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WO2009037018A2 - Driverless electric vehicle - Google Patents

Driverless electric vehicle Download PDF

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Publication number
WO2009037018A2
WO2009037018A2 PCT/EP2008/059167 EP2008059167W WO2009037018A2 WO 2009037018 A2 WO2009037018 A2 WO 2009037018A2 EP 2008059167 W EP2008059167 W EP 2008059167W WO 2009037018 A2 WO2009037018 A2 WO 2009037018A2
Authority
WO
WIPO (PCT)
Prior art keywords
unit
electric vehicle
user
driverless electric
vehicle according
Prior art date
Application number
PCT/EP2008/059167
Other languages
German (de)
French (fr)
Other versions
WO2009037018A3 (en
Inventor
Johannes Eschler
Winfried Koenig
Irene Suessemilch
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2009037018A2 publication Critical patent/WO2009037018A2/en
Publication of WO2009037018A3 publication Critical patent/WO2009037018A3/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • 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
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/14—Supplying electric power to auxiliary equipment of vehicles to electric lighting circuits
    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0007—Measures or means for preventing or attenuating collisions
    • B60L3/0015—Prevention of collisions
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • 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
    • 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
    • B60L53/14—Conductive energy transfer
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/30—Trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B60L2240/622—Vehicle position by satellite navigation
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/12—Driver interactions by confirmation, e.g. of the input
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/20—Driver interactions by driver identification
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/30—Driver interactions by voice
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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    • Y02T90/14—Plug-in electric vehicles
    • 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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    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the invention relates to a driverless electric vehicle with the features mentioned in the preamble of claim 1.
  • Such an electric vehicle is known for example from the sport of golf, in which the driverless electric vehicle referred to as a "golf caddy” or as a “golf trolley” serves to pick up and transport loads.
  • the driverless electric vehicle referred to as a "golf caddy” or as a “golf trolley” serves to pick up and transport loads.
  • a battery supplying the drive motor with electrical energy and a control for processing control signals are provided.
  • the driverless electric vehicle is navigable.
  • driverless transport vehicles are known from the industrial sector, which also have components for driving, power supply and control and can be part of a holistic driverless transport system. Such transport vehicles belong to the class of floor-bound funding, in which the drive is automatically controlled and guided without contact. Driverless transport vehicles are used for material transport, in particular for pulling or carrying goods with active or passive load handling devices.
  • driverless vehicles which provide services for humans.
  • This type of vehicle is mainly used in private households. Examples of applications that may be mentioned include vacuuming, lawn mowing and building and facility monitoring.
  • This type of vehicle has various functional units for Drive, power supply and control on. For all of the aforementioned types of vehicles, however, a lack of user reference can be determined.
  • the driverless electric vehicle according to the invention with the features mentioned in claim 1 offers the advantage that a steady reference to the vehicle user is given with a needs-based interaction.
  • an interaction between the user and the vehicle is made possible without requiring permanent and / or direct user / vehicle contact.
  • the detection unit is used in particular to ensure that the vehicle, apart from special functions, always stays in the vicinity of the identified user.
  • Such a vehicle is therefore the status of a semi-autonomous vehicle or companion, which supports the user, for example, when shopping, in the office, during sports or other recreational activities, relieves and ensures a more comfortable life. Due to the partially autonomous configuration and the associated partial independence of the driverless vehicle, a high level of relief in everyday situations is achieved without the driverless vehicle would restrict the personal freedom of movement in an unacceptable degree. Furthermore, the semi-autonomous configuration and simple design of the vehicle result in a manageable complexity of the vehicle body and the vehicle programming.
  • an identification means assignable to a user is provided for the identification unit.
  • the identification means assumes the task of an identification partner with respect to the identification unit, whereby the current user to the vehicle as a person with access and
  • the identification means can be embodied, for example, in the form of an identity chip card, a transponder, in particular an RFID transponder, or the like.
  • a detection means which can be assigned to the user and which has the function of a detection partner is provided for the detection unit.
  • This functional unit is used to enable the vehicle and to guide the user.
  • the user can be equipped with a transmitting device, a transponder or the like.
  • the vehicle may also use, depending on the user, a movement pattern that is adapted to the environment.
  • the identification unit and the detection unit or the identification means and the detection means can each form a common functional unit.
