Method for positioning a vehicle, vehicle controller and vehicle, and method for controlling an inductive charging station, charging station controller and charging station

Abstract

The invention relates to a method for positioning a vehicle having an inductive charging coil at a stationary inductive charging station, comprising: recognizing the operating state and / or the ambient state of the vehicle based on a first camera image sensed; determining a suitable light emission signal of a light-emitting element of a reference element of the inductive charging station according to the recognized operating state or ambient state; sending a control signal to the inductive charging station according to the determined suitable light emission signal; performing a second sensing of a second camera image of the vehicle surroundings by means of a camera device; recognizing the reference element according to the second camera image and the suitable light emission signal; determining the relative position and / or orientation of the vehicle relative to the inductive charging station according to the recognized reference element; and controlling the vehicle in a longitudinal direction and / or a lateral direction according to the determined relative position and / or orientation. The invention also relates to a controller for a vehicle and a vehicle. In addition, the invention relates to a method for controlling an inductive charging station, a controller for an inductive charging station, and an inductive charging station.

Description

Field of the Invention

[0001] The invention relates to a method for positioning a vehicle having an inductive charging coil at a stationary inductive charging station, wherein a control signal is sent to the inductive charging station according to a determined suitable light signal. The invention also relates to a controller for a vehicle, wherein the controller is configured to implement the method of the invention. The invention also relates to a vehicle having the controller of the invention.

[0002] Furthermore, the invention relates to a method for controlling an inductive charging station and a controller for an inductive charging station. The invention also relates to an inductive charging station having a controller for an inductive charging station. Background Art

[0003] For desired efficient energy transfer, manually guiding the vehicle to the inductive charging station cannot achieve the centimeter-precise parking position required by the vehicle in many cases. Therefore, for inductive charging of the vehicle at the inductive charging station, automatic positioning of the vehicle makes sense. However, in order to automatically position the vehicle with the required accuracy, the reference position of the vehicle relative to the inductive charging station must be known, determined, or sensed with high precision. The tolerances or accuracies of satellite-assisted position determination are insufficient. Therefore, for example, camera-based positioning methods are used.

[0004] The object of the invention is to improve the automatic positioning of the vehicle at a stationary inductive charging station. Summary of the Invention

[0005] The above object is solved according to the invention.

