Vehicle control system for aligning an inductive charging connection

Abstract

Vehicle control system configured to position a vehicle (1), wherein the vehicle (1) includes a mobile inductive charging point (2), and wherein the vehicle control system includes the following: one or more parking sensors (3) configured to determine the position of the vehicle (1) relative to a surface on which the vehicle (1) is positioned and / or obstacles around the vehicle (1), wherein the one or more parking sensors are further configured to locate a sight indicator that shows the position of a fixed inductive charging point (9) relative to the vehicle (1); and a parking assistance controller (6) configured to automatically park the vehicle (1) in a parking space on the surface based on data from the one or more parking sensors (3), wherein the parking assist controller is further configured to use data from the one or more parking sensors (3) to position the vehicle (1) in an aligned position in which the fixed inductive charging point (9) and the mobile inductive charging point (2) are substantially aligned, wherein the parking sensors (3) are configured to locate a discrete marker (10) of the sight indicator of the fixed inductive charging point (9), which does not extend beyond the location of the fixed inductive charging point (9), so that the discrete marker (10) is not detected by the one or more parking sensors (3) after the vehicle (1) has driven over the fixed inductive charging point (9), and the parking assist controller (6) is configured to position the vehicle (1) relative to the fixed inductive charging point (9) based on the last position of the discrete marker (10) detected by the one or more parking sensors (3).

Description

[0001] The invention relates to a vehicle control system, in particular a control system for a vehicle with a mobile inductive charging point. The vehicle control system is configured to control the vehicle such that the mobile inductive charging point is automatically aligned with a fixed inductive charging point, the fixed inductive charging point being located at a fixed position relative to the mobile inductive charging point. The alignment of the fixed and mobile inductive charging points ensures that an inductive charging flow can be easily established between them.

[0002] Vehicle control systems are known to be used to assist drivers in certain aspects of driving. For example, cruise control systems work by automatically maintaining a vehicle's speed at a speed set by the driver. Similarly, parking assistance systems can either assist a driver when parking a vehicle (for example, by steering the vehicle's direction while the driver controls the speed) or can park a vehicle automatically without any further driver input beyond activating the system.

[0003] To ensure safe parking, parking assistance systems often include means of detecting the positions of vehicles, structures, or other objects relative to the vehicle being parked. These systems record the positions of these objects and then steer the vehicle in such a way as to avoid them, thus enabling safe parking.

[0004] Electric vehicles are also well-known and are enjoying increasing popularity in several countries. While they have been used in niche roles for some time (milk delivery vehicles, golf carts, etc.), very recently they have begun to replace conventional vehicles for everyday road use.

[0005] In hybrid vehicles, part of the output from an additional engine, usually a gasoline or diesel engine, is used to charge an onboard battery pack. This battery pack can then be used to provide power to the vehicle, either in addition to or as an alternative to the other engine. Hybrid vehicles therefore typically do not require an external power source to charge the onboard battery pack, although some are configured to allow charging using an external power source if one is available.

[0006] Fully electric vehicles, which are vehicles that use an electric motor as their primary or only source of power for movement, typically require external power sources to charge the battery packs built into the vehicle, which power the internal combustion engines.

[0007] Electric vehicles capable of using external power sources to charge their battery packs are typically connected to the external power source using a conductive charging system based on a standard or three-phase power cable. The power cable is connected to an external power source, such as a connection point to a national power grid, an independent power source, or any other power source suitable for charging the vehicle's onboard battery packs, and is also connected to the vehicle. Power can then be supplied from the external power source to the vehicle, thus charging it.

[0008] Power cables can be a source of obstruction, potentially hindering the movement of vehicle occupants or other pedestrians. Furthermore, vehicle occupants may forget to connect power cables to the vehicle or the external power source, resulting in the vehicle's battery packs not charging and potentially leaving the occupant without power. If a power cable is connected to the external power source and the vehicle but not disconnected before the vehicle moves, this could potentially cause serious damage to the vehicle, its connection to the external power source, and surrounding structures, vehicles, and other objects.Conductive charging systems require a conductive connection between the vehicle and the external power source, which could potentially result in users being injured by electric shocks from the elements forming the conductive connection.

[0009] To eliminate the problems associated with power cables, prototype systems for charging electric vehicles using inductive charging are being developed. Inductive charging systems do not require a physical connection between an external power source and the vehicle being charged. Instead, an electromagnetic field is used to transfer energy between two inductive charging points, which typically employ induction coils. An electromagnetic field is generated by a fixed inductive charging point connected to the external power source, and the power from this field is then received by a mobile inductive charging point on the vehicle being charged and converted back into electrical energy.

[0010] There is no physical connection between the inductive charging points; the electromagnetic field propagates through the gap between them. Therefore, there is no power cable that could obstruct the movement of vehicle occupants or other pedestrians. Since there is no power cable, it cannot remain connected between the vehicle and the external power source. Furthermore, because there is no need for any physical connection between the vehicle and the external power source, inductive charging systems can be configured to activate automatically, reducing the possibility of the vehicle not charging. Removing the physical connection also means that all live elements can be shielded behind insulating material, reducing the risk of electric shock to a user.

