Method for searching electric vehicle charging stations

Abstract

The invention relates to a method for searching an electric vehicle charging station by using at least one unmanned aerial vehicle with a monitoring device, comprising the following steps: generating a control signal for controlling the at least one unmanned aerial vehicle, so that when the unmanned aerial vehicle is controlled on the basis of the generated control signal, the electric vehicle charging station is searched; at least one unmanned aerial vehicle uses a monitoring device thereof to monitor the environment of the electric vehicle and outputs monitoring data based on monitoring; outputting the generated control signal so as to control at least one unmanned aerial vehicle based on the generated control signal; receiving monitoring data from at least one unmanned aerial vehicle after outputting the generated control signal; analyzing the monitoring data to find an electric vehicle charging station; and outputting an analysis result of analyzing the monitoring data. The invention relates to a device, a system, a computer program and a machine-readable storage medium for searching for electric vehicle charging stations.

Description

Technical Field

[0001] The present invention relates to a method for finding an electric vehicle charging station, a system, a device, a computer program and a machine-readable storage medium for finding an electric vehicle charging station. Background Art

[0002] An electric vehicle has a drive battery. To charge the drive battery, a charging station for an electric vehicle can be used. Summary of the invention

[0003] The object of the present invention is to provide a solution for effectively finding an electric vehicle charging station.

[0004] This object is achieved by the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent claims.

[0005] According to a first aspect, a method for finding an electric vehicle charging station using at least one drone having a monitoring device is provided, comprising the following steps: generating a control signal for controlling at least one drone, so that when the drone is controlled based on the generated control signal, the at least one drone uses its monitoring device to monitor the environment of the electric vehicle and outputs monitoring data based on the monitoring; outputting the generated control signal to control at least one drone based on the generated control signal; receiving monitoring data from at least one UAV after outputting the generated control signal; Analyze monitoring data to find electric vehicle charging stations; and Output analysis results of the monitoring data.

[0006] According to a second aspect, an apparatus is proposed which is designed to perform all steps of the method according to the first aspect.

[0007] According to a third aspect, a system for finding an electric vehicle charging station is provided, comprising: at least one drone, wherein the at least one drone has a monitoring device; and The device according to the second aspect.

[0008] According to a fourth aspect, a computer program is proposed, which comprises instructions which, when executed by a computer, for example by a device according to the second aspect and / or by a system according to the third aspect and / or by a drone comprising a monitoring device, causes it to implement the method according to the first aspect.

[0009] According to a fifth aspect, a machine-readable storage medium is proposed, on which a computer program according to the fourth aspect is stored.

[0010] The invention is based on and includes the following knowledge: The above-mentioned object can be achieved in the following way: In order to find a suitable charging station at which the drive battery of the electric vehicle can be charged, one or more drones can be used. At least one drone, i.e. one or more drones, are controlled in such a way that they monitor the environment of the motor vehicle with the help of their respective monitoring devices and output monitoring data based on this monitoring. Thus, knowledge about the surroundings of the motor vehicle can be obtained in an advantageous and effective manner. This knowledge is used to find a suitable electric vehicle charging station at which the drive battery can be charged.

[0011] The fact that one or more drones are used for this purpose has the particular technical advantage that the monitoring device of the drone can also monitor areas of the vehicle's surroundings that cannot be monitored by one or more of the vehicle's own surroundings sensors. The vehicle's surroundings sensors then have, for example, a certain range. The drone can, for example, be controlled in such a way that it monitors areas of the vehicle's surroundings that are outside the range of the vehicle's surroundings sensors. This makes it possible to obtain information about the vehicle's surroundings that cannot be obtained by the vehicle's own surroundings sensors.

[0012] This results in the particular technical advantage that one or more suitable charging stations can be found in an efficient manner, and thus also charging stations in the surroundings of the motor vehicle which cannot be found by the motor vehicle's own surroundings sensors can be found efficiently.

[0013] This makes it possible to find a free charging station suitable for an electric vehicle in an advantageous and efficient manner.

[0014] The monitoring device of the drone can advantageously provide information that is not recorded in a digital map, for example, and / or is not yet known, for example, to a charging station center for managing one or more charging stations.

[0015] For example, the time required to find a charging station can then be advantageously shortened, thereby saving electrical drive energy, so that, for example, the range of an electric vehicle does not decrease as quickly as the time and drive energy that must be expended in the long search for a charging station.

[0016] In summary, a solution for efficiently finding an electric vehicle charging station is provided.

[0017] When a charging station is found, it is provided, for example, that the position of the charging station found is determined, in particular based on the monitoring data. This means, for example, that the analysis of the monitoring data includes determining the position of the charging station found when the charging station is found. The analysis result includes, for example, the determined position of the charging station found.

[0018] Finding something (here a charging station) means in particular that the something (here a charging station) is not known from the point of view of the finder (here in particular from the point of view of the drone or the electric car) before it is found, but becomes known through the finding. Instead of the term "find", for example, the term "discover" can also be used, and vice versa. Thus, in particular, the monitoring data are analyzed to discover the charging station.

[0019] This means, for example, that before monitoring the surroundings of the electric vehicle, any charging stations that may be present in the surroundings are not known from the perspective of the drone or the electric vehicle, but are instead found or discovered, for example, only through monitoring.

[0020] “Search” thus means in particular “to come across or encounter someone or something, in this case a charging station, by chance or while searching for it”. “Search” thus means in particular “to find someone or something”.

[0021] Thus, the expression “searching for a charging station” can also be supplemented, for example, with the following: “searching for an unknown charging station”. Thus, searching for a charging station means, in particular, that the charging station was found by chance. “Searching” can also be replaced, for example, with “discovering by chance”.

[0022] If the singular is used in the description of a drone, the plural should always be read together and vice versa. A description of one drone similarly applies to multiple drones and vice versa.

[0023] The expression "at least one" means "one or more". This means in particular that, for example, a plurality of drones can be used. The plurality of drones can be, for example, identical or, for example, different.

[0024] The monitoring devices of the drones are, for example, at least partially, in particular completely, identical, or are, for example, at least partially, in particular completely different.

