• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:

    公开号:SE1550112A1
    申请号:SE1550112
    申请日:2015-02-04
    公开日:2016-08-05
    发明作者:Claesson André；Sjödin Robert
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    1 METHOD AND CONTROL UNIT FOR FACILITATE POSITIONING OF A VEHICLE TECHNICAL FIELD This document discloses a method and a control unit. More particularly, a method and a control unit is described, for facilitate positioning a vehicle laterally in relation to an energy transfer segment in a road in the driving direction ahead of the vehicle.
    BACKGROUND One way of transfer power to a vehicle with electrical propulsion system such as e.g. a 10 Plug-in Hybrid Electric Vehicle (PHEV), a Plug-in Hybrid Vehicle (PHV), a plug-in hybrid or a Battery Electric Vehicle (BEV) is by means of induction. Inductive charging is a wireless energy transfer technique from e.g. special segments in a road to the vehicle. This technique is suitable in particular for e.g. city buses and/ or distribution vehicles driving the same route repeatedly as it is necessary with infrastructure adaptations.
    Further, an electrical motor in the vehicle may be driven by the electricity stored in the batteries. In a hybrid vehicle, also an internal combustion engine is comprised. Thereby, the problem of range anxiety associated with all-electric vehicles may be reduced, as the combustion engine works as a backup when the batteries are depleted.
    The power transfer could be static and/ or dynamic, i.e., at standstill or during driving. Thereby various attractive advantages are reached such as less pollution, reduced noise from the vehicle, reduced operating costs, and time gain during travel (as no stop has to be made for filling up fuel), in comparison with vehicles with an internal combustion engine.
    The herein discussed vehicle may comprise e.g. a truck, a bus, a van, a car, a motorcycle, military vehicles, or any other similar type of vehicle.
    The vehicle with the electrical propulsion system comprises rechargeable batteries, or an-30 other energy storage device, that can be restored to full charge. Energy is transferred from the road segments to the vehicle's inductive pick up. However, it is important that they are laterally aligned as the energy losses will quickly increase otherwise.
    However, when driving the vehicle in poor sight conditions, such as e.g. rain, snow, fog or darkness, it may be difficult to see where to laterally positioning the vehicle on the road. Poor alignment of the vehicle's inductive pick up with the energy transfer segment in the 2 road will lead to deteriorated energy transfer to the vehicle and this may eventually lead to that the vehicle stops.
    If road markings are made on the road for guiding the driver of the vehicle how to place the vehicle, they may not always be visible due to deterioration, or they may be covered by snow, ice, dust or leaves. Road markings may also disturb or confuse other road users, which may misinterpret them for parking marks or similar.
    An inadvertent driver may not pay attention to the lateral positioning of the vehicle, and the 10 energy transfer may be suboptimal or even disrupted. Further, it is preferable that the driver focus his/ her attention to the surrounding traffic situation, rather than scanning for any possible road markings or other indications of the energy transfer segment in the road, which may cause an accident due to inattention and/ or may become an ergonomic issue for the driver.
    In some prior art solutions, a sensor on the vehicle, may measure the magnetic field generated by the energy transfer segment in the road. Further, a recommendation may be generated and displayed for the driver for placing the vehicle in optimal position.
    However, these solutions based on magnetic field measurements can only detect the current situation, not predict any future displacements of the energy transfer segment/ road, for example in a curve, which would be preferable.
    It thus appear that in order for reaching a practical implementation of vehicles with electrical propulsion system picking up electricity via induction from an energy transfer segment in the road further development is required, providing a solution to the above discussed problems.
    SUMMARY 30 It is therefore an object of this invention to solve at least some of the above problems and facilitate lateral positioning of a vehicle for inductive charging from an energy transfer segment in the road.
    According to a first aspect of the invention, this objective is achieved by a method in a vehide, for facilitate positioning of a vehicle laterally in relation to an energy transfer segment in, or above, a road in the driving direction ahead of the vehicle. The method comprises detecting lateral borders of the energy transfer segment ahead of the vehicle. Further the 3 method also comprises determining lateral position of the vehicle in relation to the detected lateral borders of the energy transfer segment. Additionally, the method further comprises detecting a deviation of the determined lateral position of the vehicle from the detected lateral borders of the energy transfer segment, exceeding a predetermined distance. The method further comprises performing an operation in order to facilitate lateral positioning of the vehicle within the lateral borders of the detected energy transfer segment ahead of the vehicle.
    According to a second aspect of the invention, this objective is achieved by a control unit in 10 a vehicle. The control unit is configured for facilitate positioning of a vehicle laterally in relation to an energy transfer segment in, or above, a road in the driving direction ahead of the vehicle. The control unit is configured for detecting lateral borders of the energy transfer segment ahead of the vehicle. The control unit is also configured for determining lateral position of the vehicle in relation to the detected lateral borders of the energy transfer seg- ment. Also, the control unit is also configured for detecting a deviation of the determined lateral position of the vehicle from the detected lateral borders of the energy transfer segment, exceeding a predetermined distance. Furthermore, the control unit is configured also for performing an operation in order to facilitate lateral positioning of the vehicle within the lateral borders of the detected energy transfer segment ahead of the vehicle.
    Hereby, thanks to the disclosed aspects, the driver is assisted in keeping the vehicle within the lateral borders of the energy transfer segment to maintain energy transfer between the energy transfer segment and the vehicle. Safety is increased since the driver could focus on the road ahead and the ambient traffic situation rather than searching for the energy transfer segment and the lateral borders of the energy transfer segment. External projection in e.g. darkness and/ or in case of snow or poor markings on the road may help the driver to find the lateral position when road markings are difficult to see.
    Other advantages and additional novel features will become apparent from the subsequent detailed description.
