DE102011006504A1 - Method for positioning motor vehicle relative to battery changing station, involves determining optimum position of motor vehicle relative to battery changing station and testing if vehicle-controlled positioning of motor vehicle is enabled - Google Patents

Abstract

The method involves determining an optimum position of the motor vehicle (10) relative to a battery changing station (38), and testing if a vehicle-controlled positioning of the motor vehicle is enabled in the optimum position. The vehicle-controlled positioning is activated by the driver. The surrounding of the battery changing station is detected by a detection unit. The holding position of the motor vehicle or the current position of the motor vehicle is evaluated during the positioning relative to the battery changing station. An independent claim is included for a device for positioning a motor vehicle relative to a charging or battery changing station.

Description

The present invention relates to a method for positioning a motor vehicle relative to a charging or battery changing station, wherein the motor vehicle has an electric drive and an electrical energy storage, wherein the electrical energy storage is adapted to supply the electric drive with electrical energy and / or of to store the energy generated by the electric drive.

The invention further relates to a device for positioning a motor vehicle relative to a charging or battery changing station, having detection means for detecting the environment of the motor vehicle and a control device which is adapted to carry out the method of the type described above.

State of the art

In the field of motor vehicle drive technology, it is generally known to use an electric machine as the sole drive or together with a drive motor of another type (hybrid drive). In such electric or hybrid vehicles, electric machines are typically used as the drive motor, which are powered by an electrical energy storage device, such as an electric motor. an accumulator to be supplied with electrical energy, wherein the electrical energy storage are regularly charged depending on the state of charge or discharged energy storage can be replaced by charged energy storage. Charging or battery changing stations serve to supply the vehicle with electrical energy or with a charged energy storage device.

It is also generally known to realize a charging station for motor vehicles with an electromagnetic transmission unit, wherein a primary coil of the charging station is brought into the vicinity of a secondary coil or receiver coil of the motor vehicle to contactlessly transmit electromagnetic energy to the vehicle and thereby charge the energy storage. Such a device is known for example from the US 2010/0117596 A1 , From this document, an adjustment device for the secondary coil is also known, which can align the secondary coil relative to the primary coil without moving the vehicle to optimize the transmission of electromagnetic energy. The disadvantage here is that such adjustment device is technically complex and requires a large space in the vehicle.

From the US 2009/0040068 A1 a parking aid for a motor vehicle is known, which assists a driver when parking a motor vehicle in a charging station, to achieve the correct position of the vehicle in the charging station in order to achieve optimum transmission of the electromagnetic energy. The disadvantage here is that the driver must take into account various sources of information and the vehicle is not safely brought by an inaccurate driving style of the driver in an optimal position within the charging station.

Against this background, it is the object of the present invention to provide a device and a method with which a precise and comfortable positioning of a motor vehicle in a charging or battery changing station is possible.

Disclosure of the invention

The present invention provides a method for positioning a motor vehicle relative to a charging or battery changing station of the type mentioned above, with the steps: determining an optimal position of the motor vehicle relative to the station, checking whether a vehicle-controlled positioning of the motor vehicle in this optimal position is possible, activating the vehicle-controlled positioning by the driver, and vehicle-controlled positioning of the motor vehicle in the optimum position.

Furthermore, the above object is achieved by a device for positioning the motor vehicle relative to a charging or battery changing station, with detection means for detecting the environment of the motor vehicle and a control device which is adapted to carry out the above-mentioned method.

Under a vehicle-controlled positioning is understood in the present case an autonomous control of the vehicle drive and the vehicle steering, which is preferably controlled by a control unit in the vehicle. However, this vehicle-controlled positioning does not preclude driver intervention. It is understood that the steps of the method can also take place in a different order and that individual steps or step sequences can also be executed several times in succession.

Advantages of the invention

The present invention can provide a method and apparatus that facilitates optimal positioning of a motor vehicle relative to a charging or battery changing station without the need for costly position correction and without the driver having a variety of information and information Observe or consider sensor signals to bring the vehicle in an optimal position.

In other words, according to the invention, a method is provided that makes it possible to move the vehicle completely independently into the charging or battery changing station, thereby enabling a comfortable and safe charging or replacement of the electrical energy store. Preferably, the method uses the existing parking aid systems to position the vehicle accordingly.