  • a keyboard for direct data input to the vehicle a remote control interface arranged on the vehicle for exchanging data with a user-assignable remote control and a voice input interface to the vehicle for receiving voice data of the user are provided.
  • the speech input interface both speaker-dependent and speaker-independent portions of the voice interactions with the vehicle can be taken into account.
  • a sensor unit for collision avoidance, so that the vehicle is adapted to the user in a manner adapted to the environment can accompany without causing damage to oneself or property.
  • the detection of the environment can take place for example by means of ultrasonic transducers, near-range microwave radar, cameras for the visible range or the infrared range.
  • a navigation unit for determining the position of the vehicle.
  • the position determination can be carried out, for example, with the aid of a navigation database.
  • the navigation unit thus serves the orientation of the vehicle, regardless of the respective location.
  • energy management for monitoring the energy supply unit is advantageous, as a result of which the energy supply unit, which is generally designed as an electrochemical storage unit, can be monitored by means of monitoring electronics for its functionality, its charge state and its remaining service life.
  • an output unit is used for the information output for the user.
  • the output unit may be based on an optical and / or acoustic and / or haptic functionality.
  • data of the interaction unit can be converted into output information for the user.
  • Embodiment of the invention In the single figure, a functional diagram of a driverless electric vehicle is shown, which has three essential functional areas. The functional areas are subdivided into an entrance area 1, a central area 2 and an exit area 3. All areas have different function blocks, which are representative of the functional units of the driverless electric vehicle.
  • the input area 1 in this case represents function blocks for an identification unit 4 and for a detection unit 5. If appropriate, these two function blocks can also be embodied in a common function block shown in dashed lines. Furthermore, in the input area 1 functional blocks for various input options are taken into account, including a data input by means of a keyboard 6, by means of a remote control via the remote control interface 7 and 8 count by means of a speech input interface. In addition, a function block for a sensor unit 9, a function block for a navigation unit 10 and a function block for a power supply unit 11 are taken into account.
  • the central area 2 comprises functional blocks for an interaction unit 12, a control unit 13 and for a drive unit 14. Finally, the exit area 3 is provided with a function block representing an output unit 15.
  • the output unit 15 is responsible for the implementation of information of the interaction unit 12 in the form of acoustic, optical and / or haptic information outputs for the user.
  • the functional units can be designed both as an integral part of the electric vehicle or in a modular design.
  • the functional blocks of the identification unit 4, the detection unit 5 and the aforementioned input options 6, 7, 8 are in an electrically operative connection with the functional block of the interaction unit 12, which in turn is in electrical operative connection with the control unit 13 and with the output unit 15 stands.
  • the functional blocks of the sensor unit 9, the navigation unit 10 and the power supply unit 11 also have an electrical operative connection to the control unit 13, wherein the control unit 13 in turn acts on the drive unit 14.
  • the driverless electric vehicle comprises the drive unit 14, whose power supply takes place by means of the electric power supply unit 11 and its control by means of the control unit 13.
  • the control unit 13 communicates with an interaction unit 12, via which both the data transfer of the function blocks of the input area 1 and the data transfer of the function block of the output area 3 take place.
  • the interaction unit 12 also plays a central role in the registration of a user and the production of a user relation to the electric vehicle.
  • the identification unit 4 which serves to identify a user
  • the detection unit 5 which is provided for detecting movement of the user, with the interaction unit 12.
  • predetermined movement pattern by means of the drive unit 14 can be executed.
  • the vehicle-side identification unit 4 can be assigned an identification means which can be carried by the respective user.
  • the identification means can be executed, for example, in the form of a chip card or a transponder, and thus permits fast, secure, reliable and convenient log-on to the electric vehicle.
  • One possible application could be that a single electric vehicle can be used successively by several users, for example when shopping or playing golf.
  • the identification unit 4 is used to identify the current user, which determines which person should accompany the teilautonomous electric vehicle.
  • the user identification also determines a user-specific configuration with regard to a language, a speaker-dependent voice input and a user-dependent interaction concept.
  • the detection unit 5 is used on the vehicle side, which communicates with a detection means that can be assigned to the user.
  • a detection means that can be assigned to the user.
  • the user can wear a transmitter, a transponder or the like on the body or on his clothing, which exchanges data with the detection unit.
  • the detection unit 5 may be part of the identification unit 4 and the detection means part of the identification means. Due to this operation, the driverless electric vehicle automatically follows or guides the user. Through continuous communication between the aforementioned detection unit 5 and the associated detection means, the electric vehicle is able to always reside in the immediate vicinity of the user and to stand by for the assumption of tasks. In this case, the posture or the body position of the user plays no role, as always get through the contactless communication, in particular via radio, data signals from the transmitting device of the user to the receiver device of the electric vehicle.