    FIGURES Embodiments of the invention will now be described in further detail with reference to the accompanying figures, in which: Figure 1illustrates a side view of a vehicle according to an embodiment; 4 Figure 2illustrates an above perspective overview of a scenario where a vehicle is approaching an energy transfer segment according to an embodiment of the invention; Figure 3Aillustrates an example of lateral vehicle positioning according to an embodi- ment of the invention; Figure 3Billustrates an example of lateral vehicle positioning according to an embodi- ment of the invention; Figure 36illustrates an example of lateral vehicle positioning according to an embodi- ment of the invention; Figure 3Dillustrates an example of lateral vehicle positioning according to an embodi- ment of the invention; Figure 3Eillustrates an example of lateral vehicle positioning according to an embodi- ment of the invention; Figure 4is a flow chart illustrating an embodiment of a method; Figure is an illustration depicting a system according to an embodiment.
    DETAILED DESCRIPTION Embodiments of the invention described herein are defined as a method and a control unit, which may be put into practice in the embodiments described below. These embodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.
    Still other objects and features may become apparent from the following detailed descrip- tion, considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the herein disclosed embodiments, for which reference is to be made to the appended claims. Further, the drawings are not necessarily drawn to scale and, unless otherwise indicated, they are merely intended to conceptually illustrate the 30 structures and procedures described herein.
    Figure 1 illustrates a scenario with a vehicle 100 driving in a driving direction 105. The vehicle 100 may comprise an energy storage device 110, such as e.g. rechargeable batteries, in some embodiments. The energy storage device 110, if any, may be charged by in- ductive electrical transmission from an energy transfer segment 1situated e.g. in the road 130, via an inductive pick up in the vehicle 100 in some embodiments.
    However, the energy transfer segment 120 may alternatively be situated above the vehicle 100, even if the subsequent description primarily focus on the embodiment where the energy transfer segment 120 is situated under the vehicle 100.
    The vehicle 100 may be e.g. a truck, a bus, a van, a car, a motorcycle, military vehicles, or any other similar type of vehicle not running on rails. The vehicle 100 may be configured for 10 running on for example a road.
    The vehicle 100 may be driver controlled or driverless autonomously controlled vehicles in different embodiments. However, for enhanced clarity, the vehicle 100 is subsequently described as having a driver.
    Inductive charging, or wireless charging as, uses an electromagnetic field to transfer energy between two objects, in this case from the energy transfer segment 120 to the energy storage device 110 via the inductive pick up in the vehicle 100. The vehicle 100 may be stationary or moving. Energy is sent through the inductive coupling to an electrical device, which can then use that energy to charge the energy storage device 110 or run the vehicle 100.
    The energy transfer segment 120 may comprise an induction coil to create an alternating electromagnetic field, and a second induction coil in the vehicle 100, which takes power from the electromagnetic field and converts it back into electrical current to charge the energy storage device 110. The two induction coils in proximity combine to form an electrical transformer. Greater distances between sender and receiver coils can be achieved when the inductive charging system uses resonant inductive coupling.
    Thus the vehicle 100 may comprise the energy storage device 110 in some embodiments, which may be inductively charged by the energy transfer segment 120 in, or above, the road 130. An electric motor in the vehicle 100 is then energised by the energy storage device 110.
    However, in other embodiments, the vehicle 100 may not comprise any energy storage device 110. Instead the electric motor of the vehicle 100, e.g. an electric traction motor is energised by the energy transfer segment 120 via the inductive pick up in the vehicle 100. 6 An advantage with storing energy in the energy storage device 110 is that the vehicle 100 is not required to continuously be inductively attached to the energy transfer segment 120.
    An advantage with embodiments not having any energy storage device 110 is that weight and space is saved. Energy storage devices 110 may also be expensive and may have to be replaced after a certain time, which add costs.
    Nevertheless, some embodiments of the vehicle 100 may also comprise an additional in- 10 ternal combustion engine, which gives additional independence from the energy transfer segment 120, allowing independent operation. By having an auxiliary power unit the vehicle 100 is allowed e.g. to get around a route blockage and/ or may reduce the amount and/ or complexity of required energy transfer segment 120 e.g. at operating garages, depots, etc.
    The energy transfer segment 120 may be situated under the surface of the road 130 and may extend substantially in parallel with the road 130 along at least a part of the route of the vehicle 100 in some embodiments. The energy transfer segment 120 may alternatively be situated over the road 130.
    According to some embodiments, a functionality is provided in order to assist the driver to place and/ or keep the vehicle 100 laterally positioned for ensuring uninterrupted power fed to the vehicle 100 by the energy transfer segment 120.
    Further, according to some embodiments, the system keeps track of the path forward of the energy transfer segment 120 and the road 130 to ensure comfortable and safe journey for the driver and the passengers (if any) in the vehicle 100 who may be standing in case of a city bus. If the system has knowledge about the path and position of the energy transfer segment 120 and the road 130 ahead, the system may assist the driver in finding the opti- mal lateral position for inductive charging.
    The path of the energy transfer segment 120 and the road path may be detected by suitable sensors such as e.g. a mono camera, a stereo camera, a laser scanner, an ultrasonic sensor, Global Positioning System (GPS) in combination with detailed GPS data, by receiv- ing information from other vehicles (or a sensor on another vehicle) via wireless communication, by receiving information from a vehicle external sensor via wireless communication 7 or a combination of at least two of the enumerated techniques for detecting the energy transfer segment 120.
    Unless the driver intentionally leaves the path of the energy transfer segment 120, e.g. by flashing and turning, embodiments of the provided solution may work as follows.
    In case the vehicle 100 is not aligned with the energy transfer segment 120 ahead, the driver is informed by e.g. by disclosing a sign or symbol at the instrument cluster, a Head Up Display (HUD), a sound or spoken message emitted via a load speaker, a vibration in 10 the chair and/ or the steering wheel of the vehicle 100, a torque assist in the steering wheel or similar notification.
    Alternatively in some embodiments, an external projection may be made for guiding the driver. Such external projection may be made by e.g. laser, clever Light-Emitting Diode (LED) light or similar solution based on projection of visible light, which may be in particular advantageous in darkness or in poor visibility conditions. In some embodiments, an arrow or similar corresponding sign may be projected on the road surface in front of the vehicle 100 to inform the driver in which lateral direction the vehicle 100 should move to achieve or maintain inductive contact with the energy transfer segment 120 in, or above, the road 130.