Synergies of the existing systems can be utilized by the method according to the invention.

Preferably, the environment of the station is detected by means of detection. As a result, the size of the available space in the vicinity of the station can be measured and it can be checked whether the motor vehicle can be moved to the optimum position or whether the space in the vicinity of the station is sufficient for the size of the vehicle. For this purpose, existing detection means of a parking system of the motor vehicle and / or special separate detection means can be used to determine the optimum position.

It is of particular advantage when objects, in particular other vehicles, or persons / animals, are detected in the surroundings of the motor vehicle during the positioning.

As a result, collisions of the vehicle during vehicle-controlled positioning can be avoided.

Preferably, necessary measures for achieving the optimum position are determined prior to initiating the vehicle-controlled positioning, in order to achieve the optimum position directly.

Preferably, an attained stop position of the motor vehicle and / or the current position of the motor vehicle during positioning relative to the station is checked. The holding position of the vehicle can form an intermediate position, which does not have to correspond to the optimum position.

As a result, an increased degree of precision of the positioning operation can be achieved and possibly a correction recursion of the vehicle position after reaching the stop position or during the positioning can be initiated.

Preferably, the holding position and / or the current position is vehicle-controlled corrected by changing a steering angle of the motor vehicle and / or changing the longitudinal position of the motor vehicle and / or changing the transverse position of the motor vehicle.

Thereby, the position of the motor vehicle with little technical effort and depending on the current and / or reached holding position can be corrected quickly and reliably.

It is further preferred if the motor vehicle is automatically decelerated before reaching the holding position and / or the optimum position.

Thereby, a fully automated parking of the vehicle in the charging or battery changing station are made possible and an optimal longitudinal position of the vehicle can be achieved relative to the charging or battery changing station.

It is further preferred if the vehicle-controlled deceleration is reported back or displayed to the driver.

As a result, the driver can control the vehicle guidance or movement despite automatic vehicle-controlled positioning.

It is further preferred if the vehicle-controlled positioning by the driver can be stopped at any time. This keeps the driver in control of the vehicle.

It is further preferred if the achievement of the optimum position is reported back to the driver.

As a result, the driver recognizes that the positioning process has been completed and can initiate the charging process or battery replacement process.

It is generally preferred if the charging station has a first transmission element and the motor vehicle has a second transmission element which together form a transmission unit which is designed to transmit electromagnetic energy from the station to the motor vehicle or vice versa, the transmission elements being positioned by positioning of the motor vehicle are brought together relative to the station.

Thereby, a simple non-contact system for charging the electrical energy storage can be provided.

Preferably, the position of the motor vehicle in the station is determined on the basis of Efficiency of the transmission of electromagnetic energy is determined.

As a result, the stop position of the motor vehicle can be determined without additional technical facilities.

It is preferred if the efficiency is determined by transmission of electromagnetic energy whose power is less than the power in the charging process.

Thereby, the position of the transmission members to each other can be determined without high energy loss.

It is preferred if the positioning is based on position signals provided by signalers of the station and detected by signal detection means of the motor vehicle.

Thereby, the positioning operation can be optimized relative to the station, whereby the cost of any corrections to the stop position is reduced.

It is particularly preferred if the signal generator are designed as magnetic, electromagnetic, optical or mechanical signal generator.

Such signalers are inexpensive and provide a reliable way of signal transmission.

It is of particular advantage when the first transmission member is used as a signal generator.

As a result, can be dispensed with additional signal generator, because the electromagnetic signal of the first transmission member is used as a positioning signal.

It is generally preferred if satellite and / or radio signals, in particular GPS signals, are used for positioning the vehicle. This allows the positioning of the vehicle to be optimized, even if the station does not have its own signal generator.

Brief description of the drawings

1 shows in schematic form a motor vehicle with a device for positioning the motor vehicle relative to a charging or battery changing station;

2a c three different parking situations for positioning the motor vehicle relative to a battery charging station;

3 a schematic representation of output and input signals of the method according to the invention;

4 a schematic flow diagram for explaining the method according to the invention; and

5 a detailed flow chart for explaining the method according to the invention.

Embodiments of the invention

In 1 is a motor vehicle exemplified schematically and generally with 10 designated.

