Method for parking electrically drivable vehicle on charging pile

Abstract

In order to provide a method for the automated and / or partially automated parking of an electrically drivable vehicle (100) in front of a charging post (110), the method enables the at least partially automated parking of the vehicle (100) in a parking space (13) with the charging post (110) for a driver of the vehicle (100) such that the driver selects between parking only and charging of the vehicle (100), according to the invention, at least one parking space (13) and a charging post (110) arranged on the parking space (13) are determined on the basis of an evaluation of measurement data of the vehicle-side sensor system (101); displaying a position of at least one parking space (13) with a charging pile (110) relative to the vehicle (100) by means of at least one output unit (11) of the vehicle (100), an optimization of a parking position (103) of the vehicle (100) in the parking space (13) being suggested and / or implemented; according to the invention, an automated travel of the vehicle (100) on the parking space (13) is selected, and the vehicle (100) is automatically parked on the parking space (13) in the parking position (103) by means of the vehicle-side sensor system (101).

Description

Field of the Invention

[0001] The present invention relates to a method for automatically and / or semi-automatically parking an electrically drivable vehicle in front of a charging station. Furthermore, the present invention also relates to an electrically drivable vehicle and a vehicle-side output unit. Background Art

[0002] Semi-automated driving assistance systems also include parking assistance systems that enable autonomous positioning of the vehicle in a parking space. The vehicle-side control unit takes over the longitudinal guidance and / or lateral guidance of the vehicle by means of vehicle-side sensing mechanisms. Such parking assistance systems can particularly optimally drive the vehicle into a parking space between two parked vehicles. Such parking assistance systems can be implemented by technically simple sensing mechanisms that are typically present in manually controlled vehicles. With the increasing proportion of electric or electrically drivable vehicles, a parking process at the charging station is also required to charge the vehicle. Currently, this is only possible when there is an adjacent vehicle at the charging station or a parking space with a charging possibility between two vehicles.

[0003] For example, EP 1 930 203 A1 describes such a parking assistance system, in which the longitudinal guidance and / or lateral guidance of the vehicle is realized based on the measurement data of a camera sensor. The measurement data of the camera sensor also provides the driver with an overview of the parking situation. The parking assistance system communicates with the charging station and can realize vehicle parking adapted to the charging station in order to automatically couple the charging plug of the charging station with the vehicle-side charging socket. However, such parking assistance systems require specially modified charging infrastructure and cannot be used comprehensively.

[0004] DE 10 2020 213 767 A1 describes a method that allows a vehicle driver to select a potential parking space with a charging station. The parking spaces within a distance determined based on the state of charge of the vehicle's traction battery and the desired destination are displayed to the driver.

[0005] DE 10 2017 125 201 A1 discloses a method for fully automatically or semi-automatically driving a motor vehicle to a fueling station or a charging station, in which the driving assistance system drives the motor vehicle from a starting position fully automatically or semi-automatically into a fueling / charging position that enables fueling and / or electric charging of the motor vehicle.

[0006] US 2015 / 0343912 A1 describes a method in which a large amount of data is used to check whether the charging cable of an electric vehicle is long enough.

[0007] DE 102019 134 597 A1 also describes a method by which the connection ability between an electric vehicle and a charging station is determined taking into account the length of the charging cable and the distance between the electric vehicle and the charging pile.

[0008] US 2021 / 0237716 A1 discloses a method for controlling a vehicle by which a vehicle section is oriented relative to a point outside the vehicle. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a method that provides the driver of a vehicle with the possibility of at least partially automatically parking the vehicle in a parking space with a charging pile, wherein the driver can choose between only parking and charging. This technical problem is solved by the features given in claim 1. Further advantageous designs of the present invention are described in the dependent claims.

[0010] According to one aspect of the present invention, there is provided a method for automatically and / or partially automatically parking an electrically drivable vehicle in front of a charging pile. This method can be carried out in combination with, for example, an audiovisual output unit that engages with the driver in terms of confirmation and / or participation in control and / or input.