    An escalation of warning could be done e.g. by changing colours and/ or intensity of the projected light, and/ or flashing the projected light. Alternatively the system may lit up lines on the track to indicate a recommended lateral position of the vehicle 100.
    Thanks to the disclosed solution, the driver is assisted in placing the vehicle 100 within the lateral sway limits for achieving or maintaining inductive electrical connection to the energy transfer segment 120 in, or above, the road 130. Safety is increased since the driver could focus on the road ahead and the ambient traffic situation rather than looking for the energy transfer segment 120. External projection in e.g. darkness and/ or in case of snow or poor markings on the road may help the driver to find the lateral position any road markings are difficult to see. The driver thereby get help in aligning the vehicle 100 on the road 130 laterally to get the optimal energy transfer from the energy transfer segment 120.
    Figure 2 illustrates the vehicle 100 presented in Figure 1, as perceived from an overhead view. The vehicle 100 is driving in the driving direction 105. The vehicle 100 may comprise the energy storage device 110, such as e.g. rechargeable batteries, in some embodiments. The energy storage device 110, if any, may be charged by inductive electrical transmission 8 from the energy transfer segment 120 in the road 130, under the road 130, or alternatively over the road 130 via the vehicle's inductive pick up.
    The energy transfer segment 120 has a left lateral border 2and a right lateral border 220, in the driving direction 105 of the vehicle 100.
    Thereby, by detecting the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100, and inform the driver of the vehicle 100 thereof, it may be possible for the driver to position the vehicle 100 laterally, for keeping the vehicle 100 within the 10 lateral borders 210, 220 of the energy transfer segment 120 when arriving at the ahead energy transfer segment 120.
    The lateral borders 210, 220 of the energy transfer segment 120 may be detected e.g. some meters, some tenths of meters or some hundreds of meters ahead of the vehicle 100 in different embodiments.
    When the vehicle 100 is exceeding the extension of the lateral borders 210, 220 of the energy transfer segment 120, an indication may be displayed to the driver, indicating in which direction to laterally position the vehicle 100, or alternatively which lateral border 210, 2has been exceeded.
    The road may have one consistent energy transfer segment 120 from the starting point to the final destination of the vehicle 100 in some embodiments. In other embodiments, the road 130 may be provided with one or more distinct energy transfer segments 120, and the vehicle 100 may be driven either by stored electricity in the energy storage device 110 in the vehicle 100, or alternatively driven by an internal combustion engine in the vehicle 100.
    In some embodiments, electricity may be at least partly generated and provided to the energy transfer segment 120 by solar panels arranged at the road side for the multiple func- tion of generating electricity, functioning as noise damping elements and/ or wildlife fencing. Such solar panels may be opaque (for sparing the surroundings from the view of the traffic) or transparent (for enhancing the driver's visual experience of the journey).
    Figure 3A illustrates an example of how the previously scenario in Figure 2 may be per-ceived by the driver of the vehicle 100. 9 The vehicle 100 comprises a control unit 300 for positioning the vehicle 100 laterally in relation to the energy transfer segment 120.
    The vehicle 100 also comprises a vehicle mounted camera 310, such as e.g. a front cam-era directed ahead, arranged for detecting the energy transfer segment 120 and/ or the lateral borders 210, 220 of the energy transfer segment 120, which may be marked with paint in some embodiments.
    Besides comprising a camera, the vehicle mounted camera 310 in some embodiments 10 may comprise e.g. a stereo camera, a film camera, or similar device based on radar, infrared light or micro waves for detecting the lateral borders 210, 220 of the energy transfer segment 120.
    The vehicle mounted camera 310 thus may detect the energy transfer segment 120 and a lateral position of the energy transfer segment 120 and the lateral borders 210, 220 thereof.
    The control unit 300 may then, based on signals received from the vehicle mounted camera 310, determine the lateral position of the vehicle 100 in relation to the detected lateral borders 210, 220 of the energy transfer segment 120. Further, the control unit 300 may detect a deviation of the determined lateral position of the vehicle 100 from the detected lateral borders 210, 220 of the energy transfer segment 120, exceeding a predetermined distance.
    Further, the control unit 300 may generate control signals for displaying an indication for the driver, indicating direction and/ or size of the detected lateral position deviation of the vehicle 100, in order to facilitate lateral positioning of the vehicle 100 within the lateral borders 210, 220 of the detected energy transfer segment 120 ahead of the vehicle 100.
    Further, in the illustrated embodiment, information is displayed for the driver on a display 320, indicating direction and/ or size of the detected lateral position deviation of the vehicle 100, and that the vehicle 100 has to be moved 5 cm to the left in this arbitrary example.
    However, in other embodiments, the direction of positioning and/ or distance to the energy transfer segment 120 and/ or the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100 may be e.g. projected on the road 130 in front of the vehicle 100, projected on a head up display, displayed in an augmented reality device such as a pair of intelligent glasses, intelligent contact lenses, an intelligent windshield etc.
    Figure 3B illustrates another example of how the previously scenario in Figure 2 may be perceived by the driver of the vehicle 100 according to another embodiment, alternative to the embodiment illustrated in Figure 3A.
    The vehicle 100 comprises the control unit 300 for positioning the vehicle 100 laterally in relation to the energy transfer segment 120 in, or above, the road 130 ahead of the vehicle 10 100, and possibly also the display 320. However, instead of detecting and determining the position of the energy transfer segment 120 by any camera 310, the vehicle 100 comprises a vehicle mounted thermographic camera 330.
    The thermographic camera 330 may detect increased temperature at the energy transfer segment 120 by being sensible for infrared light. Generally, the amount of emitted infrared radiation will increase with the temperature.
    An advantage with using the thermographic camera 330 for detecting the energy transfer segment 120 and the associated lateral borders 210, 220 is that the thermographic camera 20 330 works independently of the amount of visible light. Thereby, the energy transfer segment 120 may be successfully detected ahead of the vehicle 100 also in darkness, in fog or when sight is restricted by smoke or pollution.