[0025] A monitoring device in the sense of this specification comprises, for example, one or more environmental sensors. This means in particular that the drone has, for example, one or more environmental sensors. Thus, the drone is particularly equipped with one or more environmental sensors.

[0026] The environmental sensor of the monitoring device detects, for example, the surroundings of the motor vehicle and outputs environmental sensor data based on the detection. Such environmental sensor data is contained in the monitoring data, for example.

[0027] This means, in particular, that monitoring within the meaning of the present description includes the use of environmental sensors of the monitoring device to detect the surroundings of the motor vehicle.

[0028] If the singular is used for an environmental sensor, the plural should always be read together, and vice versa. What is said about one environmental sensor applies analogously to a plurality of environmental sensors, and vice versa.

[0029] An environmental sensor in the sense of the present description is, for example, one of the following environmental sensors: LiDAR sensor, radar sensor, image sensor, in particular image sensor of a video camera or stereo camera, ultrasonic sensor, infrared sensor and magnetic field sensor.

[0030] The environmental sensors may, for example, be identical, or may, for example, be different.

[0031] In one embodiment of the method, the method comprises the step of controlling at least one drone based on the output control signal.

[0032] In one embodiment of the method, the method comprises the step of monitoring the surroundings of the motor vehicle using at least one drone.

[0033] In one specific embodiment of the method, the method comprises the step of detecting the surroundings of the motor vehicle using an environment sensor of the monitoring device.

[0034] In one embodiment of the method, the method includes the step of wirelessly transmitting the output control signal to at least one drone. Such wireless transmission includes, for example, transmitting the control signal via a wireless communication network, such as a cellular network and / or a WLAN network.

[0035] Receiving the monitoring data for example comprises receiving the monitoring data wirelessly, in particular receiving the monitoring data wirelessly via a wireless communication network, such as a cellular network and / or a WLAN network.

[0036] In one embodiment of the method, the method is a computer-implemented method.

[0037] The embodiment modes and examples described in the specification may be combined with each other in any form even if not explicitly described.

[0038] The analysis result indicates, for example, whether an electric vehicle charging station is found. If a charging station is found, the analysis result indicates, for example, the location of the found charging station.

[0039] For example, multiple charging stations may be found. What is described with respect to one charging station applies similarly to multiple charging stations, and vice versa.

[0040] A charging station in the sense of this specification is a charging station for electric vehicles.

[0041] An electric vehicle within the meaning of this specification has a drive battery and an electric motor which can be supplied with electrical energy from the drive battery.

[0042] Analyzing the monitoring data includes, for example, processing the monitoring data. The processing of the monitoring data is performed, for example, using one processor or using multiple processors. This means, for example, that one computer or multiple computers can be used for analysis.

[0043] In one embodiment of the method, it is provided that a size signal representing one or more dimensions of the electric vehicle is received, wherein monitoring data is analyzed based on the size signal, wherein the analysis includes checking the found charging station to determine whether a drive battery of the electric vehicle can be charged in the found charging station due to one or more dimensions of the electric vehicle.

[0044] This brings the technical advantage, for example, that the suitability of the charging station found can be checked efficiently, whether the motor vehicle can be parked at the charging station found due to its size (ie due to its dimensions) in order to charge the drive battery of the electric vehicle.

[0045] A dimension is, for example, one of the following dimensions: length, width, height.

[0046] In one specific embodiment of the method, it is provided that the analysis includes checking the charging station found to determine whether the electric vehicle can drive into the charging station.

[0047] This brings about the technical advantage, for example, that it can be effectively ensured that the motor vehicle is fully accessible to the found charging station, ie whether the motor vehicle is fully able to drive to the found charging station.

[0048] The check whether the motor vehicle is able to drive to the found charging station comprises, for example, checking whether an entrance to the charging station, in particular an entrance to a defined area in which the found charging station is located, is wide enough to enable the motor vehicle to drive through the entrance, and / or checking whether there are one or more objects in front of the charging station that could hinder or prevent access to the charging station, such as construction site markings or pillars, for example construction site pillars, and / or checking whether a required entry radius of the motor vehicle for access to the charging station is possible due to the maximum possible steering angle of the motor vehicle.

[0049] In one specific embodiment of the method, it is provided that the analysis includes determining an occupancy status of the charging stations found.

[0050] This results in the technical advantage that the occupancy status can be determined efficiently. For example, the occupancy status is free or occupied or partially free or partially occupied. Thus, for example, it can already be known that there is a charging station near the motor vehicle. However, it is not possible to know, for example, whether the charging station is (partially) occupied or (partially) free. The use of drones thus makes it possible, in particular to provide for, the current occupancy status to be determined before the electric vehicle itself arrives at the charging station.

[0051] In one specific embodiment of the method, it is provided that the analysis includes, when a charging station is found which is located within a specified area, determining the position of the found charging station relative to the area.

[0052] This results in the technical advantage, for example, that a charging station found in the area can be found efficiently.

[0053] The area is, for example, an element selected from the following group of areas: parking lot, supermarket parking lot, rest area, road side.

[0054] In the area mentioned above by way of example, one or more charging stations are arranged. The position of the charging station found relative to the area then indicates where the charging station found is located in the area. For example, where the charging station found is located relative to a reference point or fixed point in the area. Such a reference point or fixed point is, for example, an entrance or an exit. Thus, for example, it can be determined where a charging station in a parking lot is located relative to an entrance or an exit.

[0055] In one embodiment of the method, it is provided that when the analysis result indicates that a motor vehicle charging station has been found, another control signal is generated for controlling at least one drone, so that when the drone is further controlled based on the other generated control signal, at least one drone monitors the found charging station with the aid of its monitoring device and outputs other monitoring data based on the monitoring, wherein the other generated control signal is output to further control at least one drone based on the other generated control signal, wherein other monitoring data is received after the other control signal is output, wherein the other monitoring data is analyzed to determine further analysis results to be output.

