device. This is based, for example, on position information, information about the steering angle, information relating to the direction of travel or the selected gear level, etc. This information can be used to define a potential movement field in which the vehicle can move or a specific one to determine the predicted route in view of the given wheel position if, for example, the vehicle has already rolled slightly.
Der Fährbetrieb kann über die Verarbeitungseinrichtung oder eine separate Steuerungseinrichtung derart steuerbar sein, dass bei einem noch nicht fah renden Kraftfahrzeug die Aufnahme des Fährbetriebs gesperrt wird. Alterna tiv kann bei einem bereits fahrenden Kraftfahrzeug das Kraftfahrzeug auto matisch gebremst und gestoppt werden, alternativ kann auch ein automati scher Lenkeingriff erfolgen. The ferry operation can be controlled via the processing device or a separate control device in such a way that the start of the ferry operation is blocked for a motor vehicle which is not yet driving. Alternatively, the motor vehicle can be automatically braked and stopped in an already moving motor vehicle, alternatively, an automatic steering intervention can also take place.
An der Bedieneinheit sind ein oder bevorzugt mehrere optisch erfassbare Markierungen vorgesehen, wobei die Verarbeitungseinrichtung zur Erfas sung der einen oder mehreren Markierungen ausgebildet ist. Bevorzugt wer den hier leuchtende Markierungen verwendet, die auch in Dunkelheit sehr gut sichtbar sind. Dabei kann die oder kann jede Markierung die Form einer Linie, eines Bogens, eines Ovals, eines Kreises, eines Drei- oder Mehrecks oder eine Freiform aufweisen. Als Warninformation kann eine akustische, optische oder haptische Informa tion ausgebbar sein, wozu entsprechende, fahrzeugseitig üblicherweise von Haus aus bereits verbaute Ausgabemittel verwendet werden. Neben dem Kraftfahrzeug betrifft die Erfindung ferner ein Ladekabel für ein Kraftfahrzeug der beschriebenen Art, mit einer Bedieneinheit mit einem Ge häuse, an dem eine oder mehrere bei Dunkelheit oder permanent leuchtende Markierungen in Form einer Linie, in Form eines Bogens, eines Ovals, eines Kreises, eines Drei- oder Mehrecks oder einer Freiform vorgesehen sind. One or preferably several optically detectable markings are provided on the operating unit, the processing device being designed to detect the one or more markings. Those who prefer to use luminous markings that are very well visible even in the dark are preferred. The or each marking can have the shape of a line, an arc, an oval, a circle, a triangle or polygon or a free form. Acoustic, optical or haptic information can be output as warning information, for which purpose corresponding output means that are usually already installed on the vehicle side are used. In addition to the motor vehicle, the invention further relates to a charging cable for a motor vehicle of the type described, with an operating unit with a housing on which one or more markings in the form of a line, in the form of an arc, an oval, a circle in the dark or permanently illuminated , a triangle or polygon or a free form are provided.
Weitere Vorteile und Einzelheiten der vorliegenden Erfindung ergeben sich aus den im Folgenden beschriebenen Ausführungsbeispielen sowie anhand der Zeichnungen. Dabei zeigen: Fig. 1 Eine Prinzipdarstellung eines erfindungsgemäßen Kraftfahrzeug in einer Seitenansicht, Further advantages and details of the present invention result from the exemplary embodiments described below and from the drawings. 1 shows a basic illustration of a motor vehicle according to the invention in a side view,
Fig. 2 eine Draufsicht auf die Anordnung aus Fig. 1 und Fig. 3 eine vergrößerte Prinzipdarstellung eines Teils eines Ladekabels mit der Bedieneinheit. Fig. 2 is a plan view of the arrangement of Fig. 1 and Fig. 3 is an enlarged schematic diagram of part of a charging cable with the control unit.
Fig. 1 zeigt ein erfindungsgemäßes Kraftfahrzeug 1 , mit einem oder mehre ren Energiespeichern 2, die über eine externe, sich z.B. in einer Garage be- findliche Stromquelle 3 mit Hilfe eines an dieser lösbar anschließbaren Lade kabels 4 geladen werden können. Das Kraftfahrzeug 1 kann teil- oder voll elektrisch fahren. 1 shows a motor vehicle 1 according to the invention, with one or more energy stores 2, which are connected via an external, e.g. Power source 3 located in a garage can be charged with the aid of a charging cable 4 that can be detachably connected to it. The motor vehicle 1 can drive partially or fully electrically.