    In some embodiments, the direction of positioning and/ or distance to the energy transfer segment 120 and/ or the lateral borders 210, 220 of the energy transfer segment 1ahead of the vehicle 100 may be e.g. projected on the road 130 in front of the vehicle 100, projected on a head up display, displayed in an augmented reality device such as a pair of intelligent glasses, intelligent contact lenses, an intelligent windshield etc.
    Figure 3C illustrates yet another example of how the previously scenario in Figure 2 may be perceived by the driver of the vehicle 100 according to another embodiment, alternative to the embodiments illustrated in Figure 3A and Figure 3B respectively.
    However, instead of detecting the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100 by a camera 310, or a thermographic camera 330, the vehicle 100 comprises a positioning device 340. 11 The positioning device 340 may be based on a satellite navigation system such as the Navigation Signal Timing and Ranging (Navstar) Global Positioning System (GPS), Differential GPS (DGPS), Galileo, GLONASS, or the like.
    The geographical position of the positioning device 340, (and thereby also of the vehicle 100) may be done continuously with a certain predetermined or configurable time intervals according to various embodiments.
    Positioning by satellite navigation is based on distance measurement using triangulation 10 from a number of satellites 350-1, 350-2, 350-3, 350-4. The satellites 350-1, 350-2, 350-3, 350-4 continuously transmit information about time and date (for example, in coded form), identity (which satellite 350-1, 350-2, 350-3, 350-4 which broadcasts), status, and where the satellite 350-1, 350-2, 350-3, 350-4 are situated at any given time. GPS satellites 3501, 350-2, 350-3, 350-4 sends information encoded with different codes, for example, but not necessarily based on Code Division Multiple Access (CDMA). This allows information from an individual satellite 350-1, 350-2, 350-3, 350-4 distinguished from the others' information, based on a unique code for each respective satellite 350-1, 350-2, 350-3, 350-4. This information can then be transmitted to be received by the appropriately adapted positioning device 340 comprised in the vehicle 100.
    Distance measurement can according to some embodiments comprise measuring the difference in the time it takes for each respective satellite signal transmitted by the respective satellites 350-1, 350-2, 350-3, 350-4, to reach the positioning device 340. As the radio signals travel at the speed of light, the distance to the respective satellite 350-1, 350-2, 350-3, 350-4 may be computed by measuring the signal propagation time.
    The positions of the satellites 350-1, 350-2, 350-3, 350-4 are known, as they continuously are monitored by approximately 15-30 ground stations located mainly along and near the earth's equator. Thereby the geographical position, i.e. latitude and longitude, of the vehicle 100 comprising the positioning device 340 may be calculated by determining the distance to at least three satellites 350-1, 350-2, 350-3, 350-4 through triangulation. For determination of altitude, signals from four satellites 350-1, 350-2, 350-3, 350-4 may be used according to some embodiments.
    Having determined the geographical position of the positioning device 340, and thereby also of the vehicle 100, it may be presented on a map, where the position of the vehicle 100 may be marked, as well as the positions of the energy transfer segment 120 and/ or 12 the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100. In some embodiments, also a message, sign or other indication displayed on the display 320 may inform the driver in which direction and how much, to laterally move the vehicle 100. In some embodiments, the distance to the energy transfer segment 120 may be dis- played.
    However, in other embodiments, the direction of positioning and/ or distance to the energy transfer segment 120 and/ or the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100 may be e.g. projected on the road 130 in front of the vehicle 10 100, projected on a head up display, displayed in an augmented reality device such as a pair of intelligent glasses, intelligent contact lenses, an intelligent windshield etc.
    Figure 3D illustrates yet another example of how the previously scenario in Figure 2 may be perceived by the driver of the vehicle 100 according to another embodiment, alternative to the embodiments illustrated in Figure 3A, Figure 3B, and/ or Figure 30 respectively, even if these embodiments may be combined.
    The vehicle 100 comprises the control unit 300 for positioning the vehicle 100 laterally in relation to the energy transfer segment 120 in, or above, the road 130 ahead of the vehicle 100. However, instead of detecting and determining the position of the energy transfer segment 120 by any on-board camera 310, 330 or by GPS positioning via a positioning device 340, the vehicle 100 comprises a receiver 370. The receiver 370 is configured to receive wireless signals from transmitters 360-1, 360-2, 360-3, which are external to the vehicle 100 and associated with the energy transfer segment 120, i.e. situated at prede- termined (and thereby known) positions in relation to the energy transfer segment 120.
    By receiving such wireless signals from e.g. three transmitters 360-1, 360-2, 360-3, direction and/ or distance to the respective transmitter 360-1, 360-2, 360-3 may be determined and the lateral position of the vehicle 100 in relation to the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100 may be determined by triangulation of the received wireless signals.
    Any arbitrary radio signal and wavelength may be used for this purpose in different embodiments. However, as commonly known, the size of the receiver antenna at the receiver 370 is a function of the wavelength of the signal. Thus very long wavelengths (i.e. low frequencies) require very large antennas, which may become unfeasible. 13 Figure 3E again illustrates yet another example of how the previously scenario in Figure 2 may be perceived by the driver of the vehicle 100 according to another embodiment, alternative to the embodiments illustrated in Figure 3A, Figure 3B, Figure 30 and/ or Figure 3D respectively.
    The vehicle 100 comprises the control unit 300 for positioning the vehicle 100 laterally in relation to the energy transfer segment 120 ahead of the vehicle 100. Further, the vehicle 100 comprises the receiver 370. The receiver 370 is configured to receive wireless signals from a transmitter 390, external to the vehicle 100, which transmitter 390 in turn is in corn- 10 municative connection with a camera 395, external to the vehicle 100.