[0011] The transfer efficiency of inductive charging systems is a function of the distance between the inductive charging points. To maximize system efficiency, it is therefore advisable to position the vehicle's inductive charging points and the external power source as close together as possible. Current prototype systems are configured such that the driver is responsible for aligning the fixed and mobile inductive charging points to establish a connection between them. However, this can be a time-consuming task for the driver, and it can be difficult for the driver to reliably position the vehicle in the optimal charging position for power transfer.

[0012] JP 2013 - 236 524 A, WO 2010 / 098 397 A1, DE 10 2013 207 906 A1 and JP 2010 - 195 265 A disclose generic vehicle control systems.

[0013] The present invention aims to avoid the problems described above by providing assistance to the driver when positioning the vehicle. The invention provides a parking assistance system configured to automatically detect the location of a fixed inductive charging point. Once the location of the fixed inductive charging point has been determined, the parking assistance system is further configured to automatically position the vehicle relative to the detected location of the fixed inductive charging point, so that the fixed and mobile inductive charging points are essentially aligned. In this way, an optimal connection between the fixed and mobile inductive charging points can be established. The system can either position the vehicle without driver input or assist the driver in positioning the vehicle.The parking assistance system can position the vehicle relative to the fixed inductive charging point faster and more reliably than the driver could without its assistance. An optimal connection between the fixed and mobile inductive charging points helps minimize charging time, energy loss during charging, and charging costs.

[0014] According to one aspect of the present invention, a vehicle control system is provided which is configured to position a vehicle, wherein the vehicle comprises a mobile inductive charging point, and wherein the vehicle control system comprises the following: one or more parking sensors configured to determine the position of the vehicle relative to a surface on which the vehicle is positioned and / or obstacles around the vehicle, wherein the one or more parking sensors are further configured to locate a sight indicator that shows the position of a fixed inductive charging point relative to the vehicle; and a parking assistance controller configured to automatically park the vehicle in a parking space on the surface based on data from one or more parking sensors, wherein the parking assist controller remains configured to use data from the one or more parking sensors to position the vehicle in an aligned position in which the fixed inductive charging point and the mobile inductive charging point are essentially aligned.

[0015] The fixed inductive charging point can be located on or below the surface.

[0016] The parking sensors can be configured to locate a visual indicator that is on the surface on which the vehicle is positioned.

[0017] The visibility indicator can be essentially flat with respect to the surface on which the vehicle is positioned. For example, the visibility indicator can be essentially level with the surrounding surface. The visibility indicator can be painted onto the surface.

[0018] The parking assist controller can be configured to determine the position of the vehicle relative to the fixed charging point when the vehicle has driven over the fixed inductive charging point and the location of the fixed inductive charging point is outside the line of sight of one or more parking sensors.

[0019] The parking sensors can be configured to locate a visual indicator of the fixed inductive charging point, which may be positioned at least partially outside the location of the fixed inductive charging point. The parking assist controller can be configured to position the vehicle relative to the fixed inductive charging point based on the position of the visual indicator detected by one or more parking sensors.

[0020] The parking sensors can be configured to locate a visual indicator of the fixed inductive charging point, which may include one or more lines displaying a parking lane indicator for the vehicle. The parking lane indicator can be configured to position the vehicle in the aligned position.

[0021] The parking sensors can be configured to locate a sight indicator of the fixed inductive charging point, which can be arranged such that at least one section of the sight indicator remains visible to the one or more parking sensors when the vehicle is in the aligned position.

[0022] The section of the visibility indicator that remains visible to one or more parking sensors when the vehicle is in the aligned position may include a T-shaped section.

[0023] The parking sensors are configured to locate a line of sight to the fixed inductive charging point, which does not extend beyond the location of the fixed inductive charging point. The line of sight is not detected by the one or more parking sensors if the vehicle has driven over the fixed inductive charging point. The parking assist controller is configured to position the vehicle relative to the fixed inductive charging point based on the line of sight last detected by the one or more parking sensors.

[0024] The parking assist controller may still be configured to calculate the position and orientation of the vehicle since the sight indicator was last detected, based on the vehicle's speed and orientation.

[0025] At least one of the parking sensors can include a forward or reverse parking sensor.

[0026] The parking sensor can be a reversing parking sensor, which includes a rear-facing camera, or a forward parking sensor, which includes a forward-facing camera.

[0027] The reversing parking sensor or the forward parking sensor may be the only parking sensor.

[0028] The parking assist controller can be configured to take over control of the vehicle's direction and / or the vehicle's drive power.

[0029] The control system can be configured to locate a visual indicator that displays the position of multiple fixed inductive charging points.

[0030] A vehicle can include the aforementioned vehicle control system.

[0031] According to a further aspect of the invention, a surface marking is provided for a surface on which a vehicle can be positioned, wherein the marking comprises a visual indicator on a surface that indicates the position of a fixed inductive charging point, wherein the visual indicator is arranged so that it is visible to a parking sensor of a vehicle that includes a mobile inductive charging point, wherein the visual indicator is further arranged so that it assists a parking assistance controller, using data from the one or more parking sensors, to position the vehicle in an aligned position in which the fixed inductive charging point and the mobile inductive charging point are substantially aligned.