Das Ladekabel 4 ist über einen ersten Stecker 5 an der Stromquelle 3, also der Ladesäule, anschließbar, mit einem zweiten Stecker 6 (siehe Fig. 2) ist die Verbindung zum Kraftfahrzeug möglich, wobei dieser Stecker 6 hier nicht gesteckt ist. Das Ladekabel 4 weist eine Bedieneinheit 7 auf, die zum Steu ern respektive Bedienen des Ladevorgangs dient. Die Bedieneinheit 7, die in vergrößerter Ansicht in Fig. 3 gezeigt ist, verfügt über ein Gehäuse 8, an dem oberseitig eine entsprechende Anzeigeeinrichtung 9 sowie ggf. als Touchscreen 10 ausgeführte Bedienelemente vorgesehen sind. Des Weite ren weist die Bedieneinheit 7 im gezeigten Beispiel zwei bogen- oder hufeinsenförmige Markierungen 11 , 12 auf, bei denen es sich im gezeigten Beispiel um Leuchtmarkierungen handelt, die also selbst leuchten und dem zufolge auch in der Nacht erkannt werden können. The charging cable 4 can be connected via a first plug 5 to the power source 3, that is to say the charging station, and a connection to the motor vehicle is possible with a second plug 6 (see FIG. 2), this plug 6 not being plugged in here. The charging cable 4 has an operating unit 7, which serves to control or operate the charging process. The operating unit 7, which is shown in an enlarged view in FIG. 3, has a housing 8 a corresponding display device 9 and optionally control elements designed as a touchscreen 10 are provided on the top. Furthermore, the operating unit 7 in the example shown has two arch-shaped or hoof-shaped markings 11, 12, which in the example shown are illuminated markings, which therefore light up themselves and can therefore also be recognized at night.
Im gezeigten Ausführungsbeispiel ist das Ladekabel 4 nur mit dem Stecker 5 an der Stromquelle 3, nicht aber mit dem Stecker 6 am Fahrzeug gesteckt, die Bedieneinheit 7 liegt am Boden und zwar in einer Position (siehe Fig, 2), dass sie, wenn das Kraftfahrzeug gemäß dem gestrichelt dargestellten Pfeil P1 z.B. rückwärts in die Garage einfährt, vom Kraftfahrzeug 1 überrollt wer den würde. Das Kraftfahrzeug 1 verfügt im gezeigten Beispiel über mehrere Kameras 13, vorliegend insgesamt vier Kameras, die an der Fahrzeugfront, dem Fahr zeugheck sowie den beiden Fahrzeugseiten vorgesehen sind und die der Erfassung des Fahrzeugumfelds dienen, sodass über diese Kameras quasi eine 360°-Umsicht erfasst werden kann, die beispielsweise an einem Display 14 dargestellt werden kann. In the exemplary embodiment shown, the charging cable 4 is only plugged into the power source 3 with the plug 5, but not with the plug 6 on the vehicle, the control unit 7 is on the ground, in a position (see FIG. 2) that, if that Motor vehicle according to arrow P1 shown in dashed lines, for example drives backwards into the garage, overrun by motor vehicle 1 who would. In the example shown, the motor vehicle 1 has a plurality of cameras 13, in the present case a total of four cameras, which are provided on the front of the vehicle, the rear of the vehicle and the two sides of the vehicle and which are used to record the surroundings of the vehicle, so that these cameras virtually detect a 360 ° view can be shown, for example, on a display 14.
