Guided vehicle positioning for inductive charging with the assistance of a vehicle camera

• US 9,802,501 B2
• Filed: 10/28/2015
• Issued: 10/31/2017
• Est. Priority Date: 04/30/2013
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Krammer, Josef
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US14/924,995
• Publication Number:
  US 20160046198A1
• Time in Patent Office: 734 Days
• Field of Search: 701 22
• CPC Class Codes: B60L 53/126 Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: B60L 53/37 using optical position determination, e.g. using cameras
• CPC Class Codes: B60L 53/38 specially adapted for charging by inductive energy transfer
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

A method and a corresponding device are provided for positioning a vehicle above a primary coil for inductive charging of a rechargeable battery in the vehicle. A control device for a vehicle is described. The vehicle has a secondary coil for receiving electrical energy from a primary coil outside the vehicle. The vehicle further has at least one camera, which is designed to detect an environment of the vehicle. The control unit is designed to receive image data from the at least one camera of the vehicle and to access reference data. The reference data includes information on at least one predefined reference object in the detected environment of the vehicle and on a position of the at least one predefined reference object relative to the primary coil. The control unit detects the at least one predefined reference object in the received image data on the basis of the reference data. In addition, the control unit determines a position of the secondary coil relative to the primary coil on the basis of the detected at least one reference object.

Claims

1. A control unit for a vehicle having a secondary coil for picking up electric power from a vehicle-external primary coil, wherein the vehicle has at least one camera configured to capture surroundings of the vehicle, wherein the control unit is configured to execute instructions stored on a computer-readable medium to:

receive from the at least one camera, image data of the surroundings of the vehicle captured by the at least one camera;

access reference data comprising information about at least one predefined reference object located within the captured surroundings of the vehicle, the information at least determinative of an identity of the at least one predefined reference object and/or a position of the at least one predefined reference object relative to the primary coil;

detect a presence of the at least one predefined reference object in the received image data based on the accessed reference data;

ascertain the position of the secondary coil relative to the primary coil based on the detected at least one predefined reference object; and

generate a graphical representation of the secondary coil with respect to the primary coil based on the ascertained position of the secondary coil relative to the primary coil.

2. The control unit according to claim 1, wherein the reference data comprises one or more of:

information about visual features of the at least one reference object that are able to be detected in the image data from the camera;

information about a physical size of the at least one reference object;

information concerning spatial coordinates of the at least one reference object in a predefined coordinate system; and

information concerning spatial coordinates of the primary coil in the predefined coordinate system.

3. The control unit according to claim 1, wherein the control unit is configured to further execute instructions stored on the computer-readable medium to:

receive information concerning a steering turn and concerning a wheel speed of the vehicle; and

ascertain a motion of the vehicle relative to the at least one reference object based on the received steering turn and wheel speed information.

4. The control unit according to claim 1, wherein the control unit is configured to further execute instructions stored on the computer-readable medium to:

ascertain a camera angle for a ray between the at least one camera and the at least one reference object; and

ascertain a distance from the secondary coil to the at least one reference object based on the ascertained camera angle.

5. The control unit according to claim 1, wherein

the reference data comprise information about a multiplicity of predefined reference objects along an approach trajectory of the vehicle with respect to the primary coil;

and

the control unit is configured to further execute instructions stored on the computer-readable medium to;

receive a time sequence of image data from the at least one camera of the vehicle along the approach trajectory; and

detect the multiplicity of predefined reference objects in the time sequence of image data.

6. The control unit according to claim 1, wherein the control unit is configured to further execute instructions stored on the computer-readable medium to:

receive the reference data from a pilot unit of the primary coil.

7. The control unit according to claim 5, wherein the control unit is configured to further execute instructions stored on the computer-readable medium to:

receive the reference data from a pilot unit of the primary coil.

