Method for calculating a trajectory, calculating unit, and motor vehicle

Abstract

The invention relates to a method for calculating a trajectory of a motor vehicle (1) using a calculating unit (2) in order to park a motor vehicle (1) by an electric charging column (8) with a charging cable (9) or a charging plug socket. The calculating unit (2) calculates an optimal trajectory into a parking space by the charging column (8) at least on the basis of the position of the charging cable (9) or the charging plug socket at the charging column (8), the position of a charging plug socket (4) on the motor vehicle (1), and the position of the parking space for the charging station (8). The invention also relates to a calculating unit (2) and a motor vehicle (1).

Description

[0001] Description

[0002] Method for calculating a trajectory, calculation unit and motor vehicle

[0003] The invention relates to a method for calculating a trajectory of a motor vehicle for parking a motor vehicle at an electric charging station with a charging cable or a charging socket, a calculation unit and a motor vehicle with such a calculation unit.

[0004] From DE 102020202 334 A1 a method for positioning a vehicle with an inductive charging coil at a stationary inductive charging station is known, comprising the following method steps:

[0005] - Receiving a radio signal, wherein the radio signal represents a relative position of the vehicle to the inductive charging station and / or a relative orientation of the direction of travel of the vehicle to the inductive charging station and / or a determined trajectory of the vehicle to the inductive charging station, and / or

[0006] - Determining a trajectory of the vehicle to a parking position at the inductive charging station depending on a relative position of the vehicle to the inductive charging station and / or a relative orientation of the direction of travel of the vehicle to the inductive charging station, and

[0007] - Storage of the determined or a received trajectory, and

[0008] - Control of the vehicle in the longitudinal and / or transverse direction depending on the stored trajectory.

[0009] The invention is based on the technical problem of providing a method for calculating a trajectory of a motor vehicle for parking a motor vehicle at an electric charging station with a charging cable or a charging socket. A further technical problem is the creation of a calculation unit and a motor vehicle with such a calculation unit. The solution to the technical problem is provided by a method having the features of claim 1, a calculation unit having the features of claim 9, and a motor vehicle having the features of claim 10. Further advantageous embodiments of the invention are set out in the subclaims.A method is proposed for calculating a trajectory of a motor vehicle for parking a motor vehicle at an electric charging station with a charging cable or a charging socket using a calculation unit. The calculation unit calculates an optimized trajectory into a parking space at the charging station depending at least on the position of the charging cable or the charging socket at the charging station, the position of a charging socket on the motor vehicle, and the position of the parking space relative to the charging station. In this context, optimized means that the charging socket of the motor vehicle and the charging cable or the charging socket are optimally aligned with one another, so that the charging process can be carried out very easily and conveniently and, for example, the charging cable does not have to be routed over the motor vehicle.Depending on the situation, this can then result in the motor vehicle being moved forwards or backwards into the parking space or being positioned to the right or left of the charging station. The calculation unit can be located on-board the motor vehicle or externally, for example on a backend or server. The position of the charging cable or charging socket can be recorded by sensors, for example using at least one camera unit. Alternatively or additionally, the charging station or a higher-level infrastructure of the charging station (e.g. a backend) can transmit this information to the calculation unit. The position of the charging socket on the motor vehicle is known in advance. If the calculation unit is in the motor vehicle, this information is available. If, on the other hand, the calculation is carried out externally, the motor vehicle can transmit this information to the calculation unit.The position of the parking space relative to the charging station can be detected using sensors (e.g., using at least one camera unit on the vehicle and / or the infrastructure or charging station). In addition to camera units, ultrasonic, radar, or laser sensors can also be used.

[0010] The trajectory calculated in this way can then be offered to a user on a display unit, for example, which the user can then follow, whereby it can also be provided that the user receives steering torque recommendations.

[0011] In a preferred embodiment, however, the calculated trajectory is automatically followed by the motor vehicle.

[0012] In a further embodiment, the status of the charging station is queried, whereby the calculation is only performed if the status of the charging station is "free". If, on the other hand, the charging station is "occupied" or "defective", an unnecessary calculation of a trajectory can be omitted. The status of the charging station is preferably detected by sensors. Alternatively, a communication connection, in particular a wireless one, is provided between the vehicle and the charging station. This is preferably based on vehicle-to-infrastructure (Car-2-X) technologies. Alternatively, the information is queried via the backend, for which purpose a data connection is established between the vehicle and the backend, preferably via wireless internet access, and the backend is connected to a plurality of charging stations via wireless or wired communication channels and can query the status regularly or event-driven.