[0011] In one step, based on the evaluation of the measurement data of the vehicle-side sensing mechanism, at least one parking space and a charging pile arranged at the parking space are determined. The vehicle-side sensing mechanism can include, for example, ultrasonic sensors, camera sensors, lidar sensors, radar sensors, etc., which allow environmental detection.

[0012] The position of at least one parking space with a charging pile relative to the vehicle is displayed by at least one output unit of the vehicle. Advantageously, it is recommended and / or the optimization of the parking position of the vehicle on the parking space is implemented. The optimization of the planned parking position where the vehicle is to be parked can preferably be output in the form of a query, which the vehicle driver can confirm or reject. If the optimization is confirmed, the vehicle can be parked on the parking space such that the charging connection device or charging socket on the vehicle side is positioned as close as possible to the charging cable of the charging pile. If the optimization is rejected, the vehicle can be parked on the parking space in any orientation, preferably with a minimum adjustment effort.

[0013] Subsequently, the automated driving of the vehicle on the parking space is selected, and the vehicle is automatically parked in the parking position on the parking space by means of the vehicle-side sensing mechanism.

[0014] Through the above method, intuitive vehicle control is provided for the vehicle driver. In the case of existing parking spaces, this vehicle control allows the driver to choose whether to utilize the charging possibility at the parking space with a charging pile or only park the vehicle.

[0015] According to a further aspect of the invention, there is provided a vehicle having a vehicle-side sensing mechanism for determining measurement data of the vehicle environment. In addition, the vehicle has a vehicle control device for evaluating the measurement data and for receiving control commands. At least one output unit for audiovisual output is provided in the vehicle. The vehicle is configured to perform the method according to the invention. The vehicle control device can automatically move the vehicle to a parking position in a parking space based on a driver's input. Here, the selection of possible parking spaces in the vehicle environment is displayed to the driver via the output unit. In the selection of possible parking spaces, it is also prompted whether there is a charging pile suitable for charging the vehicle at one of the parking spaces.

[0016] Vehicle charging shall be understood as at least partial charging of the traction battery of the vehicle. The vehicle can be a vehicle that operates only on the energy of the traction battery or a vehicle that can operate partially on the energy of the traction battery. Thus, the vehicle can be designed as an electric vehicle or a plug-in hybrid vehicle. The traction battery can indirectly, for example via a power electronics device, supply electrical energy to at least one electric motor in order to convert the stored electrical energy at least into kinetic energy.

[0017] According to a further aspect of the invention, there is provided a vehicle-side output unit, in particular in the form of a human-machine interface, which is configured to perform the method according to the invention.

[0018] If the proposed optimization of the parking position of the vehicle on at least one parking space is carried out in the form of a charging-optimized parking position on the parking space, this optimization can be particularly advantageously achieved. By this measure, the vehicle can, for example, adjust its orientation and distance relative to a charging station or a charging pile on the parking space.

[0019] According to a further embodiment, in the charging-optimized parking position, the position of the vehicle-side charging socket relative to the charging cable of the charging pile is determined, and a parking position is adjusted such that the distance between the vehicle-side charging socket and the charging cable of the charging pile is minimized. This can simplify the connection of the charging cable to the vehicle-side charging socket. For example, the length of the charging cable can be determined by camera-based charging station detection in order to form a sufficiently small distance between the charging station and the vehicle-side charging socket by optimized adjustment.

[0020] According to a further embodiment, a parking space is determined next to a parked vehicle or between two parked vehicles or next to a parking space marking or between two parking space markings or in front of a charging pile or between two laterally arranged charging piles or between two charging piles positioned on the kerb side or a parking space next to a charging pile on the side. By this measure, it is possible to determine a parking space or a parking position suitable for the vehicle even if there is no corresponding visual parking space indication or such an indication is no longer recognizable due to damage or weathering.

