JP2019504595A - 電気道路システムを使用する車両の位置を調整する方法、及びこの方法を使用して運転される車両 - Google Patents
電気道路システムを使用する車両の位置を調整する方法、及びこの方法を使用して運転される車両 Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/19—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire using arrangements for effecting collector movement transverse to the direction of vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/36—Current collectors for power supply lines of electrically-propelled vehicles with means for collecting current simultaneously from more than one conductor, e.g. from more than one phase
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/18—Buses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
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- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
Description
車両の横方向における電流導体基準点に対する集電器の位置を表す第1の距離を決定するステップと、
車両の横方向における車両基準点に対する集電器の位置を示す第2の距離を決定するステップと、
第1の距離及び第2の距離を使用して、車両の横方向における車両基準点と電流導体基準点との間の距離を決定して、道路上の現在の車両位置を決定するステップと、
を連続的に実行することを含んでいる。
第1の検出手段38によって、車両の横方向における電流導体基準点Cに対する集電器34,35,36の位置P1を表す第1の距離X1を決定するステップと、
第2の検出手段36aによって、車両の横方向における車両基準点Rに対する集電器34,35,36の位置P2を表す第2の距離X2を決定するステップと、
第1の距離X1及び第2の距離X2を使用して、車両の横方向における車両基準点Rと電流導体基準点Cとの間の距離を決定して、道路上の現在の車両位置を決定するステップと、
を連続的に実行することを含んでいる。
Claims (15)
- 道路(31)の一端(32)から所定の横方向距離(D1)にある、前記道路(31)の表面の所定位置(C)に設置された電流導体(33)から電力を伝達するように構成された集電器(34,35,36)と、
前記集電器に隣接して配置され、電流導体基準点(C)に対する前記集電器の位置を示す信号を生成するように構成された少なくとも1つの第1の検出手段(38;38’,39a,39b)と、
車両に対する前記集電器(34,35,36)の位置を検出する少なくとも1つの第2の検出手段(36a)と、
を備え、
前記集電器(34,35,36)は、前記車両に対して移動可能に配置され、前記生成された信号に応じて前記電流導体(33)を追跡する、車両(30)を制御する方法であって、
前記車両の横方向において前記電流導体基準点(C)に対する前記集電器(34,35,36)の位置(P1)を表す第1の距離(X1)を決定するステップと、
前記車両の前記横方向において車両基準点(R)に対する前記集電器(34,35,36)の位置(P2)を表す第2の距離(X2)を決定するステップと、
前記第1の距離(X1)及び前記第2の距離(X2)を使用して、前記車両の前記横方向において前記車両基準点(R)と前記電流導体基準点(C)との間の距離を決定して、前記道路上の現在の車両位置を決定するステップと、
を連続的に実行することを特徴とする方法。 - 前記決定された距離に応じて車両操舵支援システム(49)を制御して、前記車両を前記道路上の希望の位置に維持する、
ことを特徴とする請求項1に記載の方法。 - 前記決定された距離が所定の限度を超える場合、前記決定された距離に応じて前記操舵支援システム(49)を制御する、
ことを特徴とする請求項2に記載の方法。 - 前記決定された距離に応じて前記操舵支援システム(49)を制御して、駐車操作、後退操作又は操車操作中に、前記車両を希望の位置に案内する、
ことを特徴とする請求項2又は3に記載の方法。 - 前記決定された距離が所定の限度を超える場合、前記決定された距離に応じて運転者通知信号を生成する、
ことを特徴とする請求項1〜4のいずれか1つに記載の方法。 - 前記決定された現在の車両位置を少なくとも1つの付加的な車載の前方データ収集システムからの入力信号と比較して、前記車両位置を確認する、
ことを特徴とする請求項1〜5のいずれか1つに記載の方法。 - 前記決定された現在の車両位置を少なくとも1つの付加的な車載の前方データ収集システムからの入力信号と比較して、前記付加的な前方データ収集システムの機能を検証する、
ことを特徴とする請求項1〜6のいずれか1つに記載の方法。 - 前記検証が失敗の場合、少なくとも1つの付加的な車載の前方データ収集システムからの入力信号に代えて、前記決定された現在の車両位置を使用する、
ことを特徴とする請求項7に記載の方法。 - 道路(31)の一端(32)から所定の横方向距離(D1)にある、前記道路(31)の表面の所定の横方向位置(C)に設置された電流導体(33)から電力を伝達するように構成された集電器(34,35,36)と、
前記集電器に隣接して配置され、電流導体基準点(C)に対する前記集電器の位置を示す信号を生成するように構成された少なくとも1つの第1の検出手段(38;38’,39a,39b)と、
前記集電器(34,35,36)の位置を検出する少なくとも1つの第2の検出手段(36a)と、
を備え、
前記集電器(34,35,36)は、車両に対して移動可能に配置され、前記生成された信号に応じて前記電流導体(33)を追跡する、車両(30)であって、
電子制御ユニット(42)は、
前記車両の横方向において前記電流導体基準点(C)に対する前記集電器(34,35,36)の位置(P1)を表す、前記第1の検出手段からの信号を監視し、
前記車両の前記横方向において車両基準点(R)に対する前記集電器(34,35,36)の位置(P2)を表す、前記第2の検出手段からの信号を監視し、
前記第1の検出手段及び前記第2の検出手段からの信号に基づいて、前記車両の前記横方向において前記車両基準点(R)と前記電流導体基準点(C)との間の距離を決定して、前記道路上の現在の車両位置を決定するように構成された、
ことを特徴とする車両。 - 前記電子制御ユニット(42)は、前記決定された距離に応じて操舵支援システム(43)を制御して、前記車両を前記道路上の希望の位置に維持するように構成された、
ことを特徴とする請求項9に記載の車両。 - 前記第2の検出手段(38)は、横方向に移動可能な集電器(34,35,36)の位置を検出するように構成されたリニアセンサである、