[0006] The present invention relates to a method for positioning a vehicle having an inductive charging coil at a stationary inductive charging station. The method includes a first sensing of the vehicle's surrounding environment by means of a camera device on the vehicle, i.e., a first camera image or a first sequence of first camera images. Advantageously, the first sensing of the first camera image can be carried out by means of a controller that receives a first electrical signal from the camera device, where the first electrical signal represents the first camera image. The camera device can advantageously have at least one viewing direction that is forward, backward, and / or lateral from the vehicle in the vehicle's driving direction. Next, at least one operating state of the vehicle and / or a state of the vehicle's surrounding environment is identified based on the sensed first camera image or based on the first sequence of first camera images. As the operating state or the state of the surrounding environment, for example, it is identified: the current dazzle of the camera device caused by another light source in the first camera image, such as the sun or the high beam of another oncoming vehicle, and / or a plurality of other light sources in the surrounding environment imaged in the first camera image, and / or the current brightness in the sensed surrounding environment imaged in the first camera image, and / or the current weather in the surrounding environment imaged in the first camera image, such as rain and / or wind. Alternatively or additionally, it can be provided that, as the operating state or the state of the surrounding environment, image artifacts in the current first camera image and / or in the first sequence of first camera images are identified, such as flicker artifacts. Furthermore, alternatively or additionally, it can be provided that, as the operating state, for example, the vehicle speed is determined based on the optical flow determined depending on the first sequence of first camera images. Thereafter, at least one luminous signal suitable for at least one light-emitting device of a reference element of the inductive charging station is determined based on at least one identified operating state or state of the surrounding environment, in particular by adapting the parameters of the luminous signal, where, advantageously, the suitable luminous signal or the adapted parameters of the suitable luminous signal can be particularly simply identified or determined and located in the currently sensed camera image by means of the camera device or in a sequence of camera images of the surrounding environment. Preferably, a color or an emission spectrum different from other light sources and / or a flashing characteristic of the light-emitting device is determined or adapted as a parameter. For example, a rapidly recurring red flash or a luminous signal that flashes alternately in red and yellow per second is determined as the suitable luminous signal. The list for determining the suitable luminous signal particularly includes beacon light identifications known from navigation. In other words, for example, a luminous signal or identification is selected or determined from a list of possible luminous signals as the suitable luminous signal based on the identified operating state or state of the surrounding environment, where, advantageously, the suitable luminous signal or the determined parameters of the suitable luminous signal can be easily distinguished from other light sources in the sensed surrounding environment, in particular other light sources sensed in the first camera image.In another method step, a control signal is sent to the inductive charging station based on the suitable light signal, in particular by means of a radio signal, which radio signal is advantageously sent by means of a transmitting device of the vehicle. In other words, advantageously, the control signal sent to the inductive charging station represents the suitable light signal to be determined. Next, a second sensing of the second camera image or the second sequence of second camera images of the vehicle's surrounding environment is performed by means of a camera device on the vehicle. The second sensing of the second camera image can advantageously be performed by means of a controller which receives a second electrical signal from the camera device, wherein the second electrical signal represents the second camera image. Preferably, the second sensing is performed after the expiration of the time period of the first sensing and / or after the expiration of the time period of sending the control signal to the inductive charging station or is performed offset in time from the first sensing. In other words, the first location where the vehicle performs the first sensing can be different from the second location where the vehicle performs the second sensing, especially since the vehicle can move further during the course of the time period. It can also be provided that the first sensing and the second sensing are performed at the same location or that the vehicle does not move or drive from the first sensing at least until the second sensing. In a subsequent method step, at least one reference element of the inductive charging station is identified based on the sensed second camera image and the determined suitable light signal. In other words, the determined suitable light signal is preferably searched for in the second camera image or in the sequence of second camera images. Advantageously, the suitable light signal can be easily identified in the second camera image of the sensed surrounding environment because the suitable light signal is clearly distinguishable from other light sources, and the reference element is identified in the second camera image based on the determined suitable light signal. Thereby, advantageously, the computing power required to identify the suitable light signal for the reference element is reduced. Advantageously, at least two reference elements of the inductive charging station are identified, wherein, particularly preferably, different suitable light signals are determined for at least one light emitting device of each reference element, and the corresponding reference element is identified based on the different, respectively determined suitable light signals and the sensed second camera image. Thereafter, the relative position and / or orientation of the vehicle with respect to the inductive charging station is determined based on at least one identified reference element, in particular the relative position of the vehicle in space and the orientation or direction of the vehicle's driving direction. In another step, the vehicle is controlled in the longitudinal direction and / or the lateral direction based on the determined relative position of the vehicle with respect to the inductive charging station and / or the determined orientation, wherein, in particular, this control is automatically and advantageously achieved by actuating the steering motor and the drive motor. Preferably, the vehicle is additionally controlled in the longitudinal direction and / or the lateral direction based on the sensed vehicle ranging data, for example based on the sensed wheel speed or the sensed vehicle speed and / or based on the sensed vehicle steering angle.The following advantages are obtained by this method, and the relative position of the reference element of the inductive charging station or the vehicle relative to the inductive charging station can be reliably, accurately and quickly determined under various weather conditions or vision conditions. Advantageously, the process of this method can be repeated once, multiple times or continuously, in order to improve the accuracy on the one hand and to respond to changes in the ambient conditions on the other hand.

[0007] In a preferred embodiment, a suitable light emission signal is determined by adapting or selecting at least one of the following parameters. The suitable light emission signal includes the position of the reference element on the inductive charging station and / or the brightness of the light emitting device, and / or the color of the light emitting device or the transmitted emission spectrum, and / or the flash characteristic of the light emitting device, and / or the polarization of the light to be emitted by the light emitting device, as parameters. By determining or adapting the position and / or brightness and / or color or emission spectrum and / or flash characteristic and / or polarization of the reference element, the determined light emission signal is advantageously set to be easily distinguishable from other light sources or determined in the second camera image. Thereby, advantageously, the subsequent identification of the reference element is carried out very quickly and very reliably based on the suitable light emission signal and the second camera image.

[0008] In an advantageous configuration of the present invention, the settings of the camera device are adapted according to the determined suitable light emission signal. Preferably, the image sensing rate of the camera device is adapted to the flash characteristic or flash frequency of the determined suitable light emission signal. Next, the second sensing of the current camera image or the second sequence of the second camera image of the vehicle surroundings is carried out by means of the camera device according to the adapted settings or with the adapted settings. The following advantages are obtained therefrom, the image artifacts sensed in the first camera image and / or in the first sequence of the first camera image are reduced or avoided in the second camera image or in the second sequence of the second camera image, for example, the flicker artifacts are avoided in the second sequence of the second camera image.