[0021] If no parking space markings and / or parked vehicles for orientation are detected and a parking space in front of or in the front of the charging pile is determined, the vehicle can be controlled to park at a right angle to the identified curb and centered relative to the determined charging pile.

[0022] In an alternative or additional embodiment, if no parking space markings and / or parked vehicles for orientation are determined, a parking space in front of a charging pile positioned on the curb side that is substantially orthogonal to the driving direction of the previously traveled route is determined. By this measure, a parking space can be determined even if there is no curb or other indicator indicating the parking space, but there is a charging pile available for charging the vehicle.

[0023] When it is determined based on an evaluation of the measurement data of the vehicle-side sensing mechanism whether the charging pile is available for charging the battery of an electrically drivable vehicle, driving on a parking space not suitable for charging can be avoided. For example, signs arranged on the charging station or charging pile, or damaged or occupied charging cables, such as a charging cable of a charging station wrongly connected to an adjacent parking space, can be detected based on the determined measurement data of the sensing mechanism, and a signal can be sent to the driver through the output unit. The optimization of the parking position can be deactivated for such parking spaces to make the vehicle control more intuitive.

[0024] According to another embodiment, if a manual intervention is made on the vehicle control device during the automatic parking of the vehicle in a parking space and the vehicle deviates from the parking position for charging deviation, a warning message is output through the output unit. Due to the manual intervention on the vehicle control device during the automatic parking process, the vehicle cannot occupy the planned parking position in the parking space. This deviation is shown to the driver by signaling or warning. According to the design, the deviated parking position can be calculated based on the intervention on the vehicle control device and visually displayed to the driver through the output unit so that the driver can accept or correct the newly determined parking position.

[0025] If selectable correction suggestions are output through the output unit, by which the vehicle automatically corrects its position and occupies the parking position, the parking position deviation caused by the driver can be eliminated particularly comfortably. By this measure, the vehicle control device can change the orientation and position of the vehicle within the parking space to adjust to form the previously calculated parking position optimized for charging.

[0026] According to another embodiment, the parking environment is determined based on an evaluation of the measurement data of the vehicle-side sensing mechanism and visualized in an abstract form through the output unit. This enables the driver to particularly simply perceive the available parking spaces and make a favorable choice. In particular, additional information, such as available or unavailable charging piles, can be displayed for the parking spaces to support the driver's decision-making.

[0027] If the position of the charging pile relative to the parking space is visualized by the output unit, the output unit can provide the driver with a particularly detailed overview of the parking space situation. The corresponding charging pile and its position relative to the parking space can be recorded based on the measurement data of the sensing mechanism when passing by at a low speed and displayed in an abstract form.

[0028] According to another embodiment, a charging pile arranged between two parking spaces or a charging pile arranged directly behind the parking space or a charging pile arranged offset behind the parking space or a charging pile arranged on a high ground relative to the parking space is determined and visually displayed. Through this measure, various different charging configurations can be determined and signaled to the driver.

[0029] If the state of the determined charging pile is visualized by the output unit, the driver can particularly quickly grasp the parking situation. For example, available charging piles can be represented by green symbols, damaged charging piles by red symbols, and occupied charging piles by grey symbols, in order to provide the driver with intuitive assistance in choosing a parking space.

[0030] If the output unit visually outputs, in a selectable and recommended form, the charging-optimized parking positions on the parking space, the impact of vehicle automation on the driver can be designed particularly carefully.

[0031] According to another embodiment, the visual output of the output unit can be selected by touch function and / or based on button input and / or based on voice input, in order to activate the vehicle control device for the automatic driving of the vehicle on the parking space. Through this measure, the driver can comfortably start the automatic vehicle control for occupying the parking position on the selected parking space through different input possibilities.

[0032] After the driver or the vehicle control device starts the automatic vehicle control, the vehicle can be brought into the parking position by vehicle-side components in the form of a vehicle-side sensing mechanism and a vehicle control device.

[0033] According to the previously performed optimization, the parking position can be in the middle or centered within the parking space or include rotational and / or translational deviations, in order to enable the connection between the charging plug and the vehicle-side charging socket to be simplified.