  • the electric vehicle can be provided with a keyboard, which is located directly on the housing or the body of the electric vehicle, also with data interfaces for a remote control, in particular radio remote control, and for voice input.
  • a remote control in particular radio remote control
  • voice input for voice input
  • both a speaker-dependent part of the speech interaction and a speaker-independent part of the speech interaction can be taken into account.
  • general functions such as a self-drive to the battery charging station, take place via the speaker-independent portion of the voice interaction.
  • special or also person-related functions such as, for example, a driving action until a body contact with the user is reached, then the speaker-dependent portion of the voice interaction can come to bear.
  • the driverless electric vehicle is equipped with a sensor unit 9.
  • the driverless electric vehicle thus moves in a manner that is adapted to the environment.
  • the driving behavior of the electric vehicle for example, in a shopping market thus differs from the driving behavior, for example, on a golf course.
  • the sensor unit 9 thus not only protects the user, but also the electric vehicle per se before a collision with objects, animals and persons.
  • the detection of the environment of the electric vehicle is done primarily by means of ultrasonic transducers, short-range microwave radar, standard or infrared cameras.
  • a navigation unit 10 with an optional navigation database can be used to determine the position.
  • the interaction unit 12 receives and interprets the inputs of the user, prioritizes both actions and actions, and forwards information to the control unit 13. Further, the interaction unit 12 receives information from the control unit 13 and forwards it to the output unit 15.
  • the interaction unit 12 is equipped in particular in the form of a computer with an integrated interaction software and controls all essential logic functions. For example, using the interaction software, a suitable distance between the electric vehicle and the user can be ensured. This also enables the vehicle to wait for an action of the user according to the situation and finally to respond to it in a suitable manner.
  • the power supply unit 11, the control unit 13 and the drive unit 14, which due to new technologies, for example in the field of accumulator and drive technology, favor a range of the driverless electric vehicle that is acceptable from a pedestrian perspective.
  • an energy supply unit 11 is used according to the present embodiment, an electrochemical storage, also called accumulator, which is monitored by a monitoring electronics in terms of energy management in terms of its state of charge and its remaining life.
  • the control unit 13 can in this case be embodied as a so-called embedded system, for example in the form of a microcontroller, with its emphasis on the processing of information and the control of drive and steering actions as well as the information output.
  • the drive unit 14 generally has a transmission in addition to a motor and a steering device. In this In connection can be the driverless electric vehicle for its movement with wheels, equipped with three offset by 120 ° arranged wheels to overcome stairs, with caterpillars, with rollers or legs.
  • a typical application may be that the user can tell the driverless electric vehicle whether to drive the vehicle ahead or drive behind, and at what distance to the user the vehicle should perform that function.
  • the electric vehicle is also able to retrieve known commands for motion sequences in order to translate them into corresponding movement patterns.
  • the commands are individually recorded and executed according to the situation using the described input options; these may include “get off the shelf,” “load in the trunk,” “stow away in the car,” “open the door” or “climb the stairs.”
  • the driverless electric vehicle is able to adapt to the user For example, the vehicle can adapt its travel speed to the user's walking speed, make preferences regarding the driving course, take into account passage and passage widths and align its driving characteristics with a lift to be used, a staircase to be climbed or an underpass to be traveled.
  • the semi-autonomous electric vehicle may carry an electronic map of user, mission and environmental data and may automatically update and supplement it. It is also possible to carry along a shopping list which is automatically updated and supplemented by data exchange with a reserve store, in particular a refrigerator. Another useful feature of the driverless electric vehicle is that it estimates its energy supply in terms of an upcoming driving action and possibly informs its user about a necessary recharge of the power supply unit 11 or about a sufficient power supply. When programming the vehicle, it is also possible to take into account the output of a situation-specific proposed solution. Last but not least, the electric vehicle is also capable of being located at a charging station, eg in the house or in the motor vehicle the user to stow and tap energy when needed. These functions are among the special functions mentioned in the beginning.
  • the electric vehicle can pick up a load as needed during shopping, sports or eating.
  • the overcoming of stairs or the function as walking and standing aid are also included.
  • the navigation unit 10 visually impaired users can also be assisted in achieving their goals.
  • the semi-autonomous electric vehicle can continue to serve to achieve better visibility of the user in public road traffic or to provide an improved view of the user by a lighting device on the vehicle.
  • the designation of the driverless electric vehicle as teilautonomer electronic companion results from the vehicle configuration, according to which a vehicle movement in general can be user-dependent, but in particular independently.