[0009] In an embodiment, it can be provided that, in another step of the present invention, the distance between the vehicle and the inductive charging station is sensed or determined by means of a distance sensor. The distance sensor is, for example, at least one ultrasonic sensor, radar sensor and / or lidar sensor and / or a WLAN transmitting and receiving device having a plurality of antennas, which is configured to determine the distance or position of the vehicle relative to the inductive charging station. Next, the suitable light emission signal is additionally determined according to the sensed or determined distance. The following advantages are obtained therefrom, the method can be adapted to the distance between the vehicle and the inductive charging station, for example, the brightness of the suitable light emission signal can be advantageously determined or adapted according to the distance. Thereby, the acceptance of the method by the user and / or other road users is increased.

[0010] The invention also relates to a controller for a vehicle, wherein the controller is arranged to implement the method for positioning a vehicle according to the invention. The controller is in particular arranged to sense data or electrical signals of a camera device, said data or electrical signals representing a current first camera image and / or a current second camera image or representing a first sequence of first camera images and / or a second sequence of second camera images. Furthermore, the controller is advantageously arranged to send, by means of a sending device, a control signal to an inductive charging station in the vehicle surroundings, on the basis of the data sensed by the camera device and representing the first camera image or the first sequence of first camera images, advantageously by means of a radio connection. The control signal represents at least one suitable light-emitting signal of a light-emitting device of a reference element, which is in particular easily recognizable by the controller in the current camera image. Furthermore, the controller is advantageously arranged to generate at least one adjustment parameter on the basis of the data of the camera device representing the second camera image or the second sequence of second camera images, in order to automatically control the vehicle in the longitudinal direction and / or the transverse direction.

[0011] The invention further relates to a vehicle having a controller according to the invention.

[0012] Furthermore, the invention relates to a method for controlling an inductive charging station. The method comprises receiving a control signal from a vehicle, wherein the control signal represents a suitable light-emitting signal of a light-emitting device of a reference element of the inductive charging station. The control signal is in particular received as a radio signal by means of a receiving device. Next, at least one parameter of the emitted light or the light-emitting signal of the light-emitting device is adapted on the basis of the received control signal. As parameters, in particular the position of the reference element on the inductive charging station and / or the brightness of the light-emitting device and / or the color or emission spectrum of the light-emitting device and / or the flashing characteristics of the light-emitting device, in particular the flashing frequency and / or the polarization of the light emitted by the light-emitting device are changed. By means of this method, at least one reference element of the inductive charging station can be easily recognized in a camera image sensed by means of a camera device on the vehicle or in a sequence of sensed camera images, such that the relative position and / or orientation between the approaching vehicle and the inductive charging station can be relatively easily determined by a vehicle in order to automatically and directionally position the vehicle at the inductive charging station. Advantageously, the method for controlling the inductive charging station can be carried out repeatedly or continuously.

[0013] In one configuration of the method for controlling the inductive charging station, it can be provided that the light-emitting device of the reference element of the inductive charging station is switched on on the basis of the received control signal, in particular only after receipt of the control signal. Advantageously, the light-emitting device is switched on on the basis of the received control signal. Preferably, the light-emitting device then emits a suitable light-emitting signal. Thereby, energy for operating the inductive charging station is saved and the general acceptance of the inductive charging station or in particular of the method for automatically positioning a vehicle is increased.

[0014] In another aspect, the present invention relates to a controller for an inductive charging station. The controller for the inductive charging station is arranged to implement the method for controlling an inductive charging station according to the present invention.

[0015] The present invention further relates to an inductive charging station having at least one reference element with a light-emitting device. The inductive charging station is arranged to adapt the optical signal or light-emitting signal transmitted by means of the light-emitting device of the reference element according to a received control signal. In addition, the inductive charging station includes the controller for the inductive charging station according to the present invention. Description of the Drawings

[0016] Other advantages result from the following description of embodiments with reference to the drawings.