[0034] If the information visualized by the output unit is selected to generate a control command for the vehicle control device, the output unit can achieve fast and uncomplicated vehicle control. Advantageously, through the generated control command, the vehicle occupies the parking position and / or corrects the parking position and / or drives towards the optimized parking position for simplifying the connection between the charging cable and the charging socket. Description of the Drawings

[0035] Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings:

[0036] Figure 1 A schematic top view showing the vehicle environment of a vehicle, for explaining a method according to an embodiment of the present invention;

[0037] Figure 2 A schematic view showing the vehicle environment in the output unit, where a parking space with a charging pile is determined;

[0038] Figure 3 A schematic view showing the output unit, for explaining an optimization query;

[0039] Figure 4 A schematic view showing the output unit with an optimized parking position for the vehicle for charging;

[0040] Figure 5 A schematic view showing the output unit, explaining the maneuver of driving the vehicle into Figure 4 the parking position shown;

[0041] Figure 6 A schematic view showing a charging pile in the output unit that is not available for charging;

[0042] Figure 7 A schematic view showing a warning in the output unit, explaining a manual intervention in the vehicle control device;

[0043] Figure 8 A schematic view showing the position of the charging pile relative to the parking space in the output unit;

[0044] Figure 9 A schematic view showing another position of the charging pile relative to the parking space in the output unit;

[0045] Figure 10 A schematic view showing another position of the charging pile relative to the parking space in the output unit; and

[0046] Figures 11 to 17 A schematic top view showing the vehicle environment, for explaining parking positions according to different parking spaces;

[0047] Figures 18 to 19 A schematic top view showing the parking space, for explaining the optimized parking position of the vehicle.

[0048] In the drawings, the same structural elements have the same reference numerals respectively. Detailed implementation

[0049] Figure 1A schematic top view of the vehicle environment U of the vehicle 100 is shown, which is used to illustrate a method according to the present invention according to an embodiment. This figure and the subsequent figures are used to illustrate a method for automatically and / or semi-automatically parking the electrically drivable vehicle 100 in front of a charging pile 110. In the illustrated embodiment, the method is designed in the form of a parking assistance system, which is activated below the speed limit and in a specific vehicle environment U.

[0050] The vehicle 100 has a vehicle-side sensing mechanism 101 for determining measurement data of the vehicle environment U. The vehicle-side sensing mechanism 101 can include, for example, ultrasonic sensors, camera sensors, lidar sensors, radar sensors, etc., which allow environmental detection. The sensing mechanism 101 is data-connected to a vehicle control device 102, which can be designed, for example, as a controller or a plurality of controllers, and can achieve at least temporary lateral guidance and / or longitudinal guidance of the vehicle 100.

[0051] In addition, the vehicle control device 102 is used to evaluate the measurement data and receive control commands. At least one output unit 11 is used for audiovisual output in the vehicle 100. The vehicle control device 102 can automatically move the vehicle 100 to a parking position on the parking space 12 based on an input from a driver (not shown). Here, the selection of possible parking spaces 12 in the vehicle environment U is displayed to the driver through the output unit 11. In the selection of possible parking spaces 12, it is also prompted whether there is a charging pile 110 suitable for charging the vehicle 100 at one of the parking spaces 12.

[0052] By charging the vehicle 100, a traction battery (not shown) of the vehicle 100 is at least partially charged. The vehicle 100 can be designed as an electric vehicle or a plug-in hybrid vehicle.

[0053] Figure 2 A schematic partial view of the vehicle environment U in the output unit 11 is shown, in which a parking space 13 with a charging pile 110 is determined. In addition, a plurality of parking spaces 12 without a charging pile 110 are also determined. When it is recognized that there is a charging pile 110 at the parking space 13, a graphical symbol can, for example, change from "P" to "charging plug" to signal the driver of the charging possibility.