[0032] The visual indicator can be configured to show the position of a fixed inductive charging point, whether on or below the surface.

[0033] The visual indicator can include a discrete marker located on the fixed inductive charging point or at a set distance away from the fixed inductive charging point.

[0034] The sight indicator may include a parking lane indicator configured to display an optimal lane for positioning the vehicle in an aligned position.

[0035] The visual indicator can be configured to display the positions of multiple fixed inductive charging points.

[0036] According to a further aspect of the invention, a method for positioning a vehicle is provided, wherein the vehicle comprises a mobile inductive charging point, and wherein the method comprises the following: Determine, using one or more parking sensors, the position of the vehicle relative to a surface on which the vehicle is positioned and / or obstacles around the vehicle; Determine, using one or more parking sensors, the location of a visual indicator that shows the position of a fixed inductive charging point relative to the vehicle; automatically park the vehicle in a parking space on the surface based on data from the one or more parking sensors; and using data from the one or more parking sensors, positioning the vehicle in an aligned position in which the fixed inductive charging point and the mobile inductive charging point are essentially aligned.

[0037] The invention also provides software, such as a computer program or a computer program product, and a computer-readable medium containing a program stored thereon. When executed by a computing device, the software can cause the computing device to perform the aforementioned method for positioning a vehicle. A computer program embodying the invention may be stored on a computer-readable medium, or it could, for example, be in the form of a signal such as a downloadable data signal provided by an internet website, or it could be in any other form.

[0038] The invention will be further described only by way of example with reference to the following figures. These show: Fig. 1A a schematic side view of the orientation of a fixed inductive charging point and a mobile inductive charging point; Fig. 1B a schematic rear view of the orientation of a fixed inductive charging point and a mobile inductive charging point; Fig. 2A a schematic view of a vehicle that includes a vehicle control system; Fig. 2B a schematic view of a visual indicator showing the position of a fixed inductive charging point; Fig. 2C a schematic view of an alternative visual indicator showing the position of a fixed inductive charging point; Fig. 3A to 3I various discrete brand forms; Fig. 3J to 3L various parking lane display forms; Fig. 4A is an example of a configuration of fixed inductive charging points and visual indicators; Fig. 4B an alternative example of a configuration of fixed inductive charging points and visual indicators; Fig. 5A to 5C a parking maneuver of a vehicle using a visual indicator; and Fig. 6A to 6C an alternative parking maneuver path of a vehicle using a sight indicator.

[0039] Fig. Figure 1 shows a schematic view in which a fixed inductive charging point 9 (FICP) is located below the surface on which a vehicle 1 can be positioned, and at least one mobile inductive charging point 2 (MICP) is located on the underside of the vehicle 1. In the figures, the mobile inductive charging point 2 and the fixed inductive charging point 9 are essentially aligned so that current can flow between the two inductive charging points 2, 9. Fig. 1A shows the location of the inductive charging points 2, 9 relative to the side of the vehicle 1, and Fig. Figure 1B shows the location of the inductive charging points 2, 9 relative to the rear of the vehicle 1. As shown by the Fig. 1A and Fig. As shown in Figure 1B, in the essentially aligned position the inductive charging points 2, 9 are aligned in the horizontal plane, so that the mobile inductive charging point 2 is positioned directly above the fixed inductive charging point 9.

[0040] As alternatives to the in Fig. 1A and Fig. In the configuration shown in Figure 1B, a further or alternative mobile inductive charging point 2 can be located on any side of the vehicle 1 (including the front and rear of the vehicle 1) or can be located in the roof of the vehicle 1. A corresponding fixed inductive charging point 9 can then be located with the vehicle 1 (for example, in a wall or on a freestanding unit) or can be suspended above the vehicle 1. The relative dimensions of the fixed inductive charging point 9, the mobile inductive charging point 2, and the vehicle 1 are shown for illustrative purposes only.

[0041] Fig. Figure 2A shows a schematic view of a vehicle 1, which includes a vehicle control system. Fig. 2A is a parking sensor 3, in particular a rear-mounted parking sensor 3, attached to the vehicle 1. The vehicle 1 may include additional rear-mounted parking sensors 3 and may also include further parking sensors 3 mounted on the front, side, top or bottom of the vehicle 1.

[0042] The parking sensor(s) 3 can comprise a camera-based system, with one or more cameras directed away from the vehicle 1. The cameras can each have a separate and distinct field of view 4, or the fields of view 4 of the cameras can overlap. The camera can include a fisheye lens. The camera can be oriented in one direction, with one component directed towards the surface. In particular, the camera can have a view of the surface behind the vehicle, for example, under and / or beyond a rear bumper of the vehicle. The cameras can record in the visible region of the electromagnetic spectrum or can use another region of the electromagnetic spectrum, for example, the infrared region. The signal from the cameras can be in color or black and white and can be compressed before analysis.