    The camera 395 may be situated in association with the energy transfer segment 120, such as for example at a predetermined position and/ or distance in relation to the energy transfer segment 120, and directed towards the position of the vehicle 100. Information representing an image, or a sequence of images may then be transmitted wirelessly via the transmitter 390 to be received by the receiver 370 in the vehicle 100.
    The wireless signal may be e.g. a Vehicle-to-Vehicle (V2V) signal, or any other wireless signal based on, or at least inspired by wireless communication technology such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), or infrared transmission to name but a few possible examples of wireless communications.
    The control unit 300, when receiving the information from the external camera 395, may determine the lateral position of the vehicle 100 in relation to the energy transfer segment 120, based on information received from the vehicle external camera 395 via wireless signals, and knowledge of the position of the external camera 395 in relation to the energy transfer segment 120.
    Further, in the illustrated example, the result of the computation made by the control unit 300 may be reported to the driver of the vehicle 100 e.g. by a vocal message from a loudspeaker.
    The embodiments illustrated in Figures 3A, 3B, 30, 3D and/ or 3E may also be combined for enhanced positioning. Further, direction and size of the detected lateral position deviation may be illustrated for the driver of the vehicle 100 in various ways, e.g. projected on the road 130 in front of the vehicle 100, projected on a head up display, displayed in an 14 augmented reality device such as a pair of intelligent glasses, intelligent contact lenses, an intelligent windshield etc.
    Figure 4 illustrates an example of a method 400 according to an embodiment. The flow chart in Figure 4 shows the method 400 for use in a vehicle 100, for facilitate positioning of a vehicle 100 laterally in relation to an energy transfer segment 120 ahead of the vehicle 100. The energy transfer segment 120 may transfer electricity to the vehicle 100 by induction. In some embodiments, the energy transfer segment 120 may comprise a first coil, which induce electromagnetism to a second coil in the vehicle 100. The induced electro10 magnetism may then be converted to electricity and used to drive an electric motor of the vehicle 100, or be stored in an energy storage device 110 in the vehicle 100 such as a rechargeable battery.
    The vehicle 100 may be any arbitrary kind of means for conveyance, such as a truck, a bus, a car, a wagon, an elevator, a motorcycle or similar. However, in some particular embodiments, the vehicle 100 may be a vehicle comprising passengers, such as a bus, an ambulance, an Armoured Personnel Carrier (APC) (or other military vehicle), a fire truck etc.
    In order to correctly be able to facilitate the positioning of the vehicle 100, the method 400 may comprise a number of steps 401-404. However, some of these steps 401-404 may be performed in different alternating manners. Further, the described steps 401-404 may be performed in a somewhat different chronological order than the numbering suggests. The method 400 may comprise the subsequent steps: Step 401 comprises detecting the lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100.
    In some embodiments, the lateral borders 210, 220 of the energy transfer segment 130 may be detected some tenths of meters, or some hundreds of meters in advance. Thereby, the vehicle 100 can align the vehicle 100 with the energy transfer segment 120 before arriving and thus can avoid arriving at the energy transfer segment 120, noting that the vehicle 100 is not correctly positioned for charging the batteries, reposition the vehicle 100 etc.
    In some embodiments, the lateral borders 210, 220 of the energy transfer segment 1may be detected by using a vehicle mounted camera 310, a laser scanner, an ultrasonic sensor or similar detector on the vehicle 100.
    The vehicle mounted camera 310 may be directed downwards and/ or forwards in some embodiments, in or order to predict the position of the energy transfer segment 120.
    In some further embodiments, the geographical position of the vehicle 100 may be determined by a positioning device 340. Further, the energy transfer segment 120 may be detected by retrieval of the position of the energy transfer segment 120 from a map stored in a memory 525. 10 The energy transfer segment 120 may in some embodiments be detected by receiving a wireless signal by a receiver 370 in the vehicle 100, which signal carry information concerning the geographical position of the energy transfer segment 120. The wireless signal may be transmitted by a transmitter 360-1, 360-2, 360-3 associated with the energy transfer segment 120, i.e. wherein the respective transmitter 360-1, 360-2, 360-3 is positioned at a predetermined position or relation to the energy transfer segment 120, in some embodiments.
    In some embodiments, a vehicle external camera 395 may be situated in association with the energy transfer segment 120, i.e. wherein the vehicle external camera 395 is posi- tioned at a predetermined position or relation to the energy transfer segment 120. By transmitting wireless signals via a transmitter 390, and receiving the transmitted wireless signals by a receiver 370 in the vehicle 100, the energy transfer segment 120 and the lateral borders 210, 220 thereof may be detected.
    The mentioned wireless signals may be based on, or at least inspired by wireless communication technology such as Wi-Fi, Wireless Local Area Network (WLAN), Ultra Mobile Broadband (UMB), Bluetooth (BT), or infrared transmission to name but a few possible examples of wireless communications.
    Step 402 comprises determining lateral position of the vehicle 100 in relation to the detected 401 lateral borders 210, 220 of the energy transfer segment 120.
    The lateral borders 210, 220 are the limits in the lateral direction, where the inductive pick up of the vehicle 100 discontinue contact with the energy transfer segment 120, on the left/ right side respectively, in the driving direction 105 of the vehicle 100. 16 Step 403 comprises detecting a deviation of the determined 402 lateral position of the vehicle 100 from the detected 401 lateral borders 210, 220 of the energy transfer segment 120, exceeding a predetermined distance.
    The predetermined distance may be a distance where the charging of the energy storage device 110 deteriorates intolerably.
    In some embodiments, the deviation of the vehicle 100 from the lateral borders 210, 220 of the energy transfer segment 120 may be determined based on information from the vehicle 10 mounted camera 310, thermographic camera 330 or other similar detector on the vehicle 100.
    In some further embodiments, the deviation of the vehicle 100 from the lateral borders 210, 220 of the energy transfer segment 120 may be determined based on the geographical position of the vehicle 100 as determined by the positioning device 340, and also based on retrieval of the position of the energy transfer segment 120 from a map stored in a memory 525.