[0017] Figure 1 : View of the vehicle when approaching the inductive charging station;

[0018] Figure 2 : Inductive charging station with a reference element;

[0019] Figure 3 : Flowchart showing the method for positioning the vehicle in block diagram;

[0020] Figure 4 : Flowchart showing the method for controlling the inductive charging station in block diagram. Detailed Description

[0021] In Figure 1 a schematic view of the vehicle 100 with an inductive charging coil 110 when approaching the inductive charging station 200 is shown in a top view or from above. The inductive charging station 200 is arranged, for example, in the ground or on the ground of a lane in a parking lot such that the vehicle 100 with the inductive charging coil 110 can be parked or positioned above or over the inductive charging station, and the inductive charging coil is advantageously arranged at the vehicle bottom of the vehicle 100. In Figure 1 the vehicle 100 is in a first position 101 and has an orientation or alignment 102 with the vehicle driving direction. Both the position 101 and the orientation 102 are to be changed for an efficient inductive energy transfer between the vehicle 100 and the charging station 200, wherein the vehicle is automatically guided along a to-be-determined trajectory 104 to an energy-efficient, in Figure 1In the parking position 103 shown by the dashed line. It should be reached as precisely as possible, because the efficiency of inductive energy transfer is thereby increased. The camera or camera device 120 of the vehicle 100 is set up to sense a camera image or a sequence of camera images of the surroundings 10 of the vehicle 100. The camera device 120 can have a forward, backward, and / or right-sided and / or left-sided orientation or viewing direction along the driving direction. For example, the camera device 120 includes a front camera. Preferably, the camera device 120 of the vehicle 100 includes wide-angle cameras on each side, that is to say, the camera device includes four cameras, such that the front surrounding area, the rear surrounding area, the right surrounding area, and the left surrounding area around the vehicle 100 are sensed. Additionally, the vehicle 100 can have at least one optional distance sensor, such as a monocular camera, a stereo camera, a lidar sensor, a radar sensor, and / or an ultrasonic sensor, for sensing the distance between an object (such as the inductive charging station 200) and the vehicle 100. Furthermore, the vehicle includes a radio device 180 of the vehicle 100, wherein the radio device 180 is set up to send radio signals, in particular control signals, to the inductive charging station. The radio signal or radio connection is, for example, a WLAN connection, a Bluetooth connection, an infrared connection, or a mobile radio connection in the sense of the present invention. In other words, the vehicle is set up to communicate with the inductive charging station or to exchange data via radio. This exchange can optionally take place via or with the aid of a server device. The controller 130 of the vehicle 100 is set up to determine the relative position 101 of the vehicle 100 and / or the orientation or direction 102 of the vehicle 100 relative to the inductive charging station 200 by means of at least two reference elements 220 identified in at least one camera image of the inductive charging station 200 in the second camera image or in the second sequence of the second camera images and based on the known or sensed arrangement of the reference elements 220. The relative position 101 and / or the orientation 102 of the vehicle 100 has a high precision, such that the vehicle can be automatically positioned on the inductive charging station with high precision based thereon. The known or sensed arrangement of the reference elements 220 includes in particular the distances 221, 222, and 223 between the reference elements 220 of the inductive charging station 200 and / or the angular relationship or angle 224 between the straight lines connecting the reference elements 220. Alternatively or additionally, the arrangement of the reference elements 220 can be sent to the vehicle 100 via radio from the inductive charging station 200 or received by the vehicle 100.

[0022] In Figure 2The inductive charging station 200 is shown three-dimensionally in a lateral top view on the ground 290 of a lane (especially in a parking lot). The inductive charging station 200 includes a coil 210 that is especially location-fixed for energy transfer. In addition, the inductive charging station 200 has three reference elements 220 in this example. Each reference element 220 includes at least one light-emitting device 230, preferably, the light-emitting device 230 is a light-emitting diode. The reference element 220 may include additional optional components, such as non-switchable or switchable mirrors, at least one non-switchable or switchable color filter, and / or at least one non-switchable or switchable polarization filter. The reference element 220 is arranged to send a light signal by means of the light-emitting device 230. The controller 240 of the inductive charging station 200 is arranged to turn on the light-emitting device 230 or the reference element 220 to send a light signal and / or to adapt the light signal sent by the light-emitting device 230 or the reference element 220. The controller 240 of the inductive charging station 200 may also be arranged to control additional optional components, such as mirrors and / or switchable color filters and / or switchable polarization filters. In addition, the inductive charging station 200 or the controller 240 of the inductive charging station 200 is arranged to generate a light signal according to a control signal received by the vehicle 100, wherein the control signal especially represents a suitable light signal. To receive the control signal, the inductive charging station 200 has a transmitting and receiving device 250. The transmitting and receiving device 250 is arranged to establish a radio connection between the vehicle 100 and the inductive charging station 200 or to receive a radio signal of the vehicle 100. The reference elements 220 or their positions have variable or fixed distances 221, 222, and 223 relative to each other and, for example, an angle 224, wherein the vehicle 100 knows or can sense the position or arrangement of the reference elements 220 on the inductive charging station 200 radioactively or visually, especially the distances 221, 222, and / or 223 of the reference elements 220 relative to each other and / or the angular relationship or, for example, the angle 224 between two or all of the reference elements in the reference element 220. The inductive charging station 200 may, for example, be arranged to send the arrangement of the reference elements 220 relative to each other to the vehicle 100, especially via a radio connection. In addition, the inductive charging station 200 may, for example, be arranged to visually display the arrangement of the reference elements 220 relative to each other on a display of the inductive charging station 200 or by means of a data matrix code arranged on the outer surface of the inductive charging station 200.

