CONTROLLING THE TRAJECTORIES OF A MOBILE UNIT TOWARDS A TARGET LOCATION OF A VEHICLE

Abstract

A method controls the trajectory in a parking space of a mobile unit, comprising at least one receiver receiving signals and a sensor acquiring environmental data, up to a final location corresponding to a target location of a vehicle frequently parked in the parking space and emitting signals defining the target location. This method comprises a step (10-30) in which a final area of ​​the parking space is determined based on selected data of trajectories previously followed by the mobile unit, then the mobile unit is made to follow a target trajectory making it possible to reach this determined final area, then the mobile unit is moved to a final location corresponding to the target location of the parked vehicle based on the received signals and the acquired environmental data. Figure 4.

Description

Title of the invention: CONTROL OF THE TRAJECTORIES OF A MOBILE UNIT TOWARDS A TARGET LOCATION OF A VEHICLE Technical field of the invention

[0001] The invention relates to mobile boxes which have to move to a final location corresponding to a target location of a vehicle parked in a parking space, and more precisely to the control of the trajectories of such mobile boxes. State of the art

[0002] Some places include at least one parking space in which at least one user frequently parks at least one vehicle. This is the case, for example, of private garages (indoor or outdoor).

[0003] Such places are sometimes equipped with a so-called "autonomous" mobile box because it is capable of moving autonomously in a parking space to a final location corresponding to a target location of a parked vehicle, in order to interact with the latter. Generally, but not exclusively, this interaction is intended to recharge at least one rechargeable battery of the parked vehicle, for example by induction or by conduction. In this case, the place is equipped with a recharging system comprising a control and current supply base to which the mobile box is coupled via a power cable.

[0004] The mobile housing comprises at least one receiver capable of receiving signals emitted by the vehicle and defining its target location, at least one sensor capable of acquiring environmental data, and movement means responsible for moving it autonomously according to commands. These commands are generated by an on-board computer according to the signals received and the environmental data acquired. All of these commands allow the mobile housing to move from an initial location (such as, for example, a storage location located next to the base) to a final location corresponding to the target location of the vehicle (and, for example, located under this target location). The successive positions of this mobile housing between these initial and final locations constitute a trajectory.

[0005] The determination of each command currently requires processing of the received signals and the acquired environmental data in order to determine the position of the vehicle (and more precisely its target location) relative to the mobile box. Each processing operation induces a consumption of electrical energy and requires a certain amount of time, in particular due to the variability of the intensities and precisions of the received signals and the acquired environmental data depending on the distance separating the mobile box from the target location and from the technologies used to emit signals and acquire environmental data. All these treatments delay the start of the interaction between the mobile box and the vehicle, and therefore, in the case of recharging, significantly increase the duration of the complete recharging phase (which begins at the moment when recharging was decided by the vehicle driver).

[0006] The invention therefore aims in particular to improve the situation. Presentation of the invention

[0007] It proposes in particular for this purpose a method intended to allow the control of the trajectory in a parking space of a mobile box, comprising at least one receiver capable of receiving signals and a sensor capable of acquiring environmental data, up to a final location corresponding to a target location of a vehicle frequently parked in this parking space and emitting signals defining the target location.

[0008] This control method is characterized by the fact that it comprises a step in which, when the mobile unit must reach a target location, a final zone of the parking space is determined as a function of selected data of trajectories previously followed by the mobile unit, then the mobile unit is made to follow a target trajectory making it possible to reach this determined final zone, then the mobile unit is moved to a final location corresponding to the target location of the parked vehicle as a function of the signals received and the acquired environmental data.

[0009] Thus, the time required for the mobile unit to complete the longest part of its movement (up to the final zone) is significantly reduced, since the actual position of the target location is not considered, which makes it possible to reduce the consumption of electrical energy and the time preceding the start of the interaction between the mobile unit and the vehicle.