8. The control unit according to claim 1, wherein the control unit is configured to further execute instructions stored on the computer-readable medium to:

prompt a control signal to be sent to a pilot unit of the primary coil in order to illuminate the at least one predefined reference object.

9. The control unit according to claim 7, wherein the control unit is configured to further execute instructions stored on the computer-readable medium to:

prompt a control signal to be sent to a pilot unit of the primary coil in order to illuminate the at least one predefined reference object.

10. A vehicle, comprising:

a secondary coil for picking up electric power from a vehicle-external primary coil;

at least one camera configured to capture surroundings of the vehicle;

a control unit for the vehicle, wherein the control unit is configured to;

receive image data from the at least one camera of the vehicle;

access reference data comprising information about at least one predefined reference object in the captured surroundings of the vehicle, the information at least determinative of a presence of the at least one predefined reference object and/or a position of the at least one predefined reference object relative to the primary coil;

detect the presence of the at least one predefined reference object in the received image data based on the accessed reference data;

ascertain the position of the secondary coil relative to the primary coil based on the detected presence of the at least one predefined reference object, and

generate a graphical representation of the secondary coil with respect to the primary coil based on the ascertained position of the secondary coil relative to the primary coil;

a memory unit configured to store the reference data; and

a display configured to display the graphical representation.

11. The vehicle according to claim 10, wherein the reference data comprises one or more of:

information about visual features of the at least one reference object that are able to be detected in the image data from the camera;

information about a physical size of the at least one reference object;

information concerning spatial coordinates of the at least one reference object in a predefined coordinate system; and

information concerning spatial coordinates of the primary coil in the predefined coordinate system.

12. The vehicle according to claim 10, wherein the control unit is configured to:

receive information concerning a steering turn and concerning a wheel speed of the vehicle; and

ascertain a motion of the vehicle relative to the at least one reference object based on the received steering turn and wheel speed information.

13. The vehicle according to claim 10, wherein the control unit is configured to:

ascertain a camera angle for a ray between the at least one camera and the at least one reference object; and

ascertain a distance from the secondary coil to the at least one reference object based on the ascertained camera angle.

14. The vehicle according to claim 10, further comprising an onboard computer configured to permit a user to input the reference data.

15. A method for assisting in positioning a secondary coil of a vehicle relative to a vehicle-external primary coil, the method comprising the acts of:

receiving image data from at least one vehicle camera configured to capture surroundings of the vehicle;

receiving reference data comprising information about at least one predefined reference object in the captured surroundings of the vehicle, the information at least determinative of a presence of the at least one predefined reference object and/or a position of the at least one predefined reference object relative to the primary coil;

detecting the at least one predefined reference object in the received image data based on the received reference data;

ascertaining a position of the secondary coil relative to the primary coil based on the detected at least one reference object; and

generating a graphical representation of the secondary coil with respect to the primary coil based on the ascertained position of the secondary coil relative to the primary coil.

16. The method according to claim 15, wherein the reference data comprises information about a multiplicity of predefined reference objects;

and the method additionally comprises the acts of;

detecting the multiplicity of predefined reference objects in the received image data; and

comparing the reference data with the detected multiplicity of predefined reference objects.

17. The method according to claim 15, wherein the reference data comprise one or more of:

information about visual features of the at least one reference object that are able to be detected in the image data from the camera;

information about a physical size of the at least one reference object;

information concerning spatial coordinates of the at least one reference object in a predefined coordinate system; and

information concerning spatial coordinates of the primary coil in the predefined coordinate system.

18. The method according to claim 15, wherein the method further comprises the acts of:

receiving information concerning a steering turn and concerning a wheel speed of the vehicle; and

ascertaining a motion of the vehicle relative to the at least one reference object based on the received steering turn and wheel speed information.

19. The method according to claim 15, wherein the method further comprises the acts of:

ascertaining a camera angle for a ray between the at least one camera and the at least one reference object; and

ascertaining a distance from the secondary coil to the at least one reference object based on the ascertained camera angle.