[0013] In another embodiment, trajectories to various charging stations are calculated, with only the optimal trajectory being offered. Alternatively, several or all calculated trajectories can be offered to the user, who can then select their preferred trajectory.

[0014] In a further embodiment, a length of the charging cable and / or a parking space type (parallel parking space, perpendicular parking space, herringbone parking space) are additionally taken into account when calculating the trajectory.

[0015] In a further embodiment, a free parking space at a charging station and / or the position of the charging cable or the charging socket at the charging station are detected by means of at least one vehicle-mounted camera unit.

[0016] In a further embodiment, the position of a charging station, the position of a charging cable or charging socket of a charging station, a parking space at a charging station, and / or the status of a charging station are detected by the charging station and transmitted from the charging station or a backend to the calculation unit. The calculation unit can be located in the motor vehicle or externally, for example, on a server or a backend.

[0017] In a further embodiment, a user interface is used to set whether only parking spaces at a charging station should be searched for.

[0018] The calculation unit for calculating a trajectory of a motor vehicle for parking a motor vehicle at an electric charging station with a charging cable or a charging socket is designed to calculate an optimized trajectory into a parking space at the charging station at least as a function of a position of the charging cable or the charging socket at the charging station, a position of a charging socket on the motor vehicle and a position of the parking space relative to the charging station.

[0019] The motor vehicle preferably has such a calculation unit.

[0020] The invention is explained in more detail below using a preferred embodiment. The figures show:

[0021] Fig. 1 is a schematic representation of a motor vehicle and a charging station,

[0022] Fig. 2 is a flowchart of a method for calculating a trajectory,

[0023] Fig. 3 an example parking situation,

[0024] Fig. 4 an exemplary representation of a display and control unit and

[0025] Fig. 5 shows an example of a parking situation without boundary lines.

[0026] Fig. 1 shows a schematic representation of a motor vehicle 1. The motor vehicle 1 has a calculation unit 2, four camera units 3, a charging socket 4, a display and operating unit 5 and a control unit 6 with an antenna 7. The charging socket 4 is arranged at the rear right of the motor vehicle 1. Furthermore, a charging station 8 with a charging cable 9 is shown, with a charging plug 10 arranged at the end of the charging cable 9. The charging station 8 also has an antenna 11 as part of a communication unit, by means of which the charging station 8 can communicate with the motor vehicle 1 and / or a backend 12 with an antenna 13. The communication connection between the charging station 8 and the backend 12 can also be wired. The charging cable 9 is arranged at the top left of the charging station 8.

[0027] Using the camera units 3, the motor vehicle 1 detects the charging station 8 and the position of the charging cable 9. Furthermore, the motor vehicle 1 can also use the camera units 3 to detect whether the charging station 8 is occupied or free. In addition, the charging station can also transmit its status to the motor vehicle 1 or the backend 12, in particular whether it is "free", "occupied", or "defective". Furthermore, the motor vehicle 1 uses the camera units 3 to detect whether there is a parking space at the charging station 8. If this is the case, the calculation unit 2 calculates a trajectory from a current position of the motor vehicle 1 into the parking space so that the charging socket 4 of the motor vehicle 1 is optimally positioned relative to the charging cable 9 with the charging plug 10.The calculation depends on the position of the charging socket 4, the position of the parking space in relation to the charging station 8, and the position of the charging cable 9 at the charging station 8. The type of parking space and / or the length of the charging cable 9 can also be taken into account. The calculated trajectory can then be displayed on the display and control unit 5. It can also be provided that the trajectory is followed automatically by the motor vehicle 1. Alternatively, it can be provided that the user has to take over the longitudinal guidance, whereas the lateral guidance is set automatically by the motor vehicle 1. Communication regarding the billing modalities can also be carried out via the antennas 7, 11. The optimal alignment of the charging socket 4 of the motor vehicle 1 in relation to the charging cable 9 of the charging station 8 makes the charging process very convenient.

[0028] Fig. 2 shows a flow diagram of the method, wherein the method is started in a first step S1. This occurs, for example, via a user input via the display and control unit 5 (see Fig. 1) to search for a charging station 8. In a second step S2, a query is made as to whether a charging station 8 has been detected. If this is the case, a third step S3 checks whether the status of the detected charging station 8 is "free", i.e. not "occupied" or "defective". For this purpose, in the example, a communication connection is established between the detected charging station 8 and the motor vehicle 1. If the status of the charging station 8 is "free", a check is carried out in a step S4 to determine whether a parking space is detected in the area of ​​the charging station 8. If this is the case, a trajectory is calculated in a step S5 in order to optimally align the charging socket 4 of the motor vehicle 1 with the charging cable 9 of the charging station 8.This takes into account the type and location of the parking space relative to the charging station 8, the position of the charging cable 9 at the charging station 8, and the position of the charging socket 4 of the motor vehicle 1. Subsequently, in step S6, the trajectory calculated in this way is offered to the user. It can also be provided that the trajectory is driven fully or partially automatically. The method is then terminated in step S7.