[0054] The recording of the charging pile 110 is realized, for example, by the vehicle control device 102 evaluating the measurement data of the camera sensor of the vehicle-side sensing mechanism 101.

[0055] Here, the output unit 11 of the vehicle 100 displays the positions of the parking spaces 12, 13 with and without the charging pile 110 relative to the vehicle 100. For simplicity, only one output unit 11 is considered in the illustrated embodiment, but multiple output units 11 may be provided in the vehicle 100, and these output units can be controlled simultaneously or independently to generate an audiovisual output. For example, the output unit 11 can be designed as a display in the dashboard (not shown) and / or an instrument display of the vehicle 100 (not shown).

[0056] In the subsequent steps of the method as Figure 3 shown, it is recommended to optimize the parking position 103 of the vehicle 100 on the parking space 13 ( Figure 4 ). The optimization recommendation or optimization query is output in the form of the output of the output unit 11.

[0057] For example, when the charging pile 110 is first recognized, a so-called pop-up window can be generated in the output unit 11, which asks whether to automatically optimize the parking position 103 for charging the vehicle 100. The driver can confirm or reject this query.

[0058] In addition, the driver can remember the answer to the optimization query or optimization recommendation, so that when the vehicle control device 102 recognizes the charging possibility at the parking space 13 again, it can automatically adopt or repeat this answer.

[0059] Figure 4 A schematic diagram of the output unit 11 is shown, with the parking position 103 of the vehicle 100 optimized for charging. If the previously asked optimization recommendation is accepted, this step is executed. This optimized parking position 103 of the vehicle 100 is shown in the right part of the output unit 11 and represents the planned final position of the vehicle 100, for example, illustrated together with the vehicle environment U in the left part of the output unit 11 through a 3D camera view.

[0060] In the display of the parking position 103 of the vehicle 100 optimized for charging, the charging cable 111 that electrically connects the charging pile 110 to the charging socket 104 of the vehicle 100 can also be displayed, so as to explain the optimized parking position 103 and the favorable connection possibility to the driver.

[0061] The charging cable 111, the charging pile 110, and / or the charging socket 104 can be highlighted graphically here, for example, in green, so as to display the availability of the optimal parking position 103.

[0062] Figure 5 A schematic diagram of the output unit 11 is shown, illustrating driving the vehicle 100 into Figure 4Control in the optimized parking position 103 shown. After the selection and optimization confirmation of the parking space 13, the vehicle control device 102 can automatically control the vehicle 100 into the optimized parking position 103.

[0063] Automated reverse parking is exemplarily performed in the illustrated embodiment, which ends in the parking space 13 on the passenger side of the vehicle 100. The expected trajectory 14 of the vehicle 100 is also visualized by the output unit 11.

[0064] Figure 6 A schematic diagram showing the charging pile 112 that is not available for charging in the output unit 11 is shown. Such a charging pile 112 is, for example, shown in gray and emits a signal indicating that the vehicle 100 cannot be charged at this charging pile 112 currently. No recommendation for the optimal parking position 103 for charging is also output here.

[0065] Based on the received measurement data of the vehicle-side sensing mechanism 101, visual cues for the charging piles 110, 112 or the charging station can also be recorded, and these cues provide an indication of the status of the charging piles 110, 112. For example, warning messages or status displays emitted by the displays of the charging piles 110, 112 can be evaluated through image processing and assigned statuses such as "available", "damaged", or "unavailable".

[0066] Figure 7 A schematic diagram showing a warning in the output unit 11, explaining a manual intervention in the vehicle control device 102. For example, if the actual parking position of the vehicle 100 deviates from the recommended or optimized parking position 103 due to manual operation, such as rotating the vehicle 100, the shown charging cable 111 can be displayed in red or dashed lines.

[0067] The output unit 11 can be set here to output a correction recommendation, through which the parking position of the vehicle 100 can be automatically corrected.