[0010] The control method according to the invention may include other characteristics which may be taken separately or in combination, and in particular:

[0011] - in a first embodiment, in its step, data can be used which are representative of the final locations of the trajectories previously followed by the mobile box;

[0012] - in this first embodiment, in its step, an analysis can be carried out statistics of the positions of the final locations in order to determine an area having a greater probability of presence of final locations, this determined area constituting the final area;

[0013] - in the presence of the last sub-option, in its step, we can constrain the zone having the highest probability of presence of end locations to have a chosen radius;

[0014] - in the presence of the last sub-option, in its step, we can choose the radius in function of a number of trajectories previously followed by the mobile box;

[0015] - in a second embodiment, in its step, data can be used which fully define the trajectories previously followed by the mobile box, then we can determine an average trajectory, the latter ending in a place constituting the final zone;

[0016] - in its step, we can determine the target trajectory, then we can make the mobile box this target trajectory;

[0017] - in its step, we can adapt the target trajectory according to the data acquired environment;

[0018] - in the presence of the last option, in its step, we can adapt the target trajectory from a chosen distance separating the mobile box from a chosen location in the final zone.

[0019] The invention also proposes a computer program product comprising a set of instructions which, when executed by processing means, is capable of implementing a control method of the type presented above, in a mobile box comprising at least one receiver capable of receiving signals and a sensor capable of acquiring environmental data, to control the trajectory of this mobile box in a parking space to a final location corresponding to a target location of a vehicle frequently parked in this parking space and emitting signals defining this target location.

[0020] The invention also proposes a control device suitable for equipping a mobile box, on the one hand, comprising at least one receiver suitable for receiving signals and a sensor suitable for acquiring environmental data, and, on the other hand, suitable for moving in a parking space to a final location corresponding to a target location of a vehicle frequently parked in this parking space and emitting signals defining this target location.

[0021] This control device is characterized by the fact that it comprises at least one processor and at least one memory arranged to carry out the operations consisting, when the mobile unit must reach a target location, in determining a final zone of the parking space as a function of data chosen from trajectories previously followed by the mobile unit, then in generating commands suitable for making the mobile unit follow a target trajectory making it possible to reach this determined final zone, then in generating commands suitable for causing the mobile unit to move to a final location corresponding to the target location of the parked vehicle as a function of the signals received and the acquired environmental data.

[0022] The invention also proposes a mobile housing comprising, on the one hand, at least one receiver capable of receiving signals and a sensor capable of acquiring data. environment, and, on the other hand, a control device of the type presented above, and capable of moving in a parking space to a final location corresponding to a target location of a vehicle frequently parked in this parking space and emitting signals defining the target location. Brief description of the figures

[0023] Other characteristics and advantages of the invention will appear on examining the detailed description below, and the appended drawings, in which:

[0024] [Fig-1] schematically and functionally illustrates, in a top view, a private garage comprising a parking space for a vehicle and equipped with a charging system comprising an exemplary embodiment of a mobile box according to the invention,

[0025] [Fig.2] schematically and functionally illustrates, in a top view, different trajectories followed by the mobile box according to the invention in the parking space of [Fig.l], and a final zone determined thanks to the implementation of the control method according to the invention,

[0026] [Fig.3] schematically and functionally illustrates an exemplary embodiment of a calculator comprising an exemplary embodiment of a control device according to the invention, and

[0027] [Fig.4] schematically illustrates an example of an algorithm implementing the control method according to the invention. Detailed description of the invention

[0028] The invention aims in particular to propose a control method, and an associated control device DC, intended to allow control of the trajectory of a mobile box BM in a parking space ES up to a final location corresponding to a target location EC of a vehicle V frequently parked in this parking space ES, and a reduction in the duration of this trajectory.

[0029] In the following, it is considered, by way of non-limiting example, that the vehicle V is of the automobile type. It is for example a car, as illustrated non-limitingly in [Fig.l]. But the invention is not limited to this type of vehicle. It in fact relates to any type of vehicle that must interact with a mobile box when it is parked in a parking space. Consequently, it also relates to utility vehicles, coaches (or buses), trucks, trams, construction machinery, agricultural vehicles, road machinery, and aircraft (and in particular ULMs (“Ultra Light Motorized”), drones, helicopters, and flying taxis).

[0030] Furthermore, it is considered in the following, by way of non-limiting example, that the vehicle V comprises an all-electric powertrain. But the vehicle could include a plug-in hybrid type powertrain, i.e. comprising at least one thermal motor and at least one electric motor coupled to at least one rechargeable battery, or a fuel cell, or a purely thermal type.