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Abstract

The invention relates to a driverless electric vehicle with a drive unit (14), the energy supply of which being provided by an electric energy supply unit (11) and the control by a control unit (13), wherein the control unit (13) is operatively connected to an interaction unit (12). According to the invention, an identification unit (4) allows the identification of the user and a detection unit (5) serves to detect the movements of the user, wherein predetermined movement patterns can be executed by the drive unit (14) according to the movements of the user.

Description

Beschreibung description

Titel Fahrerloses ElektrofahrzeugTitle Driverless electric vehicle

Die Erfindung betrifft ein fahrerloses Elektrofahrzeug mit den im Oberbegriff des Anspruchs 1 genannten Merkmalen.The invention relates to a driverless electric vehicle with the features mentioned in the preamble of claim 1.

Stand der TechnikState of the art

Ein derartiges Elektrofahrzeug ist beispielsweise aus dem Golfsport bekannt, bei dem das als „Golfcaddy" oder auch als „Golftrolley" bezeichnete fahrerlose Elektrofahrzeug dazu dient, Lasten aufzunehmen und zu transportieren. Neben einem Antriebsmotor sind ein den Antriebsmotor mit elektrischer Energie versorgender Akkumulator und eine Steuerung zur Verarbeitung von Steuersignalen vorgesehen. Unter Verwendung wenigstens eines Signalgebers, wie beispielsweise einer Griffsteuerung und/oder einer Funkfernsteuerung, ist das fahrerlose Elektrofahrzeug navigierbar.Such an electric vehicle is known for example from the sport of golf, in which the driverless electric vehicle referred to as a "golf caddy" or as a "golf trolley" serves to pick up and transport loads. In addition to a drive motor, a battery supplying the drive motor with electrical energy and a control for processing control signals are provided. Using at least one signal transmitter, such as a handle control and / or a radio remote control, the driverless electric vehicle is navigable.