[0043] The parking sensor(s) 3 may additionally or alternatively include radar sensors. The radar sensors may use combined transmitters and receivers or separate transmitters and receivers. The sensors may also use other systems that employ a similar principle to radar but operate in a different part of the electromagnetic spectrum, such as visible light-based lidar systems.

[0044] Furthermore, sensors 5 can be positioned, for example, along the side of vehicle 1. Additional sensors 5 can be configured to detect the size of spaces between parked vehicles. These additional sensors 5 can also be used during a parking maneuver, for example, to detect when the front or rear of vehicle 1 has passed a neighboring vehicle. The additional sensors 5 can include ultrasonic sensors or any other type of sensor for detecting the presence of vehicles or other obstacles.

[0045] Additional sensors, not based on a visual indicator, can also be used in addition to the primary parking sensors 3. For example, the system can also include one or more RFID receivers, while corresponding RFID tags are used to indicate the location of a fixed inductive charging point 9. A single RFID tag can be used for each fixed inductive charging point 9, or a series of tags can be used to outline the shape of the tag. The fixed inductive charging points 9 can be arranged in groups, with the relative positions of the group and the individual fixed inductive charging points 9 within the group indicated by a single RFID tag for each fixed inductive charging point 9 or by a series of tags for each fixed inductive charging point 9.If the system is used in a location where a constant approach line to the fixed inductive charging point 9 is installed, a line of RFID tags can also be used to indicate the optimal approach path for the vehicle 1 to the fixed inductive charging point 9.

[0046] The system may also, or alternatively, include a positioning system based on a satellite signal receiver, such as a GPS-based system. The satellite signal receiver-based system may include a database stored in or accessible to the vehicle 1 (e.g., using a mobile internet connection), the database containing a record of the locations of fixed inductive charging points 9. The system can query this database to determine the general location of a fixed inductive charging point 9 and display this information to the driver of the vehicle 1. When the vehicle 1 is in close proximity to the fixed inductive charging point 9, the vehicle 1's positioning can be performed using data from another part of the system, such as a camera system, if one is included.

[0047] The system can also, or alternatively, include a positioning system based on inductive sensors. The system can include an inductive sensor configured to detect inductive targets, such as metal objects, which are used to indicate the location of a fixed inductive charging point 9 or the best approach line to a fixed inductive charging point 9, similar to the optional RFID-based system. Alternatively or additionally, the inductive sensor system can utilize the mobile inductive charging point 2 and the fixed inductive charging point 9. In the case that the inductive sensor system utilizes the mobile inductive charging point 2 and the fixed inductive charging point 9, the relative positioning of the inductive charging points 2 and 9 can be evaluated using the power transfer between them.The position of vehicle 1 can then be changed to maximize power transfer, that is, to substantially align the fixed and mobile charging point 2, 9.

[0048] Additional positioning systems can also be used, or alternatively used, in conjunction with the positioning systems mentioned above.

[0049] The sensors can be positioned in any suitable location, for example in the front and / or rear bumper of vehicle 1, in the frames around the windows of vehicle 1 and / or in the sills of doors.

[0050] The system is configured to analyze the output provided by sensors 3 and to use this output to create a map of the objects surrounding vehicle 1. For example, if sensors 3 include cameras, the output from the cameras can be analyzed using feature point analysis to create the map. The analysis also includes checking for a visual indicator showing the location of a fixed inductive charging point 9. If a visual indicator showing the location of a fixed inductive charging point 9 is detected, the system then logs the location of this charging point relative to vehicle 1 and also to the objects surrounding vehicle 1.

[0051] The output from the parking sensor(s) 3 is processed by a parking assist controller 6 (as in Fig. (2A shown) is interpreted to determine the position of vehicle 1 relative to other objects. The parking assist controller 6 can then be responsible for controlling only the vehicle control system configured to position vehicle 1, or it can be integrated into a more comprehensive vehicle control system that also manages other components of vehicle 1, such as the engine, lighting, or alarm systems.

[0052] The parking assist controller 6 can be connected to or contain a vehicle acceleration controller 7. The parking assist controller 6 can alternatively or additionally be connected to or contain the vehicle brake controller. The parking assist controller 6 can alternatively or additionally be connected to or contain the vehicle steering control system 8. The parking assist controller 6 can alternatively or additionally be connected to or contain a gear control system, for example, for selecting the appropriate forward and reverse gears. Alternatively, the parking assist controller 6 can be neither connected to nor contain any of the other control systems of the vehicle 1. Fig. 2A the parking assist controller 6 is connected to the vehicle acceleration controller 7 and the vehicle steering control system 8.

[0053] Where the parking assist controller 6 can directly influence the vehicle steering system, it can, after activation, take over control of the vehicle steering to position the vehicle 1 so that the fixed and mobile inductive charging points 2, 9 can be essentially aligned. Furthermore, if the parking assist controller 6 can influence the vehicle engine system, it can, after activation, take over control of the vehicle engine power to control acceleration and position the vehicle 1 so that the fixed and mobile inductive charging points 2, 9 can be essentially aligned. Additionally, if the parking assist controller 6 can influence the vehicle braking system, it can, after activation, take over control of the vehicle braking to position the vehicle 1 so that the fixed and mobile inductive charging points 2, 9 can be essentially aligned.