[0023] At Figure 3In the figure, a flowchart of a method for positioning a vehicle having an inductive charging coil at a stationary inductive charging station is shown in block diagram form, wherein the method is implemented in particular by means of the vehicle. The method has a first sensing 310 of a current first camera image of the vehicle's surroundings by means of a camera device on the vehicle. Next, in step 320, at least one operating state of the vehicle and / or a state of the vehicle's surroundings is recognized based on the sensed first camera image. Optionally, it may be provided that in step 325 the distance between the vehicle and the inductive charging station is sensed or determined by means of a distance sensor and / or by means of a satellite-based position sensor. In a further step 330, a suitable light signal for at least one light-emitting device of a reference element for the inductive charging station is determined based on the recognized operating state or surroundings state. The suitable light signal is determined 330 by selecting the position of the reference element on the inductive charging station and / or by selecting the brightness of the light-emitting device and / or by selecting the color of the light-emitting device and / or by selecting the flash characteristics of the light-emitting device and / or by selecting the polarization of the light to be emitted by the light-emitting device. Optionally, the suitable light signal is additionally determined 330 based on the sensed distance. Thereafter, a control signal is sent 340 to the inductive charging station based on the determined suitable light signal. In an optional step 350, the settings of the camera device are adapted based on the determined suitable light signal, in particular the image sensing rate is adapted to the flash frequency determined as the suitable light signal. Advantageously, the determination 330 of the suitable light signal, the sending 340 of the control signal and the optional adaptation 350 of the camera device settings are carried out repeatedly or continuously. Next, a second sensing 360 of a further current second camera image of the vehicle's surroundings is carried out by means of the camera device on the vehicle. Optionally, the current second camera image is additionally sensed 360 based on the adapted settings. At least one reference element is recognized 370 based on the sensed second camera image and the determined suitable light signal. In step 380, the relative position and / or orientation of the vehicle with respect to the inductive charging station is determined based on the reference element recognized in the second camera image. In particular, the relative position and / or orientation of the vehicle with respect to the inductive charging station is additionally determined 380 based on the known, radio-received and / or visually sensed arrangement of the reference elements 220 on the inductive charging station or based on the distances 221, 222, 223 between these reference elements 220. In step 390, the vehicle 100 is controlled in the longitudinal direction and / or the transverse direction based on the determined relative position and / or orientation of the vehicle with respect to the inductive charging station, wherein in particular this control 390 is carried out along a trajectory determined based on the determined relative position and / or orientation of the vehicle between the vehicle 100 and the inductive charging station 200. The method for positioning a vehicle having an inductive charging coil at a stationary inductive charging station can be carried out once, repeatedly or continuously.

[0024] In Figure 4 is shown in block diagram form a flow chart of a method for controlling an inductive charging station 200, wherein, in particular, the method is implemented by means of the inductive charging station. The method includes receiving 410 a control signal from a vehicle 100, wherein the control signal represents a suitable light emission signal for a light emitting device of a reference element of the inductive charging station. In an optional step 420 of the method for controlling the inductive charging station, the light emitting device of the reference element of the inductive charging station is switched on in accordance with the received control signal. Next, in step 430, at least one parameter of the light or light emission signal emitted by the light emitting device of the reference element of the inductive charging station is adapted or changed in accordance with the received control signal. The light or light emission signal emitted or to be emitted by the light emitting device includes, as parameters, the position of the reference element on the inductive charging station and / or the brightness of the light emitting device and / or the color of the light emitting device and / or the flashing characteristics of the light emitting device, in particular the flashing frequency and / or the polarization of the light emitted by the light emitting device. The method for controlling the inductive charging station 200 can be implemented once, repeatedly or continuously.