The car 10 has a drive train 12 on top of an electric machine 14 for providing drive power. The powertrain 12 is used to drive driven wheels 16 of the vehicle 10 , The electric machine 14 is via an electrical energy storage 18 , such as a battery supplied with electrical energy. The electrical energy storage 18 is connected to a charging unit 20 , which serves to be connected to a charging station to receive electromagnetic energy and the electrical energy storage 18 unload.

The vehicle 10 also has a control unit 22 on that with sensors 24 of the motor vehicle 10 and the loading unit 20 connected is. The control unit 22 is further connected to a drive control unit, a brake control unit and a steering control unit to the entire movement of the motor vehicle 10 to control independently. Further, the control unit 22 with a parking assistant of the motor vehicle 10 connected to exploit synergies between the two systems. The control unit 22 also receives from a receiving module 26 Data for positioning the motor vehicle 10 , The receiving module 26 is designed to be generally terrestrial signals 28 and / or satellite signals 30 to receive the motor vehicle 10 position accordingly. The terrestrial signals 28 can, for example, from radio towers 32 be provided and the satellite signals 30 for example, from GPS satellites 34 to be provided.

The control unit 22 is also via an HMI interface 36 connected to the driver over which the driver can initiate or cancel automatic positioning, for example.

In 1 Furthermore, a charging or battery changing station is shown schematically and generally with 38 designated. The station 38 has a loading unit 40 or a change unit 40 depending on the embodiment, either the loading unit 20 of the motor vehicle 10 to provide electromagnetic energy to the energy storage 18 to charge or is designed to the energy storage 18 of the motor vehicle 10 automatically exchange to the motor vehicle 10 with a charged energy storage 18 to supply. The charging station 38 also has a signal generator 42 on, which is a positioning signal 44 emits that from the sensors 24 is detected and used to the motor vehicle 10 in an optimal position relative to the charging station 38 to move.

In 1 is also a current position of the motor vehicle 10 shown and with 46 designated. Furthermore, in 1 an optimal position of the motor vehicle 10 relative to the station 38 shown and with 48 designated.

The loading unit 40 has a first electromagnetic transmission member, which is preferably designed as an induction coil. The loading unit 20 has a second electromagnetic transmission member, which is preferably formed as an induction coil. Unless the loading unit 20 in the neighborhood of the loading unit 40 can be arranged from the first transmission link of the station 38 electromagnetic energy to the second transmission member of the motor vehicle 10 be transferred to the electrical energy storage 18 to load.

The control unit 20 is designed to work with data from the receiving module 26 and the sensors 24 the optimal position 48 the station 38 to detect and determine and independently without control, steering or the like by the driver, the vehicle 10 at the optimal position 48 to position so that the current position 46 and the optimal position 48 to match.

The control unit 22 is also designed to check if the current position 46 with the optimal position 48 matches. This can be the terrestrial signal 28 , the satellite signal 30 , the position signal 44 be used. Furthermore, the current position 46 relative to the optimal position 48 be checked by electromagnetic energy from the first transmission link of the station 38 to the second transmission link of the motor vehicle 10 and the efficiency of this energy transfer is measured. Preferably, in such a test of the position or the efficiency or the efficiency of a reduced compared to the normal charging electromagnetic energy is transmitted.

Unless it is determined that the current position 46 with the optimal position 48 does not match, the control unit can 22 the current position 46 of the motor vehicle 10 correct. This is preferably done by changing a steering angle, changing the longitudinal position or changing the transverse position of the motor vehicle 10 ,

The signalers 42 are preferably electrical, electromagnetic, magnetic, mechanical or optical signal transmitter, the corresponding position signal 44 submit. The vehicle 10 is therefore designed to autonomously or independently without intervention of the driver, the charging unit 20 relative to the loading unit 40 to position in order to allow optimum energy transfer or to allow optimal battery replacement.

In the 2a c different positioning scenarios are shown, a positioning process of the motor vehicle 10 relative to the station 38 represent.

In 2a is a positioning operation of the vehicle 10 relative to the charging station 38 shown schematically, wherein the motor vehicle 10 initially at a right angle to the optimum parking position relative to the station 38 is arranged. The sensors must 24 of the motor vehicle 10 both the station 38 capture as well as other vehicles that are in 2a generally with 49 are designated.

In 2 B is a comparable situation for positioning the motor vehicle 10 illustrated, wherein the motor vehicle 10 is positioned parallel to the optimal parking position and therefore can in principle move forward into the parking space.