Eine erfindungsgemäß vorgesehene Verarbeitungseinrichtung 15, die die Kamerabilder verarbeitet, ist dazu ausgelegt, zu ermitteln, ob sich in den Kamerabildern eine Bedieneinheit 7 befindet, und wenn ja wo diese positio- niert ist. Es gilt herauszufinden, ob die Bedieneinheit 7 in einer Position ist, in der sie vom Kraftfahrzeug 1 überrollt werden kann, wenn dieses sich beim Einfahren nähert. Hierzu ist in der Verarbeitungseinrichtung 15 ein entspre chender Analysealgorithmus abgelegt, der in der Lage ist, in den Kamerabil dern die Bedieneinheit 7 zu ermitteln. Insbesondere ist der Algorithmus der- art ausgelegt, dass er in der Lage ist, die spezifischen Markierungen 11 , 12 zu erfassen, die spezifisch für die Bedieneinheit 7 sind, sodass diese eindeu tig ermittelt wird, und die darüber hinaus auch in der Nacht ermittelt werden können. Darüber hinaus ist die Verarbeitungseinrichtung 15 in der Lage, zu definie ren, wo konkret die Bedieneinrichtung 7 am Boden liegt. Sie ist also in der Lage, anhand der analysierten Kamerabilder zu bestimmen, wo die Bedien einheit 7 relativ zum Fahrzeug und damit auch zu einem potenziellen Fahr- weg, den das Kraftfahrzeug 1 zurücklegen könnte, liegt. Im gezeigten Bei spiel befindet sich wie beschrieben die Bedieneinheit 7 im potenziellen Fahrweg, wie durch den Pfeil P1 dargestellt ist. Dies wird seitens der Verar beitungseinrichtung 15 exakt ermittelt. Der potenzielle Fahrweg wird beispielsweise ebenfalls über die Verarbei tungseinrichtung 15 oder über eine andere Steuerungseinrichtung ermittelt, beispielsweise anhand des Einschlagwinkels der lenkbaren Vorderräder 20, einer ggf. eingelegten Fahrstufe und Ähnliches. Hierüber wird quasi entwe der ein konkreter potenzieller Fahrweg ermittelt, oder ein Fahrraum innerhalb welchem sich das Kraftfahrzeug 1 ohne Weiteres bewegen kann, bestimmt, um dann zu entscheiden, ob eine potenzielle Gefährdung für die Bedienein heit 7 gegeben ist oder nicht. A processing device 15 provided according to the invention, which processes the camera images, is designed to determine whether there is an operating unit 7 in the camera images and, if so, where it is positioned. It is important to find out whether the control unit 7 is in a position in which it can be rolled over by the motor vehicle 1 when it approaches when driving in. For this purpose, a corresponding analysis algorithm is stored in the processing device 15, which is able to determine the operating unit 7 in the camera states. In particular, the algorithm is designed in such a way that it is able to detect the specific markings 11, 12 which are specific to the operating unit 7, so that it is determined unambiguously, and which are also determined at night can. In addition, the processing device 15 is able to define where the operating device 7 lies on the ground. It is therefore able to use the analyzed camera images to determine where the control unit 7 is relative to the vehicle and thus also to a potential route that the motor vehicle 1 could cover. In the example shown, the control unit 7 is in the potential travel path, as described, as shown by the arrow P1. This is exactly determined by the processing device 15. The potential travel path is also determined, for example, via the processing device 15 or via another control device, for example on the basis of the steering angle of the steerable front wheels 20, a drive step which may have been engaged, and the like. In this way, either a specific potential route is ascertained, or a driving space within which the motor vehicle 1 can easily move is determined, in order to then decide whether there is a potential risk to the operating unit 7 or not.
Für den Fall, dass ermittelt wird, dass die Bedieneinheit 7 potenziell gefähr- det ist und sich in einem potenziellen Fahrweg oder dem Fahrraum befindet, sind unterschiedliche weitere Szenarien denkbar. In the event that it is determined that the control unit 7 is potentially endangered and is located in a potential route or the driving area, different further scenarios are conceivable.
Für den Fall, dass das Kraftfahrzeug 1 steht, wie in den meisten Fällen, kann über eine Steuerungseinrichtung 16, die der Steuerung des Fährbetriebs dient, beispielsweise grundsätzlich der Fährbetrieb gesperrt werden, sodass in diesem Fall das Kraftfahrzeug 1 gar nicht erst losfahren kann, solange die Bedieneinheit 7 nicht aufgeräumt ist. Dieser Fall ist denkbar, wenn nach ei nem vorherigen Ladevorgang der Stecker 6 gezogen wurde, das Ladekabel 4 aber nicht aufgeräumt wurde und sich folglich die Bedieneinheit 7 im Fahr- weg befindet. In the event that the motor vehicle 1 is stationary, as in most cases, the control operation 16, which is used to control the ferry operation, can in principle block the ferry operation, for example, so that in this case the motor vehicle 1 cannot even start as long the control unit 7 is not cleaned up. This case is conceivable if the plug 6 was pulled out after a previous charging process, but the charging cable 4 was not cleared up and the control unit 7 is consequently located in the route.