Claims

1. A method for positioning a vehicle (100) having an inductive charging coil (110) at a stationary inductive charging station (200), the method comprising the following method steps: · Performing a first sensing (310) of a first camera image of the surrounding environment (10) of the vehicle (100) by means of a camera device (120) on the vehicle (100), · Recognizing (320) the operating state of the vehicle (100) and / or the state of the surrounding environment (10) of the vehicle (100) based on the sensed first camera image, · Determining (330) a suitable light emission signal for at least one light emitting device (230) of a reference element (220) of the inductive charging station (200) based on the recognized operating state or surrounding environment state, · Sending (340) a control signal to the inductive charging station (200) based on the determined suitable light emission signal, · Performing a second sensing (360) of a second camera image of the surrounding environment of the vehicle by means of the camera device (120), · Recognizing (370) the reference element (220) based on the sensed second camera image and the determined suitable light emission signal, · Determining (380) the relative position (101) and / or orientation (102) of the vehicle (100) relative to the inductive charging station (200) based on the reference element (220) recognized in the second camera image, and · Controlling (390) the vehicle (100) along a longitudinal direction and / or a lateral direction based on the determined relative position and / or orientation of the vehicle (100) relative to the inductive charging station (200).

2. The method according to claim 1, wherein The suitable light emission signal includes the following parameters: · The position of the reference element (220) on the inductive charging station (200), and / or · The brightness of the light emitting device (230), and / or · The color of the light emitting device (230), and / or · The flashing characteristic of the light emitting device (230), and / or · The polarization of the light to be emitted by the light emitting device (230).

3. The method according to any one of the preceding claims, wherein, Performing the following method steps: · Adapting (350) the settings of the camera device (120) based on the determined suitable light emission signal, and · Additionally performing a second sensing (360) of the current second camera image by means of the camera device (120) based on the adapted settings.

4. The method according to claim 1 or 2, wherein Performing the following method steps: · Sensing (325) the distance (a) between the vehicle (100) and the inductive charging station by means of a distance sensor (140), and · Additionally determining the suitable light emission signal based on the sensed distance.

5. The method according to claim 1, wherein, Determining a suitable light emission signal for at least one light emitting device (230) of a reference element (220) of the inductive charging station (200) by selecting parameters of the suitable light emission signal.

6. The method according to claim 3, wherein Adapting (350) the settings of the camera device (120) based on the determined suitable light emission signal includes: adapting the image sensing rate to the flashing frequency.

7. A controller for a vehicle (100), wherein, The controller is arranged to implement the method for positioning a vehicle (100) according to any one of claims 1 to 6.

8. A vehicle (100) having a controller according to claim 7.

9. A method for controlling an inductive charging station (200), the inductive charging station having a reference element (220), the reference element having a light-emitting device (230), the method comprising the steps of: · Receiving (410) a control signal from the vehicle (100), wherein the control signal represents a light-emitting signal suitable for the light-emitting device (230), · Adapting (430) at least one parameter of the light-emitting signal of the light-emitting device (230) according to the received control signal.

10. The method for controlling an inductive charging station (200) according to claim 9, wherein, Performing the steps of: · Switching on (420) the light-emitting device (230) of the reference element (220) according to the received control signal.

11. The method according to claim 9 or 10, wherein As a parameter, change: i. The position of the reference element (220) on the inductive charging station (200), and / or ii. The brightness of the light-emitting device (230), and / or iii. The color of the light-emitting device (230), and / or iv. The flashing characteristic of the light-emitting device (230), and / or v. The polarization of the light transmitted by the light-emitting device (230).

12. The method according to claim 11, wherein, The flashing characteristic of the light-emitting device (230) is the flashing frequency.

13. A controller for an inductive charging station (200), wherein, The controller for the inductive charging station (200) is arranged to implement the method according to any one of claims 9 to 12.

14. An inductive charging station (200) having: ·At least one reference element (220) having a light-emitting device (230), wherein, The inductive charging station (200) is arranged to adapt the light-emitting signal transmitted by means of the light-emitting device (230), and · A controller for the inductive charging station (200) according to claim 13.

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