[0068] Figure 8 A schematic diagram visualizing the position of the charging pile 110 relative to the parking space 13 in the output unit 11 is shown. Among them, the charging pile 110 is not located directly behind the parking space 13, but is positioned offset relative to the parking space 13. In the case of multiple available charging piles 110, the driver can select a specific charging pile 110 through his input to adjust the optimization of the parking position according to the selected charging pile 110.

[0069] The status of the corresponding charging pile 110 can also be visualized in the output unit 11 here. For example, the black or gray charging pile 112 can have an unknown or unavailable status. The green-marked charging pile 110 has an available status, and the red-marked charging pile 113 can indicate a damaged or faulty charging pile 113( Figure 9 andFigure 10 )。

[0070] Figure 9 A schematic diagram showing additional positions of charging piles 110 and 113 in the output unit 11 relative to the parking space 13. Among them, the charging piles 110 and 113 are located on the high ground between the parking spaces 13. Therefore, the charging piles 110 and 113 are arranged on both sides of the parking space. Similarly, Figure 10 A schematic diagram showing additional positions of charging piles 110 and 113 in the output unit 11 relative to the parking space 13, where the exemplary charging piles 110 and 113 are located in the rear area of the parking space 13.

[0071] Figures 11 to 17 A schematic top view of the vehicle environment U is shown for explaining the parking positions according to different parking spaces 13 with charging piles 110. For clarity, the exemplary charging pile 110 can be used for charging the shown vehicle 100 and is not affected by faults or occupied by adjacent vehicles 105 (see Figure 14 ). In the subsequent figures, the driving direction or the front of the vehicle is schematically shown by an arrow.

[0072] Figure 11 The vehicle environment U is shown, in which the parking space 13 with the charging pile 110 is determined based on the received measurement data of the vehicle-side sensor 101 of the vehicle 100. For clarity, the vehicle 100 has been driven to and parked on the parking space 13. This also applies to the subsequent figures.

[0073] The parking space 13 should be regarded here as the surface on which the vehicle 100 can stay during the charging process at the charging pile 110 without causing traffic obstacles to other unshown traffic participants. Therefore, the parking space 13 does not necessarily have to be designated as a parking surface or a parking area, but only needs to have sufficient dimensions for the vehicle 100 and be arranged adjacent to at least one charging pile 110.

[0074] The parking space 13 is determined or detected between two parking space markers 120 recorded by the sensing mechanism 101, and these parking space markers mark the area in front of the charging pile 110. In such cases, the vehicle 100 can be parked on the parking space 13 directly in front of the charging pile 110, basically in the middle, or centered between the parking space markers 120 in order to be able to start the charging process.

[0075] Figure 12Describe another scenario where no parking space markings 120 are present and no vehicle 105 adjacent to the charging pile 110 can be recorded by the vehicle-side sensing mechanism 101. However, in addition to the charging pile 110, a curb 121 can also be detected, which extends in front of the charging pile 110. In such cases, the parking space 13 located in front of or directly in front of the charging pile 110 and oriented substantially at a right angle or orthogonally to the extension of the curb 121 is recorded by the method. This orientation is also shown by the right angle in the figure.

[0076] For example, if another vehicle 105 is detected by the sensing mechanism 101, the inclined orientation or the orientation deviating from the right angle of the parking space 13 and the parking position of the vehicle 100 can also be determined.

[0077] Figure 13 Show another situation where no other hint or indicator of the parking space 13 can be determined by the sensing mechanism 101 except for the charging pile 110. For example, no adjacent vehicle 105, curb 121, and parking space markings 120 for orientation are detected. In such a scenario, the driving direction F during passing by the charging pile 110 during parking space search can be used for the orientation of the vehicle 100 and the determination of the parking space 13. The driving direction F during passing is considered as a vector for the orientation of the geometric extension of the parking space 13, such that the intersection of the midline M of the parking space 13 is formed at a right angle between the charging pile 110 and the driving direction F.