    In some embodiments, the deviation of the vehicle 100 from the lateral borders 210, 220 of the energy transfer segment 120 may be determined based on receiving a wireless signal by the receiver 370 in the vehicle 100, which signal may carry information concerning the geographical position of the energy transfer segment 120. The respective transmitter 3601, 360-2, 360-3 may have been positioned at predetermined positions or relation to the energy transfer segment 120, in some embodiments; and the lateral position of the energy transfer segment 120 in relation to the vehicle 100 may be determined by triangulation of the received wireless signals from the respective transmitters 360-1, 360-2, 360-3.
    In some embodiments, deviation of the vehicle 100 from the lateral borders 210, 220 of the energy transfer segment 120 may be determined based on information received from the vehicle external camera 395 via wireless signals.
    Some or all of these methods for detecting deviation of the vehicle 100 from the lateral borders 210, 220 of the energy transfer segment 120 may be combined in some embodiments. 17 Step 404 comprises performing an operation in order to facilitate lateral positioning of the vehicle 100 within the lateral borders 210, 220 of the detected 401 energy transfer segment 120 ahead of the vehicle 100.
    The performed operation may in some embodiments comprise indicating direction of the detected 403 lateral position deviation to a driver of the vehicle 100, in order to facilitate lateral positioning of the vehicle 100 within the lateral borders 210, 220 of the detected 401 energy transfer segment 120 ahead of the vehicle 100. In some alternative embodiments, the magnitude of the direction of the detected 403 lateral position deviation may be indi- 10 cated.
    The indication given to the driver may e.g. comprise a direction, indicating which extended lateral border 210, 220 has been exceeded by the vehicle 100, and/ or an arrow or similar, indicating in which direction (left/ right) the driver is to turn the vehicle 100 in order to align the vehicle 100 with the energy transfer segment 120. In some embodiments, the lateral borders 210, 220 may be displayed/ projected, and/ or a line for the driver to follow may be displayed/ projected.
    The direction indicated to the driver of the vehicle 100 may be displayed or indicated at any of e.g.: a display 320 visible to the driver, a head-up display, a pair of glasses, a pair of contact lenses, a transparent display configured for augmented reality integrated with the windshield of the vehicle 100, a visible projection on the road ahead of the vehicle 100 by Light-Emitting Diode (LED) head lights, projector 380 or laser, an audio signal and/ or a haptic signal; or a combination thereof.
    By indicating such driving guidance to the driver in any of the described manners, the driver can be informed about the location of the energy transfer segment 120 and is enabled to align the vehicle 100 therewith without having to turn or move the head away and look for the information, but may focus on the forward traffic situation. Thereby, traffic safety is enhanced.
    However, the performed 404 operation may comprise positioning the vehicle 100 laterally within the lateral borders 210, 220 of the detected 401 energy transfer segment 120 in some alternative embodiments, autonomously. This may be performed for example in case there is no driver present at the vehicle 100, or when the driver does not react on the indication displayed to the driver, for example. 18 In some embodiments, a control signal may be generated by the control unit 300, for turning the steering wheel of the vehicle 100 for aligning the vehicle 100 with the ahead energy transfer segment 120.
    It could thereby be avoided that the vehicle 100 lose contact with the energy transfer segment 120, also when the vehicle 100 is autonomous. In a vehicle 100 having a driver, the driver is able to focus on other issues such as the traffic situation etc.
    Figure illustrates an embodiment of a system 500 for assisting a vehicle 100 to position 10 the vehicle 100 laterally in relation to an energy transfer segment 120 in, or above, a road 130 in the driving direction 105 ahead of the vehicle 100.
    The system 500 comprises an infrastructure for providing electricity to the vehicle 100, comprising the energy transfer segment 120 arranged under the road 130, integrated with the road 130 so that vehicles may pass over it or above the road 130 so that vehicles may pass under it. The energy transfer segment 120 is electrically supported by electricity from an electricity network.
    The system 500 further comprises the vehicle 100, having an inductive pick up.
    The system 500 also comprises a control unit 300 in the vehicle 100. The control unit 300 is configured for facilitate positioning of a vehicle 100 laterally in relation to an energy transfer segment 120 ahead of the vehicle 100. The control unit 300 may perform at least some of the previously described steps 401-404 according to the method 400 described above and illustrated in Figure 4.
    The control unit 300 is configured for detecting lateral borders 210, 220 of the energy transfer segment 120 ahead of the vehicle 100. Further, the control unit 300 is also configured for determining lateral position of the vehicle 100 in relation to the detected lateral borders 210, 220 of the energy transfer segment 120. Further the control unit 300 is also configured for detecting a deviation of the determined lateral position of the vehicle 100 from the detected lateral borders 210, 220 of the energy transfer segment 120, exceeding a predetermined distance. Also, the control unit 300 is configured for performing an operation in order to facilitate lateral positioning of the vehicle 100 within the lateral borders 210, 220 of the detected energy transfer segment 120 ahead of the vehicle 100. 19 In some embodiments, the control unit 300 may be configured for performing the operation in order to facilitate lateral positioning of the vehicle 100 by indicating direction of the detected lateral position deviation to a driver of the vehicle 100, via a means for direction indication 320, 380.
    Further, the control unit 300 may be configured for performing the operation in order to facilitate lateral positioning of the vehicle 100 by positioning the vehicle 100 laterally within the lateral borders 210, 220 of the detected energy transfer segment 120. 10 Also, according to some embodiments, the lateral borders 210, 220 of the energy transfer segment 120 in the driving direction 105 of the vehicle 100 may be marked with visible markings on the road 130. Further, the control unit 300 may be configured for detecting the lateral borders 210, 220 via a vehicle mounted camera 310. In addition the control unit 300 may be further configured for determining lateral position of the vehicle 100 in relation to the detected lateral borders 210, 220 of the energy transfer segment 120 via the vehicle mounted camera 310.
    Alternatively, according to some embodiments, the control unit 300 may be configured for detecting the lateral borders 210, 220 of the energy transfer segment 120 in the driving direction 105 of the vehicle 100 via a vehicle mounted thermographic camera 330. Further, the control unit 300 may be configured for determining lateral position of the vehicle 100 in relation to the detected lateral borders 210, 220 of the energy transfer segment 120 via the vehicle mounted thermographic camera 330.