[0029] Fig. 3 shows an example parking position, with four additional charging stations 8 being shown. There are also five free parking spaces P1 - P5, although there is no charging option at the free parking spaces P1 and P2, so these are therefore not offered to the user. In parking spaces P3 - P5, hatched motor vehicles 1 are shown, showing how they must be positioned relative to the charging stations in order to optimally align the respective charging socket 4 with the charging cable 9 of the respective charging station 8. Here, it was again assumed that the charging socket 4 is located at the rear right of the motor vehicle 2.

[0030] Fig. 4 shows the interface of a display and control unit 5. Here, a

[0031] Control element 20 is shown. If this control element 20 is operated, only

[0032] Parking spaces where charging is also available are searched for. The left part of the display and control unit 5 shows the current situation from a bird's eye view. A parking space 21 is shown, but there is no charging option, while both parking spaces 22 and 23 each have charging options. This is symbolized, for example, by the pictograms shown.

[0033] Finally, Fig. 5 shows a situation at a charging station 8 where boundary lines are missing or not visible. In this case, the two parking spaces P1 and P2 are rejected as unsuitable, and parking space P3 is selected and the trajectory is calculated. Fig. 5 shows motor vehicle 1 after completing the trajectory.

[0034] List of reference symbols

[0035] 1) Motor vehicle

[0036] 2) Calculation unit

[0037] 3) Camera units

[0038] 4) Charging socket

[0039] 5) Display and control unit

[0040] 6) Control unit

[0041] 7) Antenna

[0042] 8) Charging station

[0043] 9) Charging cable

[0044] 10) Charging plug

[0045] 11) Antenna

[0046] 12) Back end

[0047] 13) Antenna

[0048] 20) Control element

[0049] 21) Parking space

[0050] 22) Parking space

[0051] 23) Parking space

[0052] P1) - P5) Parking space

[0053] S1) - S7) Steps

Claims

Claims: A method for calculating a trajectory of a motor vehicle (1) for parking a motor vehicle (1) at an electric charging station (8) with a charging cable (9) or a charging socket by means of a calculation unit (2), wherein the calculation unit (2) calculates an optimized trajectory into a parking space at the charging station (8) depending at least on a position of the charging cable (9) or the charging socket at the charging station (8), a position of a charging socket (4) on the motor vehicle (1), and a position of the parking space relative to the charging station (8). A method according to claim 1, characterized in that the calculated trajectory is automatically followed by the motor vehicle (1). A method according to claim 1 or 2, characterized in that the status of the charging station (8) is queried, wherein the calculation is only performed if the status of the charging station (8) is "free".A method according to any of the preceding claims, characterized in that trajectories to various charging stations (8) are calculated, wherein only the optimal trajectory is offered or the various trajectories are offered to a user. A method according to any of the preceding claims, characterized in that, additionally, the length of the charging cable (9) and / or a parking space type are taken into account when calculating the trajectory. A method according to any of the preceding claims, characterized in that a free parking space at a charging station (8) and / or the position of the charging cable (9) or the charging socket at the charging station (8) is detected by means of at least one vehicle-mounted camera unit (3). A method according to any of the preceding claims, characterized in that the position of a charging station (8), a position of a charging cable (9) or a charging socket of a charging station (8), a parking space at a charging station (8), and / or aThe status of a charging station (8) is detected by the charging station (8) and transmitted by the charging station (8) or a backend (12) to the calculation unit (2). A method according to one of the preceding claims, characterized in that a user interface is used to select whether only parking spaces at a charging station (8) should be searched for. A calculation unit (2) for calculating a trajectory of a motor vehicle (1) to park a motor vehicle (1) at an electric charging station (8) with a charging cable (9) or a charging socket, wherein the calculation unit (2) is configured to calculate an optimized trajectory into a parking space at the charging station (8) depending on at least one position of the charging cable (9) or the charging socket at the charging station (8), one position of a charging socket (4) on the motor vehicle (1), and one position of the parking space relative to the charging station (8).Motor vehicle (1), characterized in that the motor vehicle (1) has a calculation unit (2) according to claim 9 as an on-board calculation unit (2).

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