[0056] This results in the technical advantage that the charging station found is further monitored so that current knowledge about the charging station found is still available. The analysis of the other monitoring data includes, for example, determining whether the current occupancy status of the charging station has changed. Thus, for example, it can be recognized before the electric car arrives at the charging station that a previously free charging station is now occupied by another electric car, so that, for example, a drone must be used to find a new charging station. This effectively prevents the electric car from driving to the charging station in vain.

[0057] Discussions relating to controlling, monitoring and analyzing apply analogously to further controlling, further monitoring and further analyzing, and vice versa.

[0058] In one specific embodiment of the method, provision is made for charging station route signals to be generated, which represent the charging station route from a starting location to the found charging station for the electric vehicle, wherein the generated charging station route signals are output.

[0059] This brings the technical advantage that, for example, the electric vehicle can be effectively guided to the found charging station. A determined charging station route is then set specifically for the electric vehicle, based on which the electric vehicle can travel to the found charging station.

[0060] The starting position is, for example, the current position of the electric vehicle, or, for example, the future position of the electric vehicle. For example, the future position of the electric vehicle can be predicted.

[0061] In one specific embodiment of the method, it is provided that the analysis includes, when a plurality of charging stations are found, determining an optimal charging station.

[0062] This results in the technical advantage, for example, that it can be effectively ensured that the best electric vehicle charging station can be found with regard to charging the drive battery of the electric vehicle.

[0063] The best charging station is, for example, the charging station that is closest to the electric vehicle and the direction of travel of the electric vehicle. The best charging station is, for example, the charging station that offers the most space for charging the drive battery of the electric vehicle among the charging stations found. The best charging station is, for example, the charging station that is easiest to reach among the charging stations found for charging the drive battery of the electric vehicle. "Easiest" may, for example, mean that there are no objects that hinder or prevent reaching the charging station. "Easiest" may, for example, additionally or alternatively mean that the required access radius is the smallest relative to the required access radius of other charging stations.

[0064] In one specific embodiment of the method, provision is made for receiving a route signal which represents a current route of the electric vehicle, on which the electric vehicle is currently travelling, wherein the control signal is generated based on the route signal and / or wherein the monitoring data is evaluated based on the route signal.

[0065] This results in the technical advantage that, for example, control signals can be generated efficiently and / or monitoring data can be analyzed efficiently.

[0066] According to this embodiment, it is then possible to obtain knowledge about where the electric vehicle is going. Thus, the drone can set, by means of a control signal, which area in the surroundings of the electric vehicle the drone monitors with its monitoring device, so that the drone then also monitors this area with its monitoring device according to the control signal. Thus, for example, the drone specifies, by means of a control signal, that an area in the surroundings of the electric vehicle is monitored that is located ahead of the electric vehicle in the direction of travel according to the current route of the electric vehicle.

[0067] If it is known where the electric vehicle is going, it is also possible to analyze accordingly whether there is a possible charging station in the area ahead of the electric vehicle in the driving direction of the current route, so that the monitoring data can be analyzed efficiently accordingly.

[0068] In one specific embodiment of the method, provision is made for an ambient signal representing the surroundings of the electric vehicle to be received, wherein the control signal is generated based on the ambient signal, and / or wherein the monitoring data is evaluated based on the ambient signal.

[0069] This results in the technical advantage that, for example, control signals can be generated efficiently and / or monitoring data can be analyzed efficiently.

[0070] According to this embodiment, additional knowledge about the surroundings of the electric vehicle can then be obtained, which can be used together with the monitoring data in order to find suitable charging stations and find them accordingly. For example, if additional knowledge about the surroundings of the electric vehicle can be obtained, the drone can be advantageously controlled in an effective manner so that it does not collide with infrastructure objects. Infrastructure objects are, for example, buildings, for example traffic signal facilities or, for example, masts or, for example, traffic signs. Objects that the drone may collide with include, for example, vegetation, such as trees and / or bushes. Knowledge about such vegetation can also be represented, for example, by environmental signals.

[0071] In one specific embodiment of the method, it is provided that the surroundings signal comprises a surroundings signal which is transmitted by another motor vehicle which is located ahead of the electric vehicle with respect to the driving direction of the electric vehicle.

[0072] This results in the technical advantage that, for example, particularly suitable environmental signals can be used to generate control signals and / or analyze monitoring data. According to this embodiment, additional knowledge about the surroundings of the electric vehicle is then provided by another motor vehicle (“another motor vehicle”, because the electric vehicle is also a motor vehicle), which uses its own motor vehicle environmental sensors or its own motor vehicle environmental sensors to detect its own surroundings, wherein the own environment is of course included in the environment of the electric vehicle, so that corresponding knowledge about the surroundings of the motor vehicle located in the direction of travel can be provided in an effective manner.

[0073] In one specific embodiment of the method, it is provided that the surroundings signal comprises a map signal representing a digital map of the surroundings of the electric vehicle, the digital map indicating the respective positions of one or more charging stations.

[0074] This results in the technical advantage that, for example, particularly suitable environmental signals can be used to generate control signals and / or to evaluate monitoring data. According to this embodiment, a digital map of the electric vehicle environment is then provided.

[0075] The environmental signal may include, for example, an environmental signal sent from a cloud infrastructure. In the cloud infrastructure, for example, a charging station center is implemented and / or cloud data about the charging station is stored, for example.

[0076] In one specific embodiment of the method, it is provided that the ambient signal comprises an ambient signal emitted by a traffic center and / or by a charging station center.

[0077] This results in the technical advantage that, for example, particularly suitable environmental signals can be used to generate control signals and / or to analyze monitoring data. According to this embodiment, additional knowledge about the surroundings of the electric vehicle is then provided by the traffic center (which should always also be aware of the charging station center). The traffic center usually has current knowledge about the surroundings of the electric vehicle, which is not yet covered in a digital map of the environment, for example. For example, the traffic center knows the location of a newly established charging station that has not yet been marked on the digital map. For example, the traffic center knows that a charging station marked on the digital map no longer exists or has changed its location. This knowledge is represented by the environmental signals.