    Further, the lateral borders 210, 220 of the energy transfer segment 120 in the driving direction 105 of the vehicle 100 are indicated on a map, and wherein the control unit 300 may be configured for detecting the lateral borders 210, 220 of the energy transfer segment 120 in the driving direction 105 of the vehicle 100 via the indications on the map. Also, the control unit 300 may be configured for determining lateral position of the vehicle 100 in relation to the detected lateral borders 210, 220 of the energy transfer segment 1via the indications on the map and geographical positioning of the vehicle 100.
    In some embodiments, the control unit 300 may be configured for detecting the lateral borders 210, 220 of the energy transfer segment 120 in the driving direction 105 of the vehicle 100 via a receiver 370 in the vehicle 100. The control unit 300 may also be configured for determining lateral position of the vehicle 100 in relation to the detected lateral borders 210, 220 of the energy transfer segment 120 by triangulation of received wireless signals.
    The control unit 300 may be configured for detecting the lateral borders 210, 220 of the energy transfer segment 120 and the lateral position of the vehicle 100 in relation to the lateral borders 210, 220 via a vehicle external camera 395 situated at the energy transfer segment 120, which is transmitting wireless signals to a receiver 370 in the vehicle 100, connected to the control unit 300; in some embodiments.
    The control unit 300 may be configured for generating control signals for indicating the direction of the detected lateral position deviation to the driver of the vehicle 100 via any of: a 10 display 320 visible to the driver, a head-up display, a pair of glasses, a pair of contact lenses, a transparent display configured for augmented reality integrated with the windshield of the vehicle 100, a visible projection on the road 130 ahead of the vehicle 100 by LED head lights, projector 380 or laser, an audio signal, a haptic signal.
    In some embodiments, the control unit 300 may furthermore be optionally configured for generating control signals for performing the recommended action autonomously, e.g. in case the vehicle 100 does not have any driver, or in case the driver does not follow the recommended action. Such recommended action may comprise positioning the vehicle 100 laterally such that the vehicle 100 is aligned with the energy transfer segment 120.
    The control unit 300 may comprise a processor 5configured for performing at least some of the previously described steps 401-404 according to the method 400, in some embodiments.
    Such processor 520 may comprise one or more instances of a processing circuit, i.e. a Central Processing Unit (CPU), a processing unit, a processing circuit, a processor, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression "processor" may thus represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones enumerated above.
    The control unit 300 may further comprise a receiving circuit 5configured for receiving a signal from a sensor 310, a positioning device 340 and/ or a receiver 370 in the vehicle 100, for detecting the energy transfer segment 120 and/ or the lateral borders thereof, in different embodiments. 21 Furthermore, the control unit 300 may comprise a memory 5in some embodiments. The optional memory 525 may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some embodiments, the memory 525 may comprise integrated circuits comprising silicon-based transistors. The memory 525 may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different embodiments.
    Further, the control unit 300 may comprise a signal transmitter 530. The signal transmitter 530 may be configured for transmitting a control signal to be received by a display device 320; or by a steering wheel in some embodiments.
    The previously described steps 401-404 to be performed in the control unit 300 may be implemented through the one or more processors 520 within the control unit 300, together with computer program product for performing at least some of the functions of the steps 401-404. Thus a computer program product, comprising instructions for performing the steps 401-404 in the control unit 300 may perform the method 400 comprising at least 20 some of the steps 401-404 for facilitate positioning of the vehicle 100 laterally in relation to the energy transfer segment 120 ahead of the vehicle 100, when the computer program is loaded into the one or more processors 520 of the control unit 300.
    Further, some embodiments may comprise a vehicle 100, comprising the control unit 300, configured for positioning the vehicle 100 laterally in relation to the energy transfer segment 120 above the vehicle 100, according to at least some of the steps 401-404.
    The computer program product mentioned above may be provided for instance in the form of a data carrier carrying computer program code for performing at least some of the step 401-404 according to some embodiments when being loaded into the one or more processors 520 of the control unit 300. The data carrier may be, e.g., a hard disk, a CD ROM disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine readable data in a non-transitory manner. The computer program product may furthermore be provided as corn- puter program code on a server and downloaded to the control unit 300 remotely, e.g., over an Internet or an intranet connection. 22 The terminology used in the description of the embodiments as illustrated in the accompanying drawings is not intended to be limiting of the described method 400; the control unit 300; the computer program and/ or the vehicle 100. Various changes, substitutions and/ or alterations may be made, without departing from invention embodiments as defined by the appended claims.
    As used herein, the term "and/ or" comprises any and all combinations of one or more of the associated listed items. The term "or" as used herein, is to be interpreted as a mathematical OR, i.e., as an inclusive disjunction; not as a mathematical exclusive OR (XOR), 10 unless expressly stated otherwise. In addition, the singular forms "a", "an" and "the" are to be interpreted as "at least one", thus also possibly comprising a plurality of entities of the same kind, unless expressly stated otherwise. It will be further understood that the terms "includes", "comprises", "including" and/ or "comprising", specifies the presence of stated features, actions, integers, steps, operations, elements, and/ or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and/ or groups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/ distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms such as via Internet or other wired or wireless communication system. 23
    权利要求:
    Claims (14)
    [1] 1. A method (400) for facilitate positioning of a vehicle (100) laterally in relation to an energy transfer segment (120) in the driving direction (105) ahead of the vehicle (100), comprising: detecting (401) lateral borders (210, 220) of the energy transfer segment (120) ahead of the vehicle (100); determining (402) lateral position of the vehicle (100) in relation to the detected (401) lateral borders (210, 220) of the energy transfer segment (120); detecting (403) a deviation of the determined (402) lateral position of the vehicle (100) from the detected (401) lateral borders (210, 220) of the energy transfer segment (120), exceeding a predetermined distance; and performing (404) an operation in order to facilitate lateral positioning of the vehicle (100) within the lateral borders (210, 220) of the detected (401) energy transfer segment (120) ahead of the vehicle (100).