[0054] If the parking assist controller 6 cannot directly influence one or more of the vehicle 1's systems, the parking assist controller 6 can prompt the vehicle 1's driver to control the vehicle 1's positioning systems so that the fixed and mobile inductive charging points 2, 9 can be substantially aligned. For example, the parking assist controller 6 can prompt the driver to perform one or more of the following actions: turning the vehicle's steering wheel to control the vehicle's steering system; pressing the brake pedal or accelerator pedal; or changing gears (for example, between a forward gear and a reverse gear, or between two forward gears). The parking assist controller 6 can prompt the driver in various ways, such as by using audible prompts, visual prompts, and / or physical prompts.

[0055] If the prompts include audible prompts, the audible prompt may consist of a periodic tone whose periodicity varies as a function of the distance between the fixed and mobile inductive charging points 2, 9. Alternatively, the audible prompt may include spoken instructions to the driver. For example, the driver could be instructed to turn right or to brake.

[0056] If the prompts include visual prompts, they can be displayed on a screen located in the passenger compartment and visible to the driver. The prompts can also be displayed additionally or alternatively on a head-up display (HUD) configured to be visible to the driver. For example, a HUD can be projected onto the windshield of vehicle 1.

[0057] The visible prompts may include an arrow indicating the direction of the fixed inductive charging point 9 relative to the mobile inductive charging point 2. Additionally or alternatively, the visible prompt may include a marker indicating the location of the fixed inductive charging point 9. The vehicle control system may also be configured to display the optimal route for the vehicle 1 to follow to arrive at a position where the fixed and mobile inductive charging points 2 and 9 are substantially aligned. If the system is configured to display the route, this may be indicated using visible prompts such as a solid or broken line, a series of animated arrows, or a series of gates through which the vehicle 1 can be directed to pass.

[0058] If the prompts include tactile prompts, the tactile prompts may include the vibration of a control surface (such as a steering wheel or pedal) to indicate that the driver can perform an action.

[0059] The position of the fixed inductive charging point 9 is identified to the vehicle control system by a visual indicator. Fig. Figure 2B shows a fixed inductive charging point 9, which is located just below the surface. The location of the fixed inductive charging point 9 is indicated by the visual indicator. The visual indicator can include one or more discrete markers 10 located at a set distance from the fixed inductive charging point 9 (as shown in Figure 2B). Fig. (2B shown), where the discrete marker can indicate the location of the fixed inductive charging point 9. For example, the marker can be positioned one meter away from the fixed inductive charging point 9 and can include an arrow or other indicator showing the direction of the fixed inductive charging point 9 relative to the marker. Alternatively or additionally, one or more discrete markers 10 can be positioned at or around the fixed inductive charging point 9. Fig. 2C shows a discrete mark positioned on the fixed inductive charging point 9.

[0060] A discreet mark 10 for a visual display can take any appropriate form. Examples of appropriate forms are in Fig. 3 shown. The shapes include a rhombus ( Fig. 3A), a circle ( Fig. 3B), a cross ( Fig. 3C), a square ( Fig. 3D), a ring ( Fig. 3E), a goal ( Fig. 3F), a T-shape ( Fig. 3G), an arrow ( Fig. 3H) and an arrow with a T-shape ( Fig. 3I). Furthermore, the appropriate shapes can be combined in any combination to form another appropriate shape. In cases where the discrete marker 10 is positioned at a given distance from the fixed inductive charging points 9, the discrete marker 10 can indicate the direction of the fixed inductive charging point 9 relative to the discrete marker 10. The indication can take the form of an arrow, as shown by Fig. 3H and Fig. 3I shown, or a separate indicator positioned near the discrete mark 10.

[0061] In addition to or as an alternative to the discrete marker 10, the visual indicator may include a series of lines or arrows forming a parking lane indicator 11, which shows a parking maneuver lane that the vehicle 1 is to follow so that the fixed and mobile inductive charging points 2, 9 are essentially aligned. Examples of the parking maneuver lane include a solid line ( Fig. 3J), a dashed line ( Fig. 3K) and a series of arrows ( Fig. 3L).

[0062] The parking lane indicator 11 can provide feedback via the parking sensor(s) 3 to the vehicle control system, so that the control system can compensate for deviations from the lane indicated by the parking lane indicator 11.

[0063] A discrete marker 10 can be provided at one or both ends of the parking lane indicator 11. The same or a different discrete marker 10 can be provided at both ends of a parking lane indicator 11. The parking lane indicator may extend over the fixed inductive charging point 9. One end of the parking lane indicator may be positioned over the fixed inductive charging point 9.

[0064] The fixed inductive charging points 9 can be arranged in groups, with each group consisting of several fixed inductive charging points in close proximity to one another, which may, for example, share visual indicators. The fixed inductive charging points 9 can, for example, be arranged in a charging bay configuration. The fixed inductive charging points 9 can be arranged in a grid formation with one or more common entry and exit points, so that the largest number of vehicles can be arranged for charging in a space-efficient manner. The fixed inductive charging points can also be arranged in any other suitable configuration.