[0078] Figure 14 and Figure 15 Show two scenarios where the parked vehicle 105 is used for orientation and the determination of the parking space 13 adjacent to the parked vehicle 105. In Figure 14 the possible parking space 13 in front of the charging station or charging pile 110 is recorded, where two vehicles 105 are parked beside the charging station or charging pile and form a parking vacancy. The parking space 13 in front of the charging pile 110 is thus bounded by vehicles 105 on both sides. In contrast, in Figure 15 the parking space 13 in front of the charging pile 110 is determined, which is bounded by a parked vehicle 105 on one side.

[0079] Figure 16 Show another scenario of the vehicle environment U, where the parking space 13 between two laterally arranged charging piles 110 is determined. Depending on the occupancy status of the charging piles 110, the vehicle 110 can be parked in the parking space 13 in reverse or forward. In the shown embodiment, no parking space markings 120 are present and no curb 121 exists or can be recorded by the sensor. Similar to Figure 16 In Figure 17 show another scenario where the parking space 13 or parking bay with the charging pile 110 is bounded by a curb 121 in a U-shape.

[0080] Figure 18 and Figure 19 shows a schematic top view of a parking space 13 with a charging pile 110 to illustrate the adjustment of an optimized parking position 103 for a vehicle 100. These figures show Figure 3 and Figure 4 the results of the optimization of the parking position 103 described in. Here, the distance between the vehicle 100 and the charging pile 110 is considered and in particular the distance of the charging socket 104 of the vehicle 100 relative to the charging pile 110. Advantageously, these distances are adjusted such that the cable length of the charging pile 110 allows the plug to be inserted into the charging socket 104 of the vehicle 100. For this purpose, the actual parking position or the optimized parking position 103 of the vehicle 100 is moved and / or rotated relative to the centered parking position 106 on the parking space 13. This translational and / or rotational movement or deviation is shown in Figure 18 and Figure 19 . After optimization, the vehicle 100 is no longer centered or in the middle on the parking space 13 and can occupy an inclined or skewed parking position in order to simplify or enable access to the charging possibility.

[0081] The vehicle 100 can be rotated by an angle α relative to the central axis M of the parking space 13. For example, the angle α can be 0° to 8° depending on the determined dimensions of the parking space 13.

[0082] The figure also shows a lateral deviation or translational deviation d from the median line M. Here, if no lateral boundary, such as a lateral curb 121 or a parking space marking 120, is defined ( Figure 19 ), then the deviation d can be adjusted relative to the median line M of the parking space 13, or if a lateral boundary, such as an adjacent vehicle 105 or a parking space marking 120, defines the parking space 13 on at least one side ( Figure 18 ), then the deviation d can be adjusted relative to these lateral boundaries.

[0083] List of reference numerals

[0084] 100 Vehicle

[0085] 101 Vehicle side sensing mechanism

[0086] 102 Vehicle control device

[0087] 103 Optimized parking position

[0088] 104 Charging socket of the vehicle

[0089] 105 Adjacent vehicle parked next to the parking space

[0090] 106 Centered parking position

[0091] 110 Charging pile / Charging pile that can be used for charging

[0092] 111 Charging cable / Charging connection device of the charging pile

[0093] 112 Unavailable or charging pile in unknown state

[0094] 113 Damaged or faulty charging pile

[0095] 120 Parking space marker

[0096] 121 Curb

[0097] 11 Output unit

[0098] 12 Parking space

[0099] 13 Parking space with a charging pile

[0100] 14 Vehicle trajectory

[0101] F Driving direction after driving

[0102] M Median line / Central axis of the parking space

[0103] U Vehicle environment

Claims

1. A method for automatically and / or semi-automatically parking an electrically drivable vehicle (100) in front of a charging station (110), wherein - based on an evaluation of measurement data of a vehicle-side sensing mechanism (101), at least one parking space (13) and a charging station (110) arranged at the parking space (13) are determined; - Display, via at least one output unit (11) of the vehicle (100), the position of at least one parking space (13) with a charging pile (110) relative to the vehicle (100), wherein, the optimization of the parking position (103) of the vehicle (100) on the parking space (13) is recommended and / or implemented; - the automatic driving of the vehicle (100) on the parking space (13) is selected, and the vehicle (100) is automatically parked in the parking position (103) on the parking space (13) by means of the vehicle-side sensing mechanism (101).