In 2c a situation is shown in which a sideways parking is shown in a parking space. In this case, the motor vehicle 10 parallel to the optimum parking position relative to the station 38 arranged. The car 10 must drive backwards into the parking space to the motor vehicle 10 in the optimal position 48 to move. For these parking scenarios, the existing parking aid is preferably used.

In 3 is the data exchange of the control unit 22 simplified in a schematic flowchart shown as an example. The schematic flowchart is in 3 generally with 50 designated.

The control unit 22 gets from the satellite 34 GPS data with 52 are designated. The control unit 22 also receives position data from the parking pilotsensor 54 , from the steering angle sensor Steering angle data 56 , from the magnetic detector position data 58 and from the loading unit 20 Energy Transfer Data 60 , Based on the data 52 to 60 determines the control unit 22 the position of the vehicle 10 relative to the station 38 and positions the motor vehicle 10 in the optimal position 48 , In some circumstances, to achieve the optimal position 48 another correction of the vehicle 10 by changing the longitudinal position, the transverse position or only the steering angle needed. To this correction of the current position 46 perform and to the optimum position 48 to reach, controls the control unit 22 via a control signal 62 the vehicle drive 12 to either the vehicle 10 in a forward direction or a reverse direction. Further, the control unit controls 22 to correct the vehicle position 46 the steering angle drive by means of a control signal 64 at. This is alone or in conjunction with the control signal 62 for the vehicle drive, a correction of the vehicle position 46 possible. The control unit 22 further controls by means of a control signal 66 the brake of the motor vehicle 10 to the motor vehicle 10 to reach the optimum position 48 to delay accordingly.

In this way, the control unit 22 with the detected input signals 52 to 60 the position of the motor vehicle 10 determine and over the control signals 62 to 66 the car 10 in the optimal position 48 move.

In 4 is a flowchart for positioning the motor vehicle 10 schematically and exemplified and generally with 70 designated.

The positioning operation is initiated with a step of measuring the size of the parking space at 72 is shown. Further, the position of the first transmission member of the loading unit becomes 40 roughly recorded, as with 74 is shown. Based on the information from step 72 and 74 is at 76 checked if the vehicle 10 in the optimal position 48 can be brought, ie whether the coil of the charging unit 20 optimally over the coil of the charging unit 40 can be arranged. Is a positioning in the optimal position 48 not possible, will be included 78 the driver informed and the positioning process aborted or not initiated. If a positioning of the motor vehicle 10 in the optimal position 48 is possible, the positioning is initiated, as with 80 is shown. The positioning process 80 includes the steps of the autonomous maneuvering of the motor vehicle 10 in the parking space, as with 82 is shown, the positioning relative to the loading unit 40 as with 84 is shown and a final adjustment of the charging unit 20 above the loading unit 40 , to optimize the current position 46 as with 86 is shown.

In 5 is a flow diagram of the method according to the invention schematically and exemplified and generally with 90 designated.

at 92 is the intention of the driver to charge the energy storage 18 displayed and the coil of the charging unit 40 detected. at 94 the size of the parking space is measured and determines the position of the charging coil. After that, at 96 checked whether a positioning of the motor vehicle 10 is possible. If this is not possible, it will be included 98 communicated this to the driver. If this is possible, it will be included 100 requested confirmation of automatic positioning by the driver. This confirmation usually takes place via the HMI interface 36 , The confirmation by the driver via the HMI interface 36 takes place at 102 , After that, at 104 Checked whether the driver input has been made or has been carried out correctly. If the driver confirmation at 102 is not or not done correctly, the automatic positioning process of the vehicle 10 at 106 canceled. If the driver confirmation is positive, is at 108 checked whether obstacles in the parking space were detected. If at 108 Obstacles that have been detected positively will be added 110 the automatic positioning process of the vehicle 10 canceled. Unless there are obstacles 108 are detected, the positioning process at 112 continued. The driver always has the opportunity to cancel this positioning process, as it did by the recursion loop 114 is indicated. If via the HMI interface 36 a corresponding abort input by the driver takes place (this can also be done by pressing the brake pedal) is at 106 the positioning process is aborted. If this entry is not made, is at 114 Check if the stop position or the optimal position 48 was achieved. Unless the optimal position 48 is not reached, it is again checked whether there are obstacles in the parking space, as by a loop 116 is indicated. Unless the optimal position 48 is reached is at 118 the car 10 stopped and given a corresponding feedback to the driver.