Ferner sind aus dem industriellen Bereich fahrerlose Transportfahrzeuge bekannt, die ebenfalls Komponenten zum Antrieb, zur Stromversorgung und zur Steuerung aufweisen und Teil eines ganzheitlichen fahrerlosen Transportsystems sein können. Derartige Transportfahrzeuge gehören der Klasse der flurgebundenen Fördermittel an, bei dem der Antrieb automatisch gesteuert und berührungslos geführt wird. Fahrerlose Transportfahrzeuge dienen dem Materialtransport, insbesondere zum Ziehen oder Tragen von Fördergut mit aktiven oder passiven Lastaufnahmemitteln.Furthermore, driverless transport vehicles are known from the industrial sector, which also have components for driving, power supply and control and can be part of a holistic driverless transport system. Such transport vehicles belong to the class of floor-bound funding, in which the drive is automatically controlled and guided without contact. Driverless transport vehicles are used for material transport, in particular for pulling or carrying goods with active or passive load handling devices.

Weiterhin sind als Serviceroboter bezeichnete fahrerlose Fahrzeuge bekannt geworden, welche Dienstleistungen für den Menschen erbringen. Diese Fahrzeuggattung findet vornehmlich in Privathaushalten Verwendung. Als beispielhafte Anwendungen können unter anderen das Staubsaugen, das Rasenmähen oder auch die Gebäude- und Anlagenüberwachung genannt werden. Auch diese Fahrzeuggattung weist verschiedene Funktionseinheiten für Antrieb, Stromversorgung und Steuerung auf. Bei allen vorgenannten Fahrzeugarten ist jedoch ein fehlender Nutzerbezug feststellbar.Furthermore, as a service robot designated driverless vehicles have become known, which provide services for humans. This type of vehicle is mainly used in private households. Examples of applications that may be mentioned include vacuuming, lawn mowing and building and facility monitoring. This type of vehicle has various functional units for Drive, power supply and control on. For all of the aforementioned types of vehicles, however, a lack of user reference can be determined.

Offenbarung der ErfindungDisclosure of the invention

Das erfindungsgemäße fahrerlose Elektrofahrzeug mit den im Anspruch 1 genannten Merkmalen bietet demgegenüber den Vorteil, dass ein stetiger Bezug zum Fahrzeugnutzer mit einer bedarfsgerechten Interaktion gegeben ist. Dadurch, dass eine Identifikationseinheit zur Nutzeridentifikation und eine Erfassungseinheit zur Bewegungserfassung des Nutzers dient, wobei in Abhängigkeit der Nutzerbewegungen vorgegebene Bewegungsmuster mittels der Antriebseinheit ausführbar sind, kann einerseits ein Gebrauch des Elektrofahrzeugs durch einen Nutzer erst nach seiner Identifikation erfolgen, wodurch Missbrauch und Fehlsteuerungen des Fahrzeugs vermieden werden. Andererseits ist eine Interaktion zwischen dem Nutzer und dem Fahrzeug ermöglicht, ohne dass ein permanenter und/oder unmittelbarer Nutzer- /Fahrzeugkontakt erforderlich ist. So dient die Erfassungseinheit insbesondere dafür, dass sich das Fahrzeug, abgesehen von Sonderfunktionen, stets in der Nähe des identifizierten Nutzer aufhält.The driverless electric vehicle according to the invention with the features mentioned in claim 1 offers the advantage that a steady reference to the vehicle user is given with a needs-based interaction. Characterized in that an identification unit for user identification and a detection unit for detecting movement of the user is used, depending on the user movements predetermined movement patterns are executable by means of the drive unit, on the one hand, a use of the electric vehicle by a user only after its identification, whereby misuse and mismanagement of the vehicle be avoided. On the other hand, an interaction between the user and the vehicle is made possible without requiring permanent and / or direct user / vehicle contact. Thus, the detection unit is used in particular to ensure that the vehicle, apart from special functions, always stays in the vicinity of the identified user.