Für den Fall, dass sich das Fahrzeug 1 in Bewegung befindet, wie im hier angenommenen Fall des Einfahrens in eine Garage, kann ggf. über eine wei tere Steuerungseinrichtung 17, die wie die Steuerungseinrichtung 16 mit der Verarbeitungseinrichtung 15 kommuniziert, ein aktiver Bremsbetrieb erfol gen, indem beispielsweise die rückwärtigen oder alle Bremsen betätigt wer den, sodass das Fahrzeug zum Stillstand kommt, oder Ähnliches. Alternativ wäre auch ein aktiver Lenkeingriff durch Lenken der Vorderräder 20 denkbar, um der Bedieneinheit 7 auszuweichen. In the event that the vehicle 1 is in motion, as in the assumed case of entering a garage, it may be possible via a further control device 17 which, like the control device 16, with the Processing device 15 communicates, an active braking operation takes place, for example, by actuating the rear brakes or all the brakes, so that the vehicle comes to a standstill, or the like. Alternatively, an active steering intervention by steering the front wheels 20 would also be conceivable in order to avoid the operating unit 7.
Es erfolgt also in jedem Fall ein aktiver Eingriff in den Fährbetrieb, der ent weder komplett gesperrt ist und überhaupt nicht möglich ist, oder in den der art eingegriffen wird, dass das sich bewegende Kraftfahrzeug 1 in jedem Fall definitiv in den Stillstand gebremst wird, und so ein Überfahren ausgeschlos sen ist, mithin also die Bedieneinheit 7 geschützt ist, die daher entsprechend vom Gehäuse her weniger stabil ausgelegt werden kann. So there is in any case an active intervention in the ferry operation, which is either completely blocked and is not possible at all, or in which the intervention is made that the moving motor vehicle 1 is definitely braked to a standstill, and so a run over is excluded Sen, therefore the control unit 7 is protected, which can therefore be designed less stable according to the housing.
Alternativ oder zusätzlich ist es denkbar, auch eine Warninformation auszu- geben. Diese kann beispielsweise in optischer Form über das Display 14 erfolgen, wo ein entsprechender Warntext wiedergegeben wird oder Ähnli ches. Alternativ kann auch über ein Lautsprechersystem 18 ein akustischer Hinweis in Form eines Warntons oder einer Warnansage ausgegeben wer den, wie auch über Vibrationssensoren 19 ein haptisches Signal am Lenkrad oder am Fahrersitz ausgegeben werden kann. Diese verschiedenen Warnin formationen dienen dazu, den Fahrer oder eine andere Person über die po tenzielle Gefahr zu warnen, sodass diese selbst aktiv einschreiten kann und entweder über die im Fahrweg befindliche Bedieneinheit informiert wird, um diese ggf. zur Seite zu räumen, oder das anrollende Fahrzeug sofort zu bremsen oder dergleichen. Alternatively or additionally, it is also conceivable to output warning information. This can take place, for example, in optical form on the display 14, where a corresponding warning text is reproduced or the like. Alternatively, an acoustic signal in the form of a warning tone or a warning announcement can also be output via a loudspeaker system 18, and a haptic signal can also be output on the steering wheel or on the driver's seat via vibration sensors 19. This various warning information is used to warn the driver or another person about the potential danger, so that the driver can actively intervene himself and is either informed about the control unit located in the guideway so that it can be cleared to the side, or the one that is about to start Braking the vehicle immediately or the like.