    [2] 2. The method (400) according to claim 1, wherein the performed (404) operation comprises indicating direction of the detected (403) lateral position deviation to a driver of the vehicle (100), in order to facilitate lateral positioning of the vehicle (100) within the lateral borders (210, 220) of the detected (401) energy transfer segment (120) ahead of the vehicle (100).
    [3] 3. The method (400) according to claim 1, wherein the performed (404) operation comprises positioning the vehicle (100) laterally within the lateral borders (210, 220) of the detected (401) energy transfer segment (120).
    [4] 4. A control unit (300) for facilitate positioning of a vehicle (100) laterally in relation to an energy transfer segment (120) in the driving direction (105) ahead of the vehicle (100), wherein the control unit (300) is configured for detecting lateral borders (210, 220) of the energy transfer segment (120) ahead of the vehicle (100); and also configured for deter- mining lateral position of the vehicle (100) in relation to the detected lateral borders (210, 220) of the energy transfer segment (120); and further configured for detecting a deviation of the determined lateral position of the vehicle (100) from the detected lateral borders (210, 220) of the energy transfer segment (120), exceeding a predetermined distance; and also configured for performing an operation in order to facilitate lateral positioning of the vehicle (100) within the lateral borders (210, 220) of the detected energy transfer segment (120) ahead of the vehicle (100). 24
    [5] 5. The control unit (300) according to claim 4, configured for performing the opera- tion in order to facilitate lateral positioning of the vehicle (100) by indicating direction of the detected lateral position deviation to a driver of the vehicle (100), via a means for direction indication (320, 380).
    [6] 6. The control unit (300) according to claim 4, configured for performing the opera- tion in order to facilitate lateral positioning of the vehicle (100) by positioning the vehicle (100) laterally within the lateral borders (210, 220) of the detected energy transfer segment (120).
    [7] 7. The control unit (300) according to any of claims 4-6, wherein the lateral borders (210, 220) of the energy transfer segment (120) in the driving direction (105) of the vehicle (100) are marked with visible markings on the road (130); wherein the control unit (300) is configured for detecting said lateral borders (210, 220) via a vehicle mounted camera (310); and wherein the control unit (300) is further configured for determining lateral position of the vehicle (100) in relation to the detected lateral borders (210, 220) of the energy transfer segment (120) via the vehicle mounted camera (310).
    [8] 8. The control unit (300) according to any of claims 4-7, wherein the control unit (300) is configured for detecting the lateral borders (210, 220) of the energy transfer segment (120) in the driving direction (105) of the vehicle (100) via a vehicle mounted thermographic camera (330); and also configured for determining lateral position of the vehicle (100) in relation to the detected lateral borders (210, 220) of the energy transfer segment (120) via the vehicle mounted thermographic camera (330).
    [9] 9. The control unit (300) according to any of claims 4-8, wherein the lateral borders (210, 220) of the energy transfer segment (120) in the driving direction (105) of the vehicle (100) are indicated on a map, and wherein the control unit (300) is configured for detecting the lateral borders (210, 220) of the energy transfer segment (120) in the driving direction (105) of the vehicle (100) via the indications on the map; and also configured for determining lateral position of the vehicle (100) in relation to the detected lateral borders (210, 220) of the energy transfer segment (120) via the indications on the map and geographical positioning of the vehicle (100).
    [10] 10. The control unit (300) according to any of claims 4-9, wherein the control unit (300) is configured for detecting the lateral borders (210, 220) of the energy transfer segment (120) in the driving direction (105) of the vehicle (100) via a receiver (370) in the ve- hide (100); and also configured for determining lateral position of the vehicle (100) in relation to the detected lateral borders (210, 220) of the energy transfer segment (120) by triangulation of received wireless signals.
    [11] 11. The control unit (300) according to any of claims 4-10, wherein the control unit (300) is configured for detecting the lateral borders (210, 220) of the energy transfer segment (120) and the lateral position of the vehicle (100) in relation to the lateral borders (210, 220) via a vehicle external camera (395) situated at the energy transfer segment (120), which is transmitting wireless signals to a receiver (370) in the vehicle (100), con- nected to the control unit (300).
    [12] 12. The control unit (300) according to any of claims 4-11, wherein the control unit (300) is configured for generating control signals for indicating the direction of the detected lateral position deviation to the driver of the vehicle (100) via any of: a display (320) visible to the driver, a head-up display, a pair of glasses, a pair of contact lenses, a transparent display configured for augmented reality integrated with the windshield of the vehicle (100), a visible projection on the road (130) ahead of the vehicle (100) by LED head lights, projector (380) or laser, an audio signal, a haptic signal.
    [13] 13. A computer program comprising program code for performing a method (400) ac- cording to any of claims 1-3 when the computer program is executed in a control unit (300) according to any of claims 4-12.
    [14] 14. A vehicle (100) comprising a control unit (300) according to any of claims 4-12. Patentansokan nr / Patent application No: 1550112- foljande bilaga finns en oversattning av patentkraven till svenska. Observera att det är patentkravens lydelse pa engelska som A Swedish translation of the patent claims is enclosed. Please note that only the English claims have legal effect.
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    同族专利:
    公开号 | 公开日
    DE102016000838A1|2016-08-04|
    SE538700C2|2016-10-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102017203717A1|2017-03-07|2018-09-13|Audi Ag|Providing a light function for assisting a driver in driving a motor vehicle|
    法律状态:
    2021-09-28| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1550112A|SE538700C2|2015-02-04|2015-02-04|Method and control unit for facilitate positioning of a vehicle|SE1550112A| SE538700C2|2015-02-04|2015-02-04|Method and control unit for facilitate positioning of a vehicle|
    DE102016000838.5A| DE102016000838A1|2015-02-04|2016-01-27|Method and control unit for facilitating the positioning of a vehicle|
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