Einem derartigen Fahrzeug kommt demnach der Status eines teilautonomen Fahrzeugs respektive Begleiters zu, der den Nutzer beispielsweise beim Einkauf, im Büro, beim Sport oder bei sonstigen Freizeitaktivitäten unterstützt, entlastet und für ein komfortableres Leben sorgt. Durch die teilautonome Konfiguration und der damit verbundenen Teilselbstständigkeit des fahrerlosen Fahrzeugs wird ein hoher Entlastungsgrad in Alltagssituationen erreicht, ohne dass das fahrerlose Fahrzeug die persönliche Bewegungsfreiheit in einem unakzeptablem Maß einschränken würde. Ferner ergibt sich durch die teilautonome Konfiguration und einfache Auslegung des Fahrzeugs eine überschaubare Komplexität des Fahrzeugaufbaus und der Fahrzeugprogrammierung.Such a vehicle is therefore the status of a semi-autonomous vehicle or companion, which supports the user, for example, when shopping, in the office, during sports or other recreational activities, relieves and ensures a more comfortable life. Due to the partially autonomous configuration and the associated partial independence of the driverless vehicle, a high level of relief in everyday situations is achieved without the driverless vehicle would restrict the personal freedom of movement in an unacceptable degree. Furthermore, the semi-autonomous configuration and simple design of the vehicle result in a manageable complexity of the vehicle body and the vehicle programming.

Weitere vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den weiteren, in den Unteransprüchen genannten Merkmalen. In einer bevorzugten Ausführungsform der Erfindung ist zu der Identifikationseinheit ein einem Nutzer zuordenbares Identifikationsmittel vorgesehen. Das Identifikationsmittel übernimmt dabei die Aufgabe eines Identifikationspartners mit Bezug auf die Identifikationseinheit, wodurch sich der aktuelle Nutzer dem Fahrzeug gegenüber als Person mit Zugriffs- undFurther advantageous embodiments of the invention will become apparent from the other features mentioned in the dependent claims. In a preferred embodiment of the invention, an identification means assignable to a user is provided for the identification unit. The identification means assumes the task of an identification partner with respect to the identification unit, whereby the current user to the vehicle as a person with access and

Benutzungsberechtigung anmelden kann. Ferner kann mit der Nutzerzuordnung eine nutzerspezifische Konfiguration, beispielsweise in puncto Sprache, sprecherabhängiger Spracheingabe sowie nutzerabhängigem Interaktionskonzept erzielt werden. Eine aufwändige optische Identifikation des Nutzers durch die Identifikationseinheit kann entfallen. Das Identifikationsmittel kann beispielsweise in Form einer Identitäts-Chipkarte, eines Transponders, insbesondere RFID-Transponder, oder dergleichen ausgeführt sein.User permission can log on. Furthermore, user-specific configuration, for example in terms of language, speaker-dependent voice input and user-dependent interaction concept can be achieved with the user assignment. An elaborate optical identification of the user by the identification unit can be omitted. The identification means can be embodied, for example, in the form of an identity chip card, a transponder, in particular an RFID transponder, or the like.

Mit Vorteil ist zu der Erfassungseinheit ein dem Nutzer zuordenbares Erfassungsmittel vorgesehen, das die Funktion eines Erfassungspartners aufweist. Diese Funktionseinheit dient dazu, das Fahrzeug in die Lage zu versetzen und zu veranlassen, den Nutzer zu begleiten. Der Nutzer kann hierzu mit einer Sendeeinrichtung, einem Transponder oder dergleichen ausgestattet werden. Das Fahrzeug kann darüber hinaus in Abhängigkeit des jeweiligen Nutzers ein Bewegungsmuster verwenden, dass der Umgebung angepasst ist. Weiterhin können die Identifikationseinheit und die Erfassungseinheit bzw. das Identifikationsmittel und das Erfassungsmittel jeweils eine gemeinsame Funktionseinheit bilden.Advantageously, a detection means which can be assigned to the user and which has the function of a detection partner is provided for the detection unit. This functional unit is used to enable the vehicle and to guide the user. For this purpose, the user can be equipped with a transmitting device, a transponder or the like. The vehicle may also use, depending on the user, a movement pattern that is adapted to the environment. Furthermore, the identification unit and the detection unit or the identification means and the detection means can each form a common functional unit.