[0065] If the fixed inductive charging points 9 are arranged in groups, a single parking lane indicator 11 can be used to indicate a parking maneuver lane to be followed by the vehicle 1, so that the fixed and mobile inductive charging points 2, 9 are essentially aligned. Fig. Figure 4 shows an example of a group arrangement of fixed inductive charging points 9. In the Fig. In the example shown in Figure 4, the parking lane indicator 11 runs over the fixed inductive charging points 9, but this does not necessarily have to be the case for the parking lane indicator 11. Fig. Figure 4 shows discrete markers 10 positioned near the fixed inductive charging points 9, but equally one or more discrete markers 10 may be positioned at or around the fixed inductive charging points 9, or a single discrete marker 10 may be used to indicate the positions of several fixed inductive charging points 9.

[0066] Discrete markers 10 can indicate whether a fixed inductive charging point 9 is the first of the fixed inductive charging points 9 on a parking lane indicator 11, the second of the fixed inductive charging points 9 on a parking lane indicator 11, the penultimate of the fixed inductive charging points 9 on a parking lane indicator, the last of the fixed inductive charging points 9 on a parking lane indicator 11, or other positions of a fixed inductive charging point 9 relative to other fixed inductive charging points 9 on a parking lane indicator 11.

[0067] Several different discrete markers 10 can be used on or near a single parking lane indicator 11. The discrete markers 10 can also be used to indicate the position of the parking lane indicator 11 relative to other parking lane indicators (which indicate the positions of other fixed inductive charging points 9). For example, the discrete markers 10 can indicate that a parking lane indicator 11 is the second from the left of a group of parking lane indicators in a particular group of fixed inductive charging points 9.

[0068] Fig. Figure 4A shows an example of a group of fixed inductive charging points 9, in which six fixed inductive charging points 9 are located in close proximity to each other and share three parking lane indicators 11 in a straight grid formation. Each of the fixed inductive charging points 9 is identified by a discrete marker 10, which is positioned at a given distance in a known direction away from the fixed inductive charging point 9. Fig. 4A also shows three vehicles 1; two of them have completed reverse parking maneuvers and are charging at the fixed inductive charging points 9, and one of them is approaching a fixed inductive charging point 9 by performing a forward parking maneuver along a parking lane indicator 11 (the middle vehicle). Fig. Figure 4B shows an alternative configuration in which six fixed inductive charging points 9 are located in close proximity to each other and share three parking lane indicators 11 in an angled grid formation. The respective arrangements of the fixed inductive charging points 9, the discrete markers 10, and the parking lane indicators 11, which are shown in Figure 4B, are described in Figure 4B. Fig. 4A and Fig. The configurations shown in Figure 4B are for illustrative purposes only, and any other suitable configuration can be used.

[0069] Both the discrete marker 10 and the parking lane indicator 11 of the sight indicator may lie substantially in the plane of the surface. That is, the sight indicator may not project substantially above the surface or require a substantial impression to be made in the surface. If the sight indicator extends into the material forming the surface (such as concrete or asphalt), the sight indicator may be configured so that, when in position, it is substantially flush with the surface. Any projection of the sight indicator from the plane of the surface must not exceed 10 mm in either direction (i.e., out of the surface or into the surface). If the sight indicator does not project substantially from the plane of the surface, it may not significantly impede the progress of vehicles or pedestrians using the surface for purposes other than inductive charging.Vehicles and pedestrians can cross the surface without being obstructed by the surface topography. Therefore, the visibility indicators can be positioned on surfaces that serve multiple purposes, such as road surfaces. However, if the visibility indicator involves or requires significant changes to the surface topography, this may prevent the surface from being used for purposes other than inductive vehicle charging. This could restrict the use of visibility indicators specifically to locations used for electric vehicle charging and prevent their use on other surfaces. For example, if the visibility indicators are formed using road marking paint, protrusion from the surface may not be a significant problem.

[0070] The Fig. 5 and Fig. Figure 6 both show a visual indicator that combines a single discrete marker 10, indicating the location of a single fixed inductive charging point 9, with a parking lane indicator 11. Fig. Figures 5A to 5C show a parking maneuver path for when vehicle 11 is to be parked parallel to the primary direction of travel of vehicle 1, for example in a parking space at the roadside. Fig. Figures 6A to 6C show a parking maneuver path for when vehicle 1 is to be parked essentially perpendicular to its primary direction of travel, for example in a parking lot. The figures shown in Fig. 5 and Fig. The 6 parking maneuver paths shown are merely illustrative examples; other paths may be more appropriate for other configurations of fixed inductive charging points 9 and surrounding objects.