[0031] Finally, it is considered in the following, by way of non-limiting example, that the mobile box BM is part of a charging system SR also comprising a control and current supply base BCA to which the mobile box (here charging) BM is coupled via a power cable AC. But the invention is not limited to this type of mobile box. It in fact relates to any type of autonomous mobile box that must interact with a vehicle parked in a parking space.

[0032] [Fig.l] schematically shows a private garage GP comprising an ES parking space and an SR charging system.

[0033] It will be noted that the invention relates to any place comprising at least one parking space for a vehicle in which a mobile box BM (for example of an SR charging system) can move. It will also be noted that the parking space can be indoor or outdoor, public or private. Consequently, the place comprising the parking space can be covered or uncovered, such as for example a parking lot, a garage, a building, a factory, a heliport or an aerodrome.

[0034] Although this only appears partially in Figures 1 and 2, a mobile housing BM, according to the invention, comprises a mobile body CM comprising movement means, at least one computer CB, at least one receiver RS ​​capable of receiving signals emitted by the vehicle V and defining a target location EC of the latter (V), at least one sensor Cl capable of acquiring environmental data, and, when it is suitable for recharging, first recharging means.

[0035] It is considered in the following, by way of non-limiting example, that the recharges are done by induction. Consequently, the first recharge means of the mobile housing BM comprise in particular a primary circuit intended to cooperate with a secondary circuit forming part of second recharge means equipping the vehicle V and making it possible to recharge at least one rechargeable battery of the latter (V). But the recharges could be done by conduction.

[0036] Furthermore, it is considered in the following, by way of non-limiting example, that the signals emitted by the vehicle V (and defining its target location EC where the secondary circuit is installed) are radio signals. But they could be light signals, for example, and in this case the signal receiver RS ​​can be a digital camera or a photodetector.

[0037] Furthermore, it is considered in the following, by way of non-limiting example, that the environmental data acquired by the sensor C1 are digital images. Consequently, the sensor C1 is an on-board digital camera. But the (each) sensor Cl could be of another type, and in particular it could be a radar or a lidar, for example. What is important is that it is arranged in such a way as to acquire in an acquisition zone data which are representative of the environment of the mobile box BM.

[0038] The computer CB is responsible for determining movement commands for the movement means, in particular as a function of the environment which is defined by the environmental data acquired by the (each) sensor C1 and the signals received by the signal receiver RS. The computer CB comprises in particular analysis circuits which are responsible for analyzing the acquired environmental data and the received signals in order to locate the parked vehicle V and its target location EC, or a possible obstacle (such as for example a vehicle wheel or a person's foot or even an object placed on the ground) in the observed environment, as well as possibly movements of objects relative to the mobile housing BM.

[0039] The initial location (or position) of the mobile housing BM may, for example and as illustrated non-limitingly in [Fig.l], be located just next to the base BCA. In this case, it constitutes a storage location (or position). But this is not obligatory.

[0040] The movement means are arranged so as to allow the mobile unit BM to move autonomously in the parking space ES to a final location corresponding to the target location EC (here recharging) of the parked vehicle V. These movements are made according to commands which are determined by the computer CB.

[0041] The movement means may comprise, for example, rotatably mounted wheels (possibly holonomic (or omnidirectional)), or else caterpillars, and electric motors driving these wheels or caterpillars and, for example, powered by a battery, preferably rechargeable, of the mobile housing BM.

[0042] In the case of induction charging, the primary circuit CP is responsible for transferring by induction electrical energy produced from a current which is supplied by the AC power cable (connected to the BCA base).

[0043] The AC power cable is preferably coupled to an automatic reel responsible for reeling it, preferably in a controlled manner, so that it remains substantially taut during movements of the mobile housing BM. For example, this automatic reel may be part of the mobile housing BM. But it could be housed in the internal space of the BCA base.

[0044] The primary circuit is coupled to a power source of the BCA base via the AC power cable. It is here responsible for recharging at least one rechargeable battery of the parked vehicle V, once the mobile box BM has positioned itself at a final location (here for recharging) allowing its coupling (here by induction) to the secondary circuit of this vehicle V which is coupled to its rechargeable battery.