In weiteren vorteilhaften Ausführungsformen sind eine Tastatur zur direkten Dateneingabe an dem Fahrzeug, eine an dem Fahrzeug angeordnete Fernbedienungsschnittstelle zum Datenaustausch mit einer dem Nutzer zuordenbare Fernbedienung und eine Spracheingabeschnittstelle an dem Fahrzeug zum Empfang von Sprachdaten des Nutzers vorgesehen. Hinsichtlich der Spracheingabeschnittstelle können sowohl sprecherabhängige als auch sprecherunabhängige Anteile der Sprachinteraktionen gegenüber dem Fahrzeug berücksichtigt werden.In further advantageous embodiments, a keyboard for direct data input to the vehicle, a remote control interface arranged on the vehicle for exchanging data with a user-assignable remote control and a voice input interface to the vehicle for receiving voice data of the user are provided. With regard to the speech input interface, both speaker-dependent and speaker-independent portions of the voice interactions with the vehicle can be taken into account.

Vorteilhafterweise ist eine Sensoreinheit zur Kollisionsvermeidung vorgesehen, so dass das Fahrzeug den Nutzer in einer der Umgebung angepassten Weise begleiten kann, ohne dabei eine Eigen- oder Sachbeschädigung zu verursachen. Die Erfassung des Umfelds kann zum Beispiel mittels Ultraschallwandlern, Nahbereichs-Mikrowellenradar, Kameras für den sichtbaren Bereich oder den Infrarotbereich erfolgen.Advantageously, a sensor unit is provided for collision avoidance, so that the vehicle is adapted to the user in a manner adapted to the environment can accompany without causing damage to oneself or property. The detection of the environment can take place for example by means of ultrasonic transducers, near-range microwave radar, cameras for the visible range or the infrared range.

In einer vorteilhaften Ausgestaltung ist eine Navigationseinheit zur Positionsbestimmung des Fahrzeugs vorgesehen. Die Positionsbestimmung kann dabei beispielsweise mit Hilfe einer Navigationsdatenbank durchgeführt werden. Die Navigationseinheit dient somit der Orientierung des Fahrzeugs unabhängig von dem jeweiligen Einsatzort.In an advantageous embodiment, a navigation unit for determining the position of the vehicle is provided. The position determination can be carried out, for example, with the aid of a navigation database. The navigation unit thus serves the orientation of the vehicle, regardless of the respective location.

Vorteilhaft ist zudem ein Energiemanagement zur Überwachung der Energieversorgungseinheit, wodurch die im Allgemeinen als elektrochemischer Speicher ausgeführte Energieversorgungseinheit mittels einer Überwachungselektronik auf ihre Funktionstüchtigkeit, auf ihren Ladezustand und ihre Restlebensdauer überwacht werden kann.In addition, energy management for monitoring the energy supply unit is advantageous, as a result of which the energy supply unit, which is generally designed as an electrochemical storage unit, can be monitored by means of monitoring electronics for its functionality, its charge state and its remaining service life.

In einer vorteilhaften Ausgestaltung dient eine Ausgabeeinheit zur Informationsausgabe für den Nutzer. Die Ausgabeeinheit kann auf einer optischen und/oder akustischen und/oder haptischen Funktionsweise basieren. Mittels der Ausgabeeinheit können Daten der Interaktionseinheit in Ausgabeinformationen für den Nutzer umgesetzt werden.In an advantageous embodiment, an output unit is used for the information output for the user. The output unit may be based on an optical and / or acoustic and / or haptic functionality. By means of the output unit data of the interaction unit can be converted into output information for the user.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Die Erfindung sowie vorteilhafte Ausgestaltungen gemäß den Merkmalen der weiteren Ansprüche werden im Folgenden anhand des in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert, ohne dass insoweit eine Beschränkung der Erfindung erfolgt; diese umfasst vielmehr alle Abwandlungen, Änderungen und Äquivalente, die im Rahmen der Ansprüche möglich sind. Die einzige Figur zeigt ein Funktionsdiagramm des fahrerlosen Elektrofahrzeugs.The invention and advantageous embodiments according to the features of the other claims are explained in more detail below with reference to the embodiment shown in the drawing, without limiting the invention so far occurs; rather, it encompasses all modifications, changes and equivalents that are possible within the scope of the claims. The single figure shows a functional diagram of the driverless electric vehicle.