Claims

PATENTANSPRÜCHE: PATENT CLAIMS:
1. Verfahren zum Betrieb eines Kraftfahrzeugs (1 ) umfassend wenigs tens einen über ein an einer externen Stromquelle (3) anzuschließen des Ladekabel (4) mit einer Bedieneinheit (7) zu ladenden Energie speicher (2) sowie eine oder mehrere das Fahrzeugumfeld erfassende Kameras (13), 1. A method of operating a motor vehicle (1) comprising at least one energy storage (2) to be charged via a charging cable (4) connected to an external power source (3) with an operating unit (7), and one or more cameras capturing the vehicle surroundings (13),
dadurch gekennzeichnet, characterized,
dass eine der oder den Kameras (13) zugeordnete Verarbeitungsein richtung (15) die Kameradaten auswertet, um zu ermitteln ob sich die Bedieneinheit (7) im möglichen Fahrweg des Kraftfahrzeugs (1 ) befin det, wobei der Fährbetrieb des Kraftfahrzeugs (1 ) in Abhängigkeit des Ermittlungsergebnisses gesteuert wird und/oder eine Warninformation an den Fahrer ausgegeben wird. that one of the processing device (15) assigned to the camera (13) evaluates the camera data in order to determine whether the control unit (7) is in the possible travel path of the motor vehicle (1), the driving operation of the motor vehicle (1) depending the determination result is controlled and / or warning information is output to the driver.
2. Verfahren nach Anspruch 1 , 2. The method according to claim 1,
dadurch gekennzeichnet, characterized,
dass bei einem noch nicht fahrende Kraftfahrzeug (1 ) die Aufnahme des Fährbetriebs gesperrt wird. that in the case of a motor vehicle (1) which is not yet moving, the start of the ferry operation is blocked.
3. Verfahren nach Anspruch 1 , 3. The method according to claim 1,
dadurch gekennzeichnet, characterized,
dass bei einem bereits fahrenden Kraftfahrzeug (1 ) das Kraftfahrzeug (1 ) automatisch gebremst und gestoppt wird oder ein automatischer Lenkeingriff erfolgt. that the motor vehicle (1) is automatically braked and stopped in an already moving motor vehicle (1) or that an automatic steering intervention takes place.
4. Verfahren nach einem der vorangehenden Ansprüche, 4. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass ein Ladekabel (4) mit einer ein oder mehrere optisch erfassbare Markierungen (11 , 12) aufweisenden Bedieneinheit (7) verwendet wird, wobei die Verarbeitungseinrichtung (15) zur Erfassung der einen oder mehreren Markierungen (11 , 12) ausgebildet ist. that a charging cable (4) with an operating unit (7) having one or more optically detectable markings (11, 12) is used, the processing device (15) being designed to detect the one or more markings (11, 12).
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, 5. The method according to claim 4, characterized,
dass ein Ladekabel (4) mit einer Bedieneinheit (7) mit einer oder meh reren leuchtenden Markierungen (11 , 12) verwendet wird. that a charging cable (4) with an operating unit (7) with one or more luminous markings (11, 12) is used.
6. Verfahren nach einem der vorangehenden Ansprüche, 6. The method according to any one of the preceding claims,
dadurch gekennzeichnet, characterized,
dass als Warninformation eine akustische, optische und/oder hapti sche Information ausgegeben wird. that acoustic, optical and / or haptic information is output as warning information.
7. Kraftfahrzeug, umfassend wenigstens einen über ein an einer exter nen Stromquelle (3) anzuschließendes Ladekabel (4) mit einer Bedie neinheit (7) zu ladenden Energiespeicher (2) sowie eine oder mehrere das Fahrzeugumfeld erfassende Kameras (13), 7. Motor vehicle, comprising at least one charging cable (4) to be connected to an external power source (3) with an operating unit (7) to be charged energy storage device (2) and one or more cameras (13) detecting the vehicle surroundings,
dadurch gekennzeichnet, characterized,
dass eine der oder den Kameras (13) zugeordnete Verarbeitungsein richtung (15) vorgesehen ist, die dazu ausgebildet ist, die Kamerada ten auszuwerten, um zu ermitteln ob sich die Bedieneinheit (7) im möglichen Fahrweg des Kraftfahrzeugs (1 ) befindet, wobei der Fähr betrieb des Kraftfahrzeugs (1 ) in Abhängigkeit des Ermittlungsergeb- nisses steuerbar ist und/oder eine Warninformation an den Fahrer ausgebbar ist. that one of the or the cameras (13) associated processing device (15) is provided, which is designed to evaluate the camera data in order to determine whether the control unit (7) is in the possible travel path of the motor vehicle (1), the The operation of the motor vehicle (1) can be controlled depending on the result of the determination and / or warning information can be output to the driver.