[0078] In one specific embodiment of the method, it is provided that one, a plurality of or all method steps are carried out on the electric vehicle side and / or on the infrastructure side and / or on the drone side.

[0079] This results in, for example, the technical advantage that the individual method steps can be carried out efficiently.

[0080] In one embodiment of the method, it is provided that the method is only started at a current state of charge of a drive battery of the electric vehicle, wherein the current state of charge is less than or less than or equal to a predetermined state of charge threshold value, or wherein the method is started actively and independently of the current state of charge of the drive battery of the electric vehicle.

[0081] This results in, for example, the technical advantage that the method can be carried out efficiently.

[0082] This autonomous embodiment has the following advantages, for example: A charging station can be searched and found regardless of the current or present charging state. It can then be determined, for example, that there is currently (i.e. now) a suitable charging station that is free (i.e. not occupied), wherein a charging station located after this suitable charging station with respect to the route of the motor vehicle is likely no longer free. "Probably" means, for example, with a probability greater than or greater than or equal to a predetermined probability threshold. This autonomous embodiment is particularly advantageous if the drive battery must be charged at least once to reach the destination of the route.

[0083] If the method is not started until the current state of charge is less than or less than or equal to a predetermined state of charge threshold, the resources required for the method, in particular computing resources, can be used efficiently in an advantageous manner. For example, the energy storage of the drone can be used efficiently, because it is not started until the current state of charge is less than or less than or equal to a predetermined state of charge threshold, for example.

[0084] In one embodiment of the method, it is provided that, based on the analysis result, infrastructure assistance data for assisting the electric vehicle (505) with the use of infrastructure when driving at least partially autonomously to the found charging station are determined and transmitted to the electric vehicle (505).

[0085] The infrastructure assistance data include, for example, action suggestions for the electric vehicle and / or, for example, remote control instructions for remotely controlling the lateral guidance and / or longitudinal guidance of the electric vehicle. The infrastructure assistance data include, for example, analysis results. The infrastructure assistance data include, for example, a determined charging station route from the starting position to the found charging station.

[0086] In one specific embodiment of the method, it is provided that an electric vehicle control signal is generated and output based on the evaluation result for at least partially automatically controlling the transverse guidance and / or longitudinal guidance of the electric vehicle.

[0087] This results in the technical advantage that, for example, electric vehicle control signals can be generated efficiently.

[0088] In one embodiment of the method, the method comprises the step of controlling the lateral guidance and / or longitudinal guidance of the electric vehicle based on the output electric vehicle control signal.

[0089] In one specific embodiment of the method, it is provided that the monitoring data and / or the analysis results are sent to a traffic control center and / or a charging station center.

[0090] This results in the technical advantage that, for example, a traffic control center (which should always have access to the charging station center) can efficiently plan one or more actions based on the analysis results and / or based on the monitoring data and, for example, control and / or coordinate them accordingly.

[0091] In one embodiment of the method, it is provided that control signals, in particular other control signals, are generated in such a way that when at least one drone is controlled based on the generated control signals, monitoring of the environment includes real-time monitoring of the environment of the electric vehicle, so that the monitoring data, in particular other monitoring data, include real-time monitoring data.

[0092] This results in the technical advantage, for example, that the surroundings of the electric vehicle can be effectively monitored so that a suitable charging station can be found in an efficient manner.

[0093] For example, real-time monitoring includes real-time monitoring of one or more charging stations and / or real-time monitoring of the corresponding charging station environment of one or more charging stations. The (other) control signal then, for example, causes at least one drone to use its monitoring device to monitor the found charging station and / or its surroundings. The (further) real-time monitoring data thus, for example, represents the found charging station and / or its surroundings.

[0094] Device features and / or system features are analogously derived from corresponding method features, and vice versa. What has been said about the method and / or device and / or system applies analogously to what has been said about the system and / or device and / or method, and vice versa.

[0095] In one embodiment of the method, it is provided that at least one drone is assigned to the electric vehicle. This means, for example, that the at least one drone belongs to the electric vehicle and is used or deployed by the electric vehicle. This means, for example, that the at least one drone is controlled by the electric vehicle. This means in particular that the control signal is generated and output on the electric vehicle side. The electric vehicle sends the generated and output control signal wirelessly, for example, to at least one drone to control it. For example, at least one drone accompanies the electric vehicle and flies, for example, in front of the electric vehicle with respect to the direction of travel of the electric vehicle. For example, when the current state of charge of the drive battery is less than or less than or equal to a predetermined state of charge threshold, the electric vehicle starts at least one drone.

[0096] In one embodiment of the method, it is provided that at least one drone is assigned to the infrastructure. This means, for example, that at least one drone belongs to the infrastructure. The at least one drone is, for example, assigned to a charging area including one or more charging stations, that is, for example, assigned to a road with one or more charging stations or a parking lot with one or more charging stations. This means, for example, that at least one drone is waiting for use in the charging area and then started accordingly. The at least one drone can, for example, fly continuously and, for example, can also be used for other tasks if it is not currently intended to be used for the method for finding a charging station according to the first aspect. For example, the control of at least one drone can be performed on the infrastructure side (ie, through the infrastructure). This means that the control signal is generated and sent on the infrastructure side. The infrastructure sends the control signal sent, for example, wirelessly to at least one drone. A charging site management system and / or a drone system can be set up in the infrastructure to take over this control.

[0097] In embodiments in which the drone is assigned to the infrastructure, control can alternatively or additionally also be performed by an electric vehicle.

[0098] For example, the generation of the control signal is performed using a digital map of the environment of the electric vehicle. For example, the control signal may be generated based on the current route of the electric vehicle. For example, the control signal for at least one drone may be generated based on possible routes of the electric vehicle. This means that the control signal may be generated based on possible routes of the electric vehicle, for example.

[0099] In one embodiment of the method, it is provided that the control signal is generated in such a way that the at least one drone flies all possible routes of the electric vehicle in front of the electric vehicle with respect to the direction of travel of the electric vehicle and monitors them accordingly using its monitoring device. This means that according to this embodiment, the at least one drone searches for all possible charging stations in the vicinity of the electric vehicle that are located in front of the electric vehicle with respect to the direction of travel of the electric vehicle, but in this case it is not necessary to know the specific route or the specific destination of the electric vehicle.