ことを特徴とする請求項9又は10に記載の車両。 - 前記第2の検出手段は、前記集電器(34,35,36)を支持する枢動可能なアームの角度位置を検出するように構成された角度センサである、
ことを特徴とする請求項9又は10に記載の車両。 - プログラムがコンピュータで実行されるとき、道路上の車両位置を決定する請求項1〜8のいずれかのステップを実行する、プログラムコード手段を含んだコンピュータプログラム。
- プログラム製品がコンピュータで実行されるとき、道路上の車両位置を決定する請求項1〜8のいずれかのステップを実行する、プログラムコード手段を含んだコンピュータプログラムを保持するコンピュータ可読媒体。
- 道路上の車両位置を決定する制御ユニットであって、
請求項1〜8のいずれかに記載の方法のステップを実行するように構成された、制御ユニット。
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Application Number | Priority Date | Filing Date | Title |
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PCT/EP2015/080541 WO2017102029A1 (en) | 2015-12-18 | 2015-12-18 | A method for positioning a vehicle using an electric road system and a vehicle operated using this method |
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JP6602683B2 (ja) * | 2016-02-05 | 2019-11-06 | 株式会社東芝 | 充電装置および位置ずれ検出方法 |
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EP3582992B1 (en) * | 2017-02-15 | 2021-02-03 | Volvo Truck Corporation | An arrangement and method for active alignment control of a contact element |
WO2019007528A1 (en) * | 2017-07-07 | 2019-01-10 | Volvo Truck Corporation | CHARGE SENSOR ASSEMBLY FOR VEHICLE AXLE |
US10850634B2 (en) * | 2017-10-20 | 2020-12-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Multi-turn configurable grid charging coil |
FR3078045B1 (fr) * | 2018-02-22 | 2021-03-05 | Renault Sas | Dispositif et procede d'aide a la conduite d'un vehicule automobile |
US11214163B2 (en) * | 2018-12-04 | 2022-01-04 | Cisco Technology, Inc. | Coil association in multisite stationary wireless power transfer (WPT) and (quasi-)dynamic WPT deployments |
CN113167894B (zh) * | 2018-12-18 | 2024-02-06 | 沃尔沃卡车集团 | 用于确定车辆的坐标的方法 |
SE543025C2 (en) * | 2019-06-13 | 2020-09-29 | Elonroad Ab | Method, control circuit and control system for guiding a sliding contact of a vehicle to collect electrical power |
FR3102953B1 (fr) * | 2019-11-08 | 2023-01-06 | Alstom Transp Tech | Système, et procédé, d’alimentation par le sol pour des véhicules électriques non guidés |
US11505077B2 (en) * | 2020-05-27 | 2022-11-22 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for wireless vehicle power transfer and misalignment estimation |
SE544368C2 (en) * | 2020-06-01 | 2022-04-26 | Elonroad Ab | An electric power collector |
FR3129114A1 (fr) | 2021-11-17 | 2023-05-19 | Alstom Transport Technologies | Procédé de détermination d’une position latérale d’un collecteur par rapport à un rail alimenté en énergie électrique, dispositif de détermination et véhicule associés |
US11999252B2 (en) * | 2022-01-20 | 2024-06-04 | Ford Global Technologies, Llc | Roadway charging coil alignment and monitoring |
US20230322108A1 (en) * | 2022-04-08 | 2023-10-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Movable receiver coil for improved wireless coupling & charging |
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EP3390136A1 (en) | 2018-10-24 |
EP3390136B1 (en) | 2020-08-19 |
JP6739533B2 (ja) | 2020-08-12 |
KR20180095022A (ko) | 2018-08-24 |
US11163313B2 (en) | 2021-11-02 |
US20180356833A1 (en) | 2018-12-13 |
WO2017102029A1 (en) | 2017-06-22 |
CN108367684A (zh) | 2018-08-03 |
CN108367684B (zh) | 2022-01-04 |
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