8. Kraftfahrzeug nach Anspruch 7, 8. Motor vehicle according to claim 7,
dadurch gekennzeichnet, characterized,
dass der Fährbetrieb über die Verarbeitungseinrichtung (15) oder eine separate Steuerungseinrichtung (16, 17) derart steuerbar ist, dass bei einem noch nicht fahrende Kraftfahrzeug (1 ) die Aufnahme des Fähr betriebs gesperrt wird. that the ferry operation can be controlled via the processing device (15) or a separate control device (16, 17) in such a way that the start of the ferry operation is blocked for a motor vehicle (1) which is not yet in motion.
9. Kraftfahrzeug nach Anspruch 7, 9. Motor vehicle according to claim 7,
dadurch gekennzeichnet, characterized,
dass der Fährbetrieb über die Verarbeitungseinrichtung (15) oder eine separate Steuerungseinrichtung (16, 17) derart steuerbar ist, dass bei einem bereits fahrenden Kraftfahrzeug (1 ) das Kraftfahrzeug (1 ) au- tomatisch gebremst und gestoppt wird oder ein automatischer Lenk eingriff erfolgt. that the ferry operation can be controlled via the processing device (15) or a separate control device (16, 17) in such a way that in the case of a motor vehicle (1) that is already driving, the motor vehicle (1) is braked and stopped automatically or an automatic steering intervention takes place.
10. Kraftfahrzeug nach einem der Ansprüche 7 bis 9, 10. Motor vehicle according to one of claims 7 to 9,
dadurch gekennzeichnet, characterized,
dass an der Bedieneinheit (7) eine oder mehrere optisch erfassbare Markierungen (11 , 12) vorgesehen sind, wobei die Verarbeitungsein richtung (15) zur Erfassung der einen oder mehreren Markierungen (11 , 12) ausgebildet ist. that one or more optically detectable markings (11, 12) are provided on the operating unit (7), the processing device (15) being designed to detect the one or more markings (11, 12).
11. Kraftfahrzeug nach Anspruch 10, 11. Motor vehicle according to claim 10,
dadurch gekennzeichnet, characterized,
dass an der Bedieneinheit (7) eine oder mehrere leuchtende Markie rungen (11 , 12) vorgesehen sind. that one or more luminous markings (11, 12) are provided on the control unit (7).
12. Kraftfahrzeug nach Anspruch 10 oder 11 , 12. Motor vehicle according to claim 10 or 11,
dadurch gekennzeichnet, characterized,
dass die oder jede Markierung (11 , 12) die Form einer Linie, eines Bogens, eines Ovals, eines Kreises, eines Drei- oder Mehrecks oder einer Freiform aufweist. that the or each marking (11, 12) has the shape of a line, an arc, an oval, a circle, a triangle or polygon or a free form.
13. Kraftfahrzeug nach einem der Ansprüche 7 bis 12, 13. Motor vehicle according to one of claims 7 to 12,
dadurch gekennzeichnet, characterized,
dass als Warninformation eine akustische, optische und/oder hapti- sehe Information ausgebbar ist. that acoustic, optical and / or haptic information can be output as warning information.
14. Ladekabel für ein Kraftfahrzeug nach einem der Ansprüche 7 bis 13, mit einer Bedieneinheit (7) mit einem Gehäuse (8), an dem eine oder mehrere bei Dunkelheit oder permanent leuchtende Markierungen (11 , 12) in Form einer Linie, eines Bogens, eines Ovals, eines Krei ses, eines Drei- oder Mehrecks oder einer Freiform vorgesehen sind. 14. Charging cable for a motor vehicle according to one of claims 7 to 13, with an operating unit (7) with a housing (8) on which one or more markings (11, 12) in the form of a line, an arc in the dark or permanently illuminated , an oval, a circle, a triangle or polygon or a free form are provided.
PCT/EP2019/086594 2019-01-08 2019-12-20 Method for operating a motor vehicle to protect an operating unit of a charging cable WO2020144053A1 (en)

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