[0100] In one embodiment of the method, it is provided that known data about the road area, generally about the surroundings of the electric vehicle, are provided to at least one drone or sent to it. These known data include, for example, data about the width of the road, the location of charging stations, the location of signs. Generally, these data include data about stationary objects, i.e., where the charging stations are, for example.

[0101] According to one embodiment, the data include dynamic data, i.e. information about whether such a charging station is occupied or free, for example. The monitoring device can check whether the charging station is actually occupied. Generally speaking, these known data can be verified by at least one drone by analyzing and evaluating the monitoring data accordingly.

[0102] In one embodiment of the method, it is provided that data from one or more other motor vehicles located ahead of the electric vehicle, in particular with respect to the direction of travel of the electric vehicle, are also used. These data are represented, for example, by the surroundings signal sent by another motor vehicle as described here.

[0103] In one embodiment of the method, the drone is used to verify known data, for example data from a digital map and / or environmental signals representing the surroundings of the electric vehicle, wherein these environmental signals are sent, for example, by another motor vehicle located ahead of the electric vehicle with respect to the direction of travel of the electric vehicle.

[0104] In one embodiment of the method, it is provided that at least one drone is completely controlled on the electric vehicle side and / or on the infrastructure side.

[0105] In one embodiment of the method, it is provided that at least one drone is an intelligent drone. This means that at least one drone can autonomously monitor the vicinity of the electric vehicle or the surroundings of the electric vehicle. At least one drone is capable of self-control and autonomous action.

[0106] In one embodiment of the method, it is provided that at least one drone is taught each time it is used, in particular using a machine learning method.

[0107] The machine learning method checks, for example, whether the planning goal can be achieved during an earlier execution of the method. The goal is, for example, that the charging station found is accessible and / or has sufficient space, ie is of sufficient size.

[0108] The machine learning method checks, for example, whether the dimensions of the electric vehicle match the dimensions of the charging station determined during a previous execution of the method, i.e. whether the drive battery of the electric vehicle can be charged at the charging station found at that time or whether the electric vehicle requires a larger charging station at that time.

[0109] The machine learning method checks, for example, whether a planned given trajectory for driving to a charging station using an electric vehicle can be driven at least partially automatically. If not, for example, an algorithm for determining such a given trajectory can be adjusted.

[0110] Machine learning methods, for example, perform the method in simulations.

[0111] The machine learning method uses data from one or more other motor vehicles and / or drones, for example, to determine one or more optimal control parameters for drone control, so that a control signal for the drone is generated based on the one or more optimal control parameters.

[0112] For example, one or more results of a machine learning method are used when currently executing the method.

[0113] According to one embodiment, the method comprises performing a machine learning method.

[0114] In one embodiment of the method, it is provided that any combination of dumb drones and smart drones is possible. This means that at least one drone can be a smart drone, but additionally also monitors the electric vehicle side and / or the infrastructure side.

[0115] The communication between the drone and the electric car is, for example, direct communication, which means that data and / or signals can be exchanged directly between at least one drone and the electric car.

[0116] In one embodiment of the method, it is provided that the communication between the drone and the electric vehicle is indirect communication, which means that data and / or signals are transmitted between at least one drone and the electric vehicle via an external system, such as a cloud and / or a backend system or a local charging station system and / or a road management system and / or a drone system.

[0117] A backend system comprises, for example, a server system, which is located, for example, in an operations center. This means, in particular, that the location of the server system is known to the backend, for example. A cloud system comprises, for example, a server system, the location of which is, for example, unknown. A cloud is also a server system, the location of which may be unknown.

[0118] In one embodiment of the method, it is provided that the communication between the drone and the electric vehicle and the infrastructure is a secure connection. This means, for example, that certificates (which may be encrypted in particular) may be used to protect the security of the communication.

[0119] The at least one drone has, for example, a monitoring device including one or more environmental sensors. These environmental sensors are, for example, environmental sensors based on different sensor technologies. For example, these environmental sensors are radar sensors, image sensors and / or LiDAR sensors. Thus, in addition to the image, for example, further information about the object, such as distance, size, can also be determined. In particular, safety is increased if a plurality of environmental sensors are used in a redundant sense and different environmental sensors are used in a diverse sense.

[0120] In one embodiment of the method, it is provided that (other) monitoring data and / or (other) analysis results and / or, for example, infrastructure auxiliary data are sent to a traffic center and / or a road center. These centers can then, for example, plan further actions. These further actions include, for example, traffic detours and / or updating occupancy data of charging stations and / or reserving charging stations and / or controlling and / or initiating and / or coordinating the clearing of occupied charging stations.

[0121] If one of the terms "road traffic centre", "road centre" and "traffic centre", "traffic control centre" is used, the other terms should always be read together. These terms are used synonymously.

[0122] The charging station center manages in particular one or more charging stations. The charging station center is designed in particular for managing one or more charging stations.

[0123] In one embodiment of the method, it is provided that the environment of the electric vehicle is monitored in real time by means of a monitoring device of at least one drone.

[0124] In one embodiment of the method, it is provided that one, a plurality of or all method steps are recorded, in particular in a blockchain.

[0125] The system according to the third aspect is, for example, designed to perform all the steps of the method according to the first aspect.

[0126] In an embodiment of the method according to the first aspect, the method is performed using a system according to the third aspect.

[0127] A drone within the meaning of this specification is an unmanned aircraft.

[0128] Drones are for example quadcopters, helicopters, octocopters, hexacopters and typically multicopters.

[0129] In one embodiment, it is provided that the method and / or the device and / or the system and / or the storage medium and / or the electric vehicle and / or the drone are safe.

[0130] In the sense of this specification, "safety" refers in particular to "safe" and "secure." Although these two English terms are often translated into the German "sicher," their meanings in English are still partially different.