If obstacles are detected, an acoustic warning signal can be given to the driver or the vehicle 10 be stopped automatically. Additionally, a visual warning can be given.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2010/0117596 A1 [0004]
• US 2009/0040068 A1 [0005]

Claims (16)

Procedure ( 70 ; 90 ) for positioning a motor vehicle ( 10 ) relative to a charging or battery changing station ( 38 ), wherein the motor vehicle ( 10 ) an electric drive ( 14 ) and an electrical energy store ( 18 ), wherein the electrical energy store ( 18 ) is adapted to the electric drive ( 14 ) to supply with electrical energy and / or from the electric drive ( 14 ), with the steps of: determining ( 94 ) an optimal position ( 48 ) of the motor vehicle ( 10 ) relative to the station ( 38 ), - check whether a vehicle-controlled positioning of the motor vehicle ( 10 ) in this optimal position ( 48 ) is possible ( 76 ; 96 ), - activate the vehicle-controlled positioning ( 102 ) by the driver, - vehicle-controlled positioning ( 80 ) of the motor vehicle ( 10 ) in the optimal position ( 48 ). Method according to claim 1, wherein an environment of the station ( 38 ) by means of detection ( 24 ) is detected. Method according to claim 1 or 2, wherein objects, in particular other motor vehicles ( 49 ), Persons or animals in the vicinity of the motor vehicle ( 10 ) during positioning ( 80 ). Method according to one of claims 1 to 3, wherein necessary measures for achieving the optimum position ( 48 ) before initiating vehicle-controlled positioning ( 80 ). Method according to one of claims 1 to 4, wherein a stop position of the motor vehicle ( 10 ) and / or a current position ( 46 ) of the motor vehicle ( 10 ) during positioning ( 80 ) relative to the station ( 38 ) is checked ( 84 ). Method according to claim 5, wherein the holding position and / or the current position ( 46 ) is corrected by vehicle ( 86 ) by changing a steering angle of the motor vehicle ( 10 ) and / or changing the longitudinal position of the motor vehicle ( 10 ) and / or by changing the transverse position of the motor vehicle ( 10 ). Method according to one of claims 1 to 6, wherein the motor vehicle ( 10 ) before reaching a stop position and / or the optimal position ( 48 ) is delayed automatically. Method according to one of claims 1 to 7, wherein the vehicle-controlled positioning based on radio signals ( 28 ) or satellite signals ( 30 ) he follows. Method according to one of claims 1 to 8, wherein the achievement of the optimal position ( 48 ) is reported back to the driver. Method according to one of claims 1 to 9, wherein the charging station ( 38 ) a first transmission element ( 40 ) and the motor vehicle ( 10 ) a second transmission element ( 20 ), which together form a transmission unit adapted to receive electromagnetic energy from the station ( 38 ) to the motor vehicle ( 10 ) or vice versa, the transmission elements ( 20 . 40 ) by positioning ( 80 ) of the motor vehicle ( 10 ) relative to the station ( 38 ) are merged. Method according to claim 10, wherein the position ( 46 ) of the motor vehicle ( 10 ) In the station ( 38 ) is determined on the basis of the efficiency of transmission of the electromagnetic energy. The method of claim 11, wherein the efficiency is determined by transmitting electromagnetic energy whose power is less than the power of a charge. Method according to one of claims 1 to 12, wherein the positioning ( 80 ) based on position signals ( 44 ) by signalers ( 42 ) of the station ( 38 ) and signal acquisition means ( 24 ) of the motor vehicle ( 10 ). The method of claim 13, wherein the signalers ( 42 ) are designed as magnetic, electromagnetic, optical or mechanical signal generator. Method according to claim 13, wherein the first transmission element ( 40 ) is used as a signal generator. Device for positioning a motor vehicle ( 10 ) relative to a charging or battery changing station ( 38 ), with recording means ( 24 ) for detecting the environment of the motor vehicle ( 10 ) and a control unit ( 22 ), which is designed to simplify the procedure ( 70 ; 90 ) according to one of claims 1 to 13.

Images