[0045] The primary circuit comprises a primary coil associated with a capacitor and capable of being supplied with current by the AC power cable, in order to transform this current into electrical energy and to transfer this electrical energy by induction to the secondary circuit of the vehicle V.

[0046] The power supply source of the BCA base may be a wall box (allowing the current intensity to be varied), for example, connected to an electrical supply network (or mains) and responsible for the distribution of electrical energy and protection (circuit breakers, fuses, differential protection), or an electrical supply network (or mains).

[0047] The secondary circuit is installed under the vehicle V at the target location EC, and also comprises a capacitor associated with a secondary coil, which is capable of transforming the electrical energy, transferred by the primary circuit of the mobile box BM, into recharging current for the rechargeable battery.

[0048] It will be noted that the mobile housing BM can also comprise at least one mechanism to which is secured a support on which is installed (here) the primary circuit, and making it possible to move this support relative to the mobile housing BM in order to precisely position (here) the primary circuit relative to the secondary circuit (and therefore the target location EC).

[0049] As mentioned above, the invention proposes in particular a control method intended to allow the control of the trajectory of the mobile box BM in the parking space ES up to a final location corresponding to the target location EC of the vehicle V which is frequently parked in this parking space ES.

[0050] This (control) method can be implemented at least partially by the control device DC (illustrated at least partially in FIGS. 1 to 3) which comprises for this purpose at least one processor PR1, for example a digital signal processor (or DSP ("Digital Signal Processor")), and at least one memory MD. This control device DS can therefore be produced in the form of a combination of electrical or electronic circuits or components (or "hardware") and software modules (or "software"). For example, it can be a microcontroller.

[0051] The memory MD is live in order to store instructions for the implementation by the processor PR1 of at least part of the control method. The processor PR1 may comprise integrated (or printed) circuits, or several integrated (or printed) circuits connected by wired or wireless connections. An integrated (or printed) circuit is understood to mean any type of device capable of carrying out at least one electrical or electronic operation.

[0052] In the example illustrated non-limitingly in Figures 1 and 2, the control device DC is part of the computer CB. But this is not obligatory. Indeed, the control device DC could comprise its own dedicated computer, which is then coupled to the computer CB, or could be part of another computer embedded in the mobile housing BM, for example.

[0053] As illustrated non-limitingly in [Fig.4], the (control) method, according to the invention, comprises a step 10-30 which is implemented each time a recharge has been decided by the driver of the vehicle V which is parked (or in the process of being parked) in the parking space ES.

[0054] Step 10-30 of the method comprises a sub-step 10 in which, when the mobile unit BM has to reach a target location EC (of the vehicle V), one (the control device DC) begins by determining a final zone ZF of the parking space ES as a function of selected trajectory data TE which have been previously followed by the mobile unit BM.

[0055] Step 10-30 of the method also comprises a sub-step 20 in which the mobile unit BM is made to follow a target trajectory TC which allows it to reach the final zone ZF which has just been determined in sub-step 10 (see [Fig.2]). It will be understood that in this sub-step 20 the control device DC generates commands which are suitable for making the mobile unit BM follow the target trajectory TC which allows it to reach the determined final zone ZF.

[0056] It is important to note that depending on the implementation chosen, the mobile box BM can start to follow the target trajectory TC either once the vehicle V is actually parked, or while the vehicle V is being parked if the control device DC has been informed of the request (here for recharging) from the driver before parking.

[0057] It will also be noted that the mobile box BM can be moved until it reaches the edge of the determined final zone ZF, or until it reaches a chosen location inside the determined final zone ZF, such as for example its center (as is the case in the example illustrated in [Fig.2]).

[0058] Step 10-30 of the method also comprises a sub-step 30 in which the mobile box BM is moved to a final location which corresponds to the target location EC of the parked vehicle V, as a function of the signals received by the signal receiver RS ​​(and emitted by the vehicle V) and the environmental data acquired by the sensor CL. It will be understood that in this sub-step 30 the control device DC generates commands which are suitable for causing the mobile box BM to move to the final location corresponding to the target location EC.