[0131] The term "safe" refers in particular to the topic of accidents and accident prevention. "Safety" therefore means, in particular, that measures are taken to ensure the correct functioning of the device and / or system and / or storage medium and / or the execution of method steps.

[0132] The term "secure" refers in particular to the topic of computer protection and hacker protection, i.e. in particular: How secure is the device and / or storage medium and / or system and its components from unauthorized access and data manipulation by third parties - so-called "hackers"? Is it safe? A "secure" method and / or storage medium and / or device and / or system therefore has appropriate and sufficient computer protection and hacker protection, in particular as a basis for carrying out the method steps and for the functions of the device and / or system.

[0133] Safety means, for example, that one or more safety conditions are met.

[0134] For example, it is provided that one, several or all components, such as an electric vehicle and / or a drone - which are involved in executing the method and / or are included in the device and / or the system - and / or the storage medium are safe, i.e., for example, one or more safety conditions are met.

[0135] This will bring about the following technical advantages in particular: the system and / or the method and / or the device and / or the storage medium are safe in the sense of the description, ie in particular safe in the sense of the English terms “safe” and “secure”.

[0136] In one embodiment, it is provided that one or more safety conditions are elements selected from the following group of safety conditions: the presence of a predetermined minimum ASIL and / or minimum SIL in at least one component, the presence of redundancy in at least one component, the presence of diversity in at least one component, the presence of at least one plan - the plan includes measures for reducing errors and / or measures in the event of failure of at least one component and / or measures for error analysis and / or measures in the event of misunderstandings, and the presence of one or more backup plans.

[0137] This would bring about the technical advantage, for example, that particularly suitable safety conditions are provided.

[0138] The abbreviation "ASIL" stands for the English term "Automotive Safety Integrity Level", which can be translated into German as "Automotive Sicherheitsintegritätslevel (Automotive Safety Integrity Level)". "Automotive Safety Integrity Level" is a key component of the ISO 26262 standard. ASIL is divided into four different ASIL risk levels, marked as ASIL-A, ASIL-B, ASIL-C and ASIL-D.

[0139] The abbreviation "SIL" stands for the English term "Safety Integrity Level", which can be translated into the German "Sicherheitsintegritätslevel (Safety Integrity Level)". "Safety Integrity Level" is a key component of the IECEN 61508 standard. SIL is divided into four different SIL risk levels, marked as SIL-1, SIL-2, SIL-3 and SIL-4.

[0140] In one specific embodiment of the method, it is provided that one, several or all steps of the method are carried out only if one or more safety conditions, in particular one or more of the above-mentioned safety conditions, are met.

[0141] For example, the method is performed only when one or more safety conditions are met.

[0142] In one specific embodiment of the method, it is provided that the electric vehicle is an at least partially autonomously driven electric vehicle.

[0143] The term “at least partially automated driving” includes one or more of the following: assisted driving, partially automated driving, highly automated driving, fully automated driving. Therefore, the term “at least partially automated” includes one or more of the following terms: assisted, partially automated, highly automated, fully automated.

[0144] Assisted driving means that the driver of the electric vehicle permanently guides the electric vehicle laterally or longitudinally. The other driving tasks (i.e. controlling the longitudinal guidance or lateral guidance of the electric vehicle) are performed automatically. This therefore means that when assisting with the driving of an electric vehicle, the lateral guidance or longitudinal guidance is controlled automatically.

[0145] Partially automated driving means that the longitudinal and lateral guidance of the electric vehicle is automatically controlled in certain situations (e.g. driving on motorways, driving in parking lots, overtaking objects, driving in lanes defined by lane markings) and / or for certain times. The driver of the electric vehicle does not have to manually control the longitudinal and lateral guidance of the electric vehicle. However, the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to fully take over the driving of the vehicle at any time.

[0146] Highly automated driving means that the longitudinal and lateral guidance of the electric vehicle is automatically controlled for a certain period of time and in certain situations (e.g. driving on the motorway, driving in a parking lot, overtaking an object, driving in a lane delimited by lane markings). The driver of the electric vehicle does not have to manually control the longitudinal and lateral guidance of the electric vehicle himself. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. When necessary, a takeover request is automatically made to the driver to take over control of the longitudinal and lateral guidance, in particular if sufficient time is left. The driver must therefore potentially be able to take over control of the longitudinal and lateral guidance. The limits of the automatic control of the lateral and longitudinal guidance are automatically identified. With highly automated driving, it is not possible to automatically bring about the state of least risk in every initial situation.

[0147] Fully automated driving means that the longitudinal and lateral guidance of the electric vehicle is automatically controlled in certain situations (e.g. driving on motorways, driving in parking lots, overtaking objects, driving in lanes delimited by lane markings). The driver of the electric vehicle does not have to manually control the longitudinal and lateral guidance of the electric vehicle himself. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance ends, the driver is automatically asked to take over the driving task (control of the lateral and longitudinal guidance of the electric vehicle), especially if sufficient time is left. If the driver does not take over the driving task, the system automatically returns to the state with the lowest risk. The limits of the automatic control of the lateral and longitudinal guidance are automatically detected. In all situations, the system can automatically return to the state with the lowest risk.

[0148] A drive battery, which can also be referred to as a high-voltage battery, a traction battery or a circulating battery, is in particular a battery which is primarily intended to supply electrical energy to an electric motor of an electric vehicle which is responsible for the propulsion. BRIEF DESCRIPTION OF THE DRAWINGS

[0149] The invention is explained in more detail below with reference to preferred exemplary embodiments.

[0150] Figure 1 A flow chart of the method according to the first aspect is shown; Figure 2 An apparatus according to the second aspect is shown; Figure 3 A system according to a third aspect is shown; Figure 4 A machine-readable storage medium according to a fifth aspect is shown; Figure 5 An exemplary application of the method according to the first aspect is shown.