[0071] The Fig. Figures 5A to 5C show a vehicle 1 approaching a fixed inductive charging point 9, the visual indicator consisting of a discrete marker 10 (in this case a T-shaped marker) and a parking lane indicator 11 (in this case a solid line). Fig. 5A As vehicle 1 reverses towards the start of parking lane indicator 11, the vehicle control system is activated. Vehicle 1 is equipped with at least one rear-mounted camera as a parking sensor 3. The rear-mounted camera detects parking lane indicator 11. The vehicle control system registers the start of the parking maneuver and controls the direction of vehicle 1, so that vehicle 1 begins to follow the path indicated by parking lane indicator 11.

[0072] Fig. Figure 5B shows vehicle 1 following the parking maneuver path on part of the path through the parking maneuver. The vehicle control system controls the speed and / or direction of vehicle 1 so that it continues to follow the parking maneuver path within the parking space. If the positioning of objects around the parking space requires it, vehicle 1 can reposition itself or deviate from the parking maneuver path as necessary. The parking maneuver path indicates the optimal approach path to the fixed inductive charging point 9; however, it may be impossible to follow this path if it is blocked by other objects. If it is not possible to follow the path, the system may be configured to follow an alternative path, as permitted by the objects.

[0073] Fig. Figure 5C shows vehicle 1 at the end of the parking maneuver. Vehicle 1 followed the parking lane indicator 11 and stopped at the discrete marker 10. As shown in the figure, the discrete marker 10 can be positioned at a set distance from the fixed inductive charging point 9. The T-shape of the discrete marker 10 can be used to indicate the direction of the fixed inductive charging point 9 relative to vehicle 1. The mobile inductive charging point 2 is located at a known distance from the rear of vehicle 1. The vehicle control system uses the known distance and the set distance to position vehicle 1 such that the fixed and mobile inductive charging points 2 and 9 are substantially aligned.The set distance shown in the figure can be adjusted such that the discrete mark 10 remains visible to the parking sensor 3 during the parking maneuver up to and including the point in time when the fixed inductive charging point 9 and the mobile inductive charging point 2 are aligned.

[0074] The Fig. Figures 6A to 6C show a parking maneuver path for when vehicle 1 is to be parked essentially perpendicular to its primary direction of movement, for example, in a parking space. The configuration of vehicle 1 shown in the Fig. The one shown in 6A to 6B is the same as the one for the one in Fig. Vehicle 1 shown in 5A to 5C.

[0075] In Fig. 6A, vehicle 1 approaches the start of parking indicator 11 in reverse, and the vehicle control system is activated. Fig. 6B shows vehicle 1 on part of the way through the parking maneuver, and Fig. 6C shows vehicle 1 at the end of the parking maneuver. As it is for the in Fig. As shown in Figures 5A to 5C, the discrete marker 10 is positioned at a set distance from the fixed inductive charging point 9. The T-shape of the discrete marker 10 can be used to indicate the direction of the fixed inductive charging point 9 relative to the vehicle 1. The vehicle control system uses this information to position the vehicle 1 correctly. Again, the set distance shown in the figure can be adjusted so that the discrete marker 10 is visible to the parking sensor 3 throughout the entire parking maneuver, up to and including the point at which the fixed inductive charging point 9 and the mobile inductive charging point 2 are aligned.

[0076] In the Fig. 5 and Fig. In the six examples shown, the visual marker can be detected by the parking sensors 3 during the parking maneuver. However, the visual marker may not be visible to the parking sensors 3 during the parking maneuver. For example, if a discrete marker 10 is used that is relatively small compared to the vehicle 1 and is positioned directly on the fixed inductive charging point 9, the visual marker may not be visible when the fixed and mobile inductive charging points 2, 9 are about to be aligned. In such cases, the vehicle control system is configured to register the position of the fixed inductive charging point 9 for as long as this point is visible.When the visual indicator for the parking sensors 3, which displays the position of the fixed inductive charging point 9, is no longer visible, the vehicle control system is configured to determine the relative locations of the fixed inductive charging point 9 and the mobile inductive charging points 2, 9 by other means. For example, the vehicle control system can determine the relative positions by recording the orientation of the vehicle's wheels 1 and the number of wheel rotations. Alternatively, the vehicle control system can determine the relative positions by assessing the change in position of the vehicle 1 relative to surrounding objects, the positioning of which is determined using the outputs from the parking sensors 3 or other sensing means. Furthermore, the vehicle 1 approaches the point described in . Fig. 5 and Fig. The 6 examples shown reverse the parking lane indicator 11. Vehicle 1 can also follow a parking lane indicator 11, including the one shown in Fig. 5 and Fig. 6 park track indicators shown, approaching as it moves forward.

[0077] The person skilled in the art understands that although the invention has been described by way of example with reference to examples, it is not limited to the disclosed examples and that alternative examples could be constructed without deviating from the scope of protection of the invention as defined by the attached claims.