[0059] In other words, the movement of the mobile box BM is carried out in two phases, a first in which we reach a final zone ZF without worrying about the actual position of the target location EC, which makes it possible to significantly reduce the number of treatments to be carried out and therefore the duration of the first part of the trip which is the longest, and a second in which the target location EC is reached by carrying out the classic treatments for a second part of the trip which is (very) short. This makes it possible to reduce not only the electrical energy consumption, but also the time required for the mobile box BM to reach the target location EC, and therefore the time preceding the start of the interaction (here recharging) between the mobile box BM and the vehicle V.

[0060] It will be noted that the first phase (up to the final zone ZF) can possibly begin even while the vehicle V is being parked, while the second phase (between the final zone ZF and the target location EC) can only begin once the vehicle V is parked.

[0061] At least two embodiments can be envisaged.

[0062] In a first embodiment, in sub-step 10 on (the device of DC control) can use data which are representative, only, of the final locations EF of the trajectories TE previously followed by the mobile box BM. It will be understood that this first embodiment requires that the actual positions of the final locations EF be recorded (or stored) in the mobile box BM (for example in the DC control device or the CB calculator).

[0063] For example, in the first embodiment, in sub-step 10 one (the control device DC) can perform a statistical analysis of the positions of the final locations EF of the trajectories TE in order to determine the zone which has the greatest probability of presence of final locations EF. In this case, this determined zone constitutes the final zone ZF. It will be noted that other types of statistical analysis, known to those skilled in the art, can be performed on the positions of the final locations EF of the trajectories TE. Thus, one could choose the zone in which the standard deviation between final locations EF is the smallest, for example. The objective of the statistical analysis of positions is in fact to determine the zone in which the target location EC has been most often detected, until now.

[0064] It will also be noted that in the first embodiment, in sub-step 10 one (the control device DC) can constrain the zone having the greatest probability of presence of final locations EF to have a chosen radius. In this case, in sub-step 10 one (the control device DC) can, for example, choose the radius according to the number of trajectories TE previously followed by the mobile box BM. Preferably, the greater the number of trajectories TE, the smaller the radius can be chosen because the greater the number of final locations EF that it will contain.

[0065] In a second embodiment, in sub-step 10 one (the DC control device) can use data which fully define the trajectories TE previously followed by the mobile box BM. In this case, in substep 10 we (the control device DC) determine an average trajectory. The latter ends at a location which constitutes the final zone ZF, and may also possibly constitute the target trajectory TC. This final zone ZF is therefore not very extensive (it may even be a precise position within the parking space ES).

[0066] It will be understood that this second embodiment requires that the (position) data which fully define the trajectories TE be recorded (or stored) in the mobile box BM (for example in the control device DC or the computer CB).

[0067] Also for example, in sub-step 10 one (the control device DC) can also determine the target trajectory TC, then in sub-step 20 one can make the mobile box BM follow this target trajectory TC. But one can proceed differently. Indeed, once the final zone ZF is determined, the target trajectory TC going to this final zone ZF can be constructed as the mobile box BM moves, for example.

[0068] Also for example, in sub-step 20 one (the control device DC) can adapt the target trajectory TC according to the environmental data acquired by the sensor C1 during its movement towards the final zone ZF. This option can make it possible to avoid an obstacle present on the target trajectory TC and detected during the analysis of the environmental data acquired by the sensor C1. However, it requires the performance of processing operations which can increase the duration of the movement of the mobile box BM to the determined final zone ZF.

[0069] In order for this last increase to be as penalizing as possible in terms of duration, in sub-step 20 one (the control device DC) can adapt the target trajectory TC from a chosen distance separating the mobile box BM from a chosen location of the final zone ZF, for example.

[0070] It will also be noted, as illustrated non-limitingly in [Fig. 2], that the computer CB (or the computer of the control device DC) may also comprise a mass memory MM1, in particular for storing the actual positions of at least the final locations EF of the trajectories TE followed by the mobile unit BM as well as any intermediate data involved in all its calculations and processing. Furthermore, this computer CB (or the computer of the control device DC) may also comprise an input interface IE for receiving at least the actual positions of at least the final locations EF as well as possibly the environmental data for use in calculations or processing, possibly after having formatted and / or demodulated and / or amplified them, in a manner known per se, by means of a digital signal processor PR2.In addition, this CB calculator (or the calculator of the DC control device) may also include an output interface. IS, in particular to deliver messages containing movement commands for the movement means of the BM mobile box.