[0151] In the following, the same reference numerals may be used for the same features. DETAILED DESCRIPTION

[0152] Figure 1 A flow chart of a method for finding an electric vehicle charging station using at least one drone with a monitoring device is shown, comprising the following steps: generating 101 a control signal for controlling at least one drone, so that when the drone is controlled based on the generated control signal, the at least one drone uses its monitoring device to monitor the environment of the electric vehicle and outputs monitoring data based on the monitoring; outputting 103 the generated control signal to control at least one drone based on the generated control signal; After outputting the generated control signal, receiving 105 monitoring data from at least one UAV; Analyze 107 monitoring data to find electric vehicle charging stations; and Output 109 is an analysis result of analyzing the monitoring data.

[0153] Figure 2 A device 201 is shown. The device 201 is designed to perform all steps of the method according to the first aspect.

[0154] According to an embodiment not shown, the device 201 includes an input terminal designed to receive the signal and / or data described in the specification. According to an embodiment not shown, the device 201 includes one or more processors, which are designed to perform the (further) analysis and / or processing and / or determination steps described in the specification. According to an embodiment not shown, the device 201 includes an output terminal designed to output the signal and / or data described in the specification. For example, the device 201 includes an input terminal, one or more processors and an output terminal. The input terminal includes, for example, a wireless communication interface. The output terminal includes, for example, a wireless communication interface. For example, the input terminal and the output terminal are the same. For example, the device 201 includes a wireless communication interface for two-way communication, i.e., for receiving and sending the signal and / or data described in the specification.

[0155] The device 201 may be implemented, for example, in a drone for use in the method according to the first aspect.

[0156] Figure 3 A system 301 for finding an electric vehicle charging station is shown.

[0157] System 301 includes Figure 2 Device 201.

[0158] The system 301 includes a drone 303. The drone 303 includes a monitoring device 305. The monitoring device 305 includes a first camera 307 and a second camera 309, each of which includes an image sensor (not shown) as an environmental sensor.

[0159] In an embodiment not shown, the monitoring device 305 may also include further environmental sensors in addition to or instead of one or both cameras 307 , 309 .

[0160] In an embodiment not shown, the system 301 includes a plurality of drones which are designed, for example, identically or, for example, differently.

[0161] Figure 4 A machine-readable storage medium 401 is shown, on which is stored a computer program 403. The computer program 403 comprises instructions which, when the computer program 403 is executed by a computer, cause the computer to carry out the method according to the first aspect.

[0162] Figure 5 An intersection 501 is shown, at which a first road 503 and a second road 505 intersect. The first road 503 extends horizontally relative to the plane of the paper. The second road 505 extends vertically relative to the plane of the paper. Below the intersection 501, a third road 507 branches off from the second road 505 as an intersecting road.

[0163] Electric car 509 includes a drive battery 510 for an electric motor (not shown) of electric car 509, which travels on first road 503 in travel direction 511 toward intersection 501. Travel direction 511 of electric car 509 runs from left to right relative to the paper plane.

[0164] A first charging area 513, a second charging area 515, and a third charging area 517 are provided. The first charging area 513 is arranged just above the intersection 501 and on the right side of the second road 505. The second charging area 515 is arranged at the first road 503 above the intersection 501 and on the right side of the intersection 501. The third charging area 517 is arranged at the third road 507 below the intersection 501.

[0165] The three charging zones 513, 515, 517 each include three parking spaces 519, where motor vehicles, in particular electric vehicles, can be parked. Each parking space 519 has its own charging station 521 for electric vehicles, where the drive battery of the electric vehicle can be charged.

[0166] Sometimes, other motor vehicles 522 are parked in parking space 519 .

[0167] Specifically, for first charging zone 513, another motor vehicle 522 is parked in upper parking space 519, and another motor vehicle 522 is parked in lower parking space 519. Middle parking space 519 is not occupied.

[0168] For the second charging zone 515 , another motor vehicle 522 is parked on the left and middle parking spaces 519 , so that the other motor vehicle 522 blocks two parking spaces 519 . In addition, another motor vehicle 522 is parked on the right parking space 519 of the second charging zone 515 .

[0169] In third charging zone 517 , another motor vehicle 522 is parked in each parking space 519 .

[0170] A first drone 523 , a second drone 525 , and a third drone 527 are provided. The three drones 523 , 525 , and 527 each include a monitoring device 529 , and the monitoring device 529 each includes a camera 531 and has an image sensor 533 .

[0171] Furthermore, a device 535 is provided, which is designed to carry out all steps of the method according to the first aspect. The device 535 comprises a wireless communication interface 537 and a processor device 539 which may have, for example, one or more processors.

[0172] According to the solution described here, three drones 523, 525, 527 are used in order to use their monitoring device 529, for example, to find unoccupied parking spaces 519 of charging zones 513, 515, 517. For example, drones 523, 525, 527 can be used to determine and / or verify the occupancy status of parking space 519.

[0173] For this purpose, it is provided that, for example, a device 535 is used to control drones 523, 525, 527. Processor device 539 generates control signals, for example. The control signals are wirelessly transmitted to drones 523, 525, 527 via a wireless communication interface 537, which may include, for example, a WLAN communication interface and / or a mobile radio interface.

[0174] The drones 523, 525, 527 fly over, for example, the charging areas 513, 515, 517 and can monitor the charging areas 513, 515, 517 using their respective monitoring devices 520. Specifically, the camera 531 records video images of the charging areas 513, 515, 517, which can be sent to the device 535, for example. These video images are, for example, monitoring data in a descriptive sense, or such monitoring data include these video images. These video images are wirelessly sent to the device 535, which receives these video images via the wireless communication interface 537.

[0175] Processor device 539 analyzes the video images in order to, for example, determine and / or verify a corresponding occupancy status of parking space 519 .

[0176] For example, an analysis result can be obtained, which indicates the corresponding occupancy status of the parking space 519. The analysis result can be output using the wireless communication interface 537, in particular sent to the electric vehicle 509. The electric vehicle 509 can be, for example, an at least partially self-driving electric vehicle, which can plan at least partially automated driving based on the analysis result. For example, the electric vehicle 509 can select the first charging area 513 from the three charging areas 513, 515, 517 as the charging area to which the electric vehicle 509 will at least partially automatically drive, provided that the charging area still has a free parking space 519, at which the drive battery 510 of the electric vehicle 509 can be charged at the charging station 521.