Claims

[1] Vehicle control system configured to position a vehicle (1) wherein the vehicle (1) includes a mobile inductive charging point (2) wherein the vehicle control system includes: one or more parking sensors (3) configured to determine the position of the vehicle (1) relative to a surface on which the vehicle (1) is positioned and / or obstacles around the vehicle (1), wherein the one or more parking sensors are further configured to locate a sight indicator that shows the position of a fixed inductive charging point (9) relative to the vehicle (1); and a parking assistance controller (6) configured to automatically park the vehicle (1) in a parking space on the surface based on data from the one or more parking sensors (3), wherein the parking assist controller is further configured to use data from the one or more parking sensors (3) to position the vehicle (1) in an aligned position in which the fixed inductive charging point (9) and the mobile inductive charging point (2) are substantially aligned, wherein the parking sensors (3) are configured to locate a discrete marker (10) of the sight indicator of the fixed inductive charging point (9), which does not extend beyond the location of the fixed inductive charging point (9), so that the discrete marker (10) is not detected by the one or more parking sensors (3) after the vehicle (1) has driven over the fixed inductive charging point (9), and the parking assist controller (6) is configured to position the vehicle (1) relative to the fixed inductive charging point (9) based on the last position of the discrete marker (10) detected by the one or more parking sensors (3). [2] Vehicle control system according to claim 1, wherein the parking sensors (3) are configured to locate a sight indicator located on the surface on which the vehicle (1) is positioned. [3] Vehicle control system according to claim 2, wherein the sight indicator is substantially flat with respect to the plane of the surface on which the vehicle (1) is positioned. [4] Vehicle control system according to one of claims 1 to 3, wherein the parking assist controller (6) is configured to determine the position of the vehicle (1) relative to the fixed charging point (9) when the vehicle (1) has driven over the fixed inductive charging point (9) and the location of the fixed inductive charging point (9) is outside the line of sight of one or more parking sensors (3). [5] Vehicle control system according to claim 4, wherein the parking sensors (3) are configured to locate a sight indicator of the fixed inductive charging point (9), which is provided at least partially outside the location of the fixed inductive charging point (9), and the parking assist controller (6) is configured to position the vehicle (1) relative to the fixed inductive charging point (9) on the basis of the position of the sight indicator detected by the one or more parking sensors (3). [6] Vehicle control system according to one of claims 4 or 5, wherein the parking sensors (3) are configured to locate a visual indicator of the fixed inductive charging point (9) comprising a vehicle path indicator, wherein the vehicle path indicator is configured to assist the vehicle control system in positioning the vehicle (1) in the aligned position. [7] Vehicle control system according to any one of claims 1 to 6, wherein the parking sensors are configured to locate a sight indicator of the fixed inductive charging point (9) which is arranged such that at least one discrete marker (10) of the sight indicator remains visible to the one or more parking sensors (3) after the vehicle (1) is in the aligned position. [8] Vehicle control system according to claim 7, wherein the discrete marker (10) of the sight indicator, which remains visible to the one or more parking sensors (3) after the vehicle (1) is in the aligned position, comprises a T-shaped section. [9] Vehicle control system according to claim 1, wherein the parking assist controller (6) is further configured to calculate the position and orientation of the vehicle (1) since the discrete marker (10) was last detected, based on the speed and orientation of the vehicle (1). [10] Vehicle control system according to one of the preceding claims, wherein at least one of the parking sensors (3) comprises a forward or reverse parking sensor. [11] Vehicle control system according to claim 10, wherein the parking sensor (3) is a reversing parking sensor comprising a rear-facing camera, or wherein the parking sensor (3) is a forward parking sensor comprising a forward-facing camera. [12] Vehicle control system according to claim 10 or 11, wherein only one reversing parking sensor or only one forward parking sensor is present. [13] Vehicle control system according to any of the preceding claims, wherein the parking assist controller (6) is configured to take control of the direction of the vehicle (1) and / or the drive power of the vehicle (1). [14] Vehicle control system according to one of the preceding claims, wherein the control system is configured to locate a visual indicator that shows the position of several fixed inductive charging points (9). [15] Vehicle (1) comprising the vehicle control system according to any of the preceding claims. [16] Method for positioning a vehicle (1) wherein the vehicle (1) comprises a mobile inductive charging point (2) wherein the method comprises: Determine, using one or more parking sensors (3), the position of the vehicle (1) relative to a surface on which the vehicle (1) is positioned and / or obstacles around the vehicle (1); Determine, using one or more parking sensors (3), the location of a visual indicator that shows the position of a fixed inductive charging point (9) relative to the vehicle (1), wherein the parking sensors (3) locate a discrete marker (10) of the visual indicator of the fixed inductive charging point (9) that does not extend beyond the location of the fixed inductive charging point (9), so that the discrete marker (10) is not detected by the one or more parking sensors (3) after the vehicle (1) has driven over the fixed inductive charging point (9); automatic parking of the vehicle (1) in a parking space on the surface based on data from the one or more parking sensors (3); using data from one or more parking sensors (3), Positioning the vehicle (1) in an aligned position in which the fixed inductive charging point (9) and the mobile inductive charging point (2) are substantially aligned, and wherein the parking assist controller (6) positions the vehicle (1) relative to the fixed inductive charging point (9) on the basis of the last position of the discrete marker (10) detected by the one or more parking sensors (3). [17] Software which, when executed by a computing device, causes the computing device to perform the method according to claim 16.

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