[0071] It will also be noted that the invention also proposes a computer program product (or computer program) comprising a set of instructions which, when executed by processing means of the electronic circuit (or hardware) type, such as for example the processor PR1, is capable of implementing the control method described above to control the trajectory of the mobile box BM in the parking space ES up to a final location corresponding to the target location EC of the vehicle V.

Claims

Claims

1. Method for controlling the trajectory in a parking space (ES) of a mobile unit (BM), comprising at least one receiver (RS) capable of receiving signals and a sensor (Cl) capable of acquiring environmental data, up to a final location corresponding to a target location (EC) of a vehicle (V) frequently parked in said parking space (ES) and emitting signals defining said target location (EC), these signals being received by the receiver (RS), characterized in that it comprises a step (10-30) in which, when said mobile unit (BM) must reach a target location (EC),- a final zone (ZF) of said parking space (ES) is determined by using data representative of the final locations of said trajectories previously followed by said mobile unit (BM) and by carrying out a statistical analysis of the positions of said final locations in order to determine a zone having a greater probability of presence of final locations, this determined zone constituting said final zone (ZF), - then said mobile unit (BM) is made to follow a target trajectory making it possible to reach said determined final zone (ZF), - then said mobile unit (BM) is moved to a final location corresponding to said target location (EC) of the parked vehicle (V) according to said received signals and said acquired environmental data.,

2. Method according to claim 1, characterized in that in said step (10-30) data are used which fully define said trajectories previously followed by said mobile box (BM), then an average trajectory is determined, the latter ending in a place constituting said final zone (ZF).

3. Method according to claim 1 or 2, characterized in that in said step (10-30) said target trajectory is determined, then said mobile housing (BM) is made to follow this target trajectory.

4. Method according to one of claims 1 to 3, characterized in that in said step (10-30) said target trajectory is adapted as a function of said acquired environmental data.

5. Method according to claim 4, characterized in that in said step (10-30) said target trajectory is adapted from a distance

6.

7. chosen separating said mobile box (BM) from a chosen location of said final zone (ZF). Computer program product comprising a set of instructions which, when executed by processing means, is capable of implementing the control method according to one of claims 1 to 5, in a mobile box (BM) comprising at least one receiver (RS) capable of receiving signals and a sensor (Cl) capable of acquiring environmental data, to control the trajectory of said mobile box (BM) in a parking space (ES) to a final location corresponding to a target location (EC) of a vehicle (V) frequently parked in said parking space (ES) and emitting signals defining said target location (EC). Control device (DC) for a mobile box (BM) comprising at least one receiver (RS) capable of receiving signals and one sensor (Cl) capable of acquiring environmental data, and capable of moving in a parking space (ES) to a final location corresponding to a target location (EC) of a vehicle (V) frequently parked in said parking space (ES) and emitting signals defining said target location (EC), these signals being received by the receiver (RS), characterized in that it comprises at least one processor (PR) and at least one memory (MD) arranged to carry out the operations consisting, when said mobile box (BM) must reach a target location (EC),determining a final zone (ZF) of said parking space (ES) by using data representative of the final locations of said trajectories previously followed by said mobile unit (BM) and by carrying out a statistical analysis of the positions of said final locations in order to determine a zone having a greater probability of presence of final locations, this determined zone constituting said final zone (ZF), then generating commands suitable for making said mobile unit (BM) follow a target trajectory making it possible to reach said determined final zone (ZF), then generating commands suitable for causing said mobile unit (BM) to move to a final location corresponding to said target location (EC) of the parked vehicle (V) as a function of said received signals and said acquired environmental data.,

8. Mobile housing (BM) comprising at least one receiver (RS) capable of receiving signals and one sensor (Cl) capable of acquiring environmental data, and capable of moving in a parking space (ES) to a final location corresponding to a target location (EC) of a vehicle (V) frequently parked in said parking space (ES) and emitting signals defining said target location (EC), characterized in that it further comprises a control device (DC) according to claim 7.

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