2. The method according to claim 1, wherein, The optimization of the parking position (103) of the vehicle (100) is carried out in the form of a parking position optimized for charging on the parking space (13), wherein the position of the vehicle-side charging socket (104) relative to the charging cable (111) of the charging station (110) is determined, and a parking position (103) is adjusted such that the distance between the vehicle-side charging socket (104) and the charging cable (111) of the charging station (110) is minimized.

3. The method according to claim 1 or 2, wherein Determine the parking space next to a parked vehicle, between two parked vehicles, next to a parking space marking, between two parking space markings, in front of a charging station, between two laterally arranged charging stations, between two charging stations positioned on the curb side, or the parking space next to the charging station laterally.

4. The method according to claim 3, wherein, If no parking space markings and / or parked vehicles for orientation are determined, determine the parking space in front of or in front of the charging station.

5. The method according to claim 3 or 4, wherein, If no parking space markings and / or parked vehicles for orientation are determined, determine the parking space in front of the charging station positioned on the curb side that is substantially orthogonal to the driving direction of the previously traveled route.

6. The method according to any one of claims 1 to 5, wherein Based on an evaluation of the measurement data of the vehicle-side sensing mechanism (101), determine whether the charging station (110) is available for charging the battery of the electrically drivable vehicle (100).

7. The method according to any one of claims 1 to 6, wherein, If a manual intervention is made on the vehicle control device (103) during the automatic parking of the vehicle (100) on the parking space (13) and the vehicle (100) deviates from the parking position (103) optimized for charging, a warning message is output by the output unit (11).

8. The method according to claim 7, wherein An optional correction suggestion is output by the output unit (11), by which the vehicle (100) automatically corrects its position and occupies the parking position (103) optimized for charging.

9. The method according to any one of claims 1 to 8, wherein Based on an evaluation of the measurement data of the vehicle-side sensing mechanism (101), determine the parking environment (U), and visualize it in an abstract form by the output unit (11), wherein the position of the charging station (110) relative to the parking space (13) is visualized by the output unit (11).

10. The method according to claim 9, wherein Identify and visually display a charging pile (110) arranged between two parking spaces (13), or a charging pile (110) arranged directly behind a parking space (13), or a charging pile (110) arranged offset behind a parking space (13), or a charging pile (110) arranged on a raised area relative to a parking space (13), wherein the state of the identified charging piles (110, 112, 113) is visualized by an output unit (11).

11. The method according to claim 9 or 10, wherein, Visually and in a selectable and recommended form, output, by means of the output unit (11), a parking position (103) optimized for charging on a parking space (13).

12. The method according to any one of claims 1 to 11, wherein, The visual output of the output unit (11) can be selected by means of a touch function and / or based on a key input and / or based on a voice input in order to activate a vehicle control device (102) for automated driving of the vehicle (100) on a parking space (12, 13).

13. The method according to claim 12, wherein, Select the information visualized by the output unit (11) in order to generate a control command for the vehicle control device (102), wherein, by means of the generated control command, the parking position (103) is occupied by the vehicle (100) and / or a correction of the parking position (103) is carried out and / or the vehicle is driven to an optimized parking position (103) for facilitating the connection of a charging cable (111) to a charging socket (104).

14. A vehicle (100) having a sensing mechanism (101) for determining measurement data of the vehicle environment (U), a vehicle control device (102) for evaluating the measurement data and for receiving control commands, and at least one output unit (11) for audiovisual output, wherein, The vehicle (100) is configured to carry out the method according to any one of the preceding claims.

15. A vehicle-side output unit (11), in particular in the form of a human-machine interface, which is configured to carry out the method according to any one of claims 1 to 13.

Images