[0177] In an embodiment not shown, it may be provided that at least one of drones 523 , 525 , 527 or all drones 523 , 525 , 527 are controlled by electric vehicle 509 .

[0178] In an embodiment not shown, it may be provided, for example, that instead of drones 523 , 525 , 527 , more or fewer drones, for example only one drone, are provided.

Claims

1. A method for finding a charging station (521) for an electric vehicle (509) using at least one drone (303, 523, 525, 527) having a monitoring device (305, 529), comprising the following steps: generating (101) a control signal for controlling the at least one drone (303, 523, 525, 527), so that when the drone (303, 523, 525, 527) is controlled based on the generated control signal, the at least one drone (303, 523, 525, 527) uses its monitoring device (305, 529) to monitor the environment of the electric vehicle (509) and outputs monitoring data based on the monitoring; outputting (103) the generated control signal to control the at least one drone (303, 523, 525, 527) based on the generated control signal; After outputting the generated control signal, receiving (105) the monitoring data from the at least one drone (303, 523, 525, 527); analyzing (107) the monitoring data to find a charging station (521) for the electric vehicle (509); and Output (109) is an analysis result of analyzing the monitoring data.

2. The method according to claim 1, wherein: A size signal representing one or more sizes of the electric vehicle (505) is received, wherein the monitoring data is analyzed based on the size signal, wherein the analysis includes checking the found charging station (521) to determine whether a drive battery of the electric vehicle (509) can be charged in the found charging station (521) due to the one or more sizes of the electric vehicle.

3. The method according to claim 1 or 2, wherein: The analysis includes checking the found charging station (521) to determine whether the electric vehicle (509) can drive into the charging station.

4. A method according to any one of the preceding claims, wherein: The analysis includes determining an occupancy status of the found charging station (521).

5. A method according to any one of the preceding claims, wherein: The analysis includes, when a charging station (521) is found within a specified area, determining the position of the found charging station (521) relative to the area.

6. A method according to any one of the preceding claims, wherein: When the analysis result indicates that the charging station (521) for the motor vehicle has been found, another control signal is generated for controlling the at least one drone (303, 523, 525, 527), so that when the drone (303, 523, 525, 527) is further controlled based on the generated other control signal, the at least one drone (303, 523, 525, 527) monitors the found charging station (521) with the help of its monitoring device (305, 529) and outputs other monitoring data based on the monitoring, wherein the generated other control signal is output to further control the at least one drone (303, 523, 525, 527) based on the generated other control signal, wherein the other monitoring data is received after the output of the other control signal, wherein the other monitoring data is analyzed to determine the further analysis result to be output.

7. A method according to any one of the preceding claims, wherein: A charging station route signal is generated, the charging station route signal indicating a charging station route from a starting location to the found charging station (511) for the electric vehicle (509), wherein the generated charging station route signal is output.

8. A method according to any one of the preceding claims, wherein: The analysis includes, when a plurality of charging stations (521) are found, determining the best charging station (511).

9. A method according to any one of the preceding claims, wherein: A route signal is received indicating a current route of the electric vehicle (509), the electric vehicle (509) currently traveling based on the current route, wherein the control signal is generated based on the route signal, and / or wherein the monitoring data is analyzed based on the route signal.

10. A method according to any one of the preceding claims, wherein: An environmental signal representative of an environment of the electric vehicle (509) is received, wherein the control signal is generated based on the environmental signal, and / or wherein the monitoring data is analyzed based on the environmental signal.

11. The method according to claim 10, wherein: The environmental signal comprises an environmental signal transmitted by another motor vehicle (522) which is located in front of the electric vehicle (509) with respect to the driving direction of the electric vehicle (509).

12. The method according to claim 10 or 11, wherein: The environment signal comprises a map signal representing a digital map of the environment of the electric vehicle (509), the digital map indicating the respective positions of one or more charging stations.

13. The method according to any one of claims 10 to 12, wherein: The environmental signal includes an environmental signal sent by a traffic center and / or by a charging station center.

14. A method according to any one of the preceding claims, wherein: One, several or all method steps are performed on the electric vehicle side and / or on the infrastructure side and / or on the drone side.

15. A method according to any one of the preceding claims, wherein: The method is started only when the current charge state of the drive battery of the electric vehicle (509) is less than or equal to a predetermined charge state threshold value, or the method is started actively and independently of the current charge state of the drive battery of the electric vehicle (509).

16. A method according to any one of the preceding claims, wherein: Based on the analysis result, infrastructure assistance data for assisting the electric vehicle (509) with infrastructure when driving at least partially autonomously to the found charging station (521) is determined and sent to the electric vehicle (509).

17. A method according to any one of the preceding claims, wherein: Based on the analysis result, an electric vehicle control signal is generated and outputted, for at least partially automatically controlling the lateral guidance and / or longitudinal guidance of the electric vehicle (509).

18. A method according to any one of the preceding claims, wherein: The monitoring data and / or the analysis result are sent to a traffic control center and / or a charging station center.

19. A method according to any one of the preceding claims, wherein: The control signal, in particular the other control signal, is generated so that when the at least one drone (303, 523, 525, 527) is controlled based on the generated control signal, the monitoring of the environment includes real-time monitoring of the environment of the electric vehicle (509), so that the monitoring data, in particular the other monitoring data, includes real-time monitoring data.

20. A method according to any one of the preceding claims, wherein: One, several or all steps of the method are performed only if one or more safety conditions are met.

21. A device (201, 535) designed to perform all the steps of the method according to any of the preceding claims.

22. A system (301) for finding a charging station (521) for an electric vehicle (509), comprising: At least one drone (303, 523, 525, 527), wherein the at least one drone (303, 523, 525, 527) has a monitoring device (305, 515); and The device (201, 535) according to claim 21.

23. A computer program (403) comprising instructions which, when the computer program (403) is executed by a computer, cause the computer to perform the method according to any one of claims 1 to 20.

24. A machine-readable storage medium (401) on which a computer program (403) according to claim 23 is stored.

Images