Ausführungsform der Erfindung In der einzigen Figur ist ein Funktionsdiagramm eines fahrerlosen Elektrofahrzeugs gezeigt, das drei wesentliche Funktionsbereiche aufweist. Die Funktionsbereiche sind dabei in einen Eingangsbereich 1 , in einen Zentralbereich 2 und in einen Ausgangsbereich 3 untergliedert. Sämtliche Bereiche weisen unterschiedliche Funktionsblöcke auf, die stellvertretend für die Funktionseinheiten des fahrerlosen Elektrofahrzeugs stehen.Embodiment of the invention In the single figure, a functional diagram of a driverless electric vehicle is shown, which has three essential functional areas. The functional areas are subdivided into an entrance area 1, a central area 2 and an exit area 3. All areas have different function blocks, which are representative of the functional units of the driverless electric vehicle.

Der Eingangsbereich 1 repräsentiert hierbei Funktionsblöcke für eine Identifikationseinheit 4 und für eine Erfassungseinheit 5. Diese beiden Funktionsblöcke können gegebenenfalls auch in einem gemeinsamen, strichliert dargestellten, Funktionsblock ausgeführt sein. Weiterhin sind im Eingangsbereichs 1 Funktionsblöcke für verschiedene Eingabeoptionen berücksichtigt, wozu eine Dateneingabe mittels einer Tastatur 6, mittels einer Fernbedienung via Fernbedienungsschnittstelle 7 und mittels einer Spracheingabeschnittstelle 8 zählen. Zusätzlich sind ein Funktionsblock für eine Sensoreinheit 9, ein Funktionsblock für eine Navigationseinheit 10 sowie ein Funktionsblock für eine Energieversorgungseinheit 11 berücksichtigt. Der Zentralbereich 2 umfasst Funktionsblöcke für eine Interaktionseinheit 12, eine Steuerungseinheit 13 und für eine Antriebseinheit 14. Letztlich ist der Ausgangsbereich 3 mit einem Funktionsblock versehen, der eine Ausgabeeinheit 15 darstellt. Die Ausgabeeinheit 15 ist für die Umsetzung von Informationen der Interaktionseinheit 12 in Form von akustischen, optischen und/oder haptischen Informationsausgaben für den Nutzer verantwortlich. Die Funktionseinheiten können sowohl als integraler Bestandteil des Elektrofahrzeugs oder auch in modularer Bauweise ausgeführt sein.The input area 1 in this case represents function blocks for an identification unit 4 and for a detection unit 5. If appropriate, these two function blocks can also be embodied in a common function block shown in dashed lines. Furthermore, in the input area 1 functional blocks for various input options are taken into account, including a data input by means of a keyboard 6, by means of a remote control via the remote control interface 7 and 8 count by means of a speech input interface. In addition, a function block for a sensor unit 9, a function block for a navigation unit 10 and a function block for a power supply unit 11 are taken into account. The central area 2 comprises functional blocks for an interaction unit 12, a control unit 13 and for a drive unit 14. Finally, the exit area 3 is provided with a function block representing an output unit 15. The output unit 15 is responsible for the implementation of information of the interaction unit 12 in the form of acoustic, optical and / or haptic information outputs for the user. The functional units can be designed both as an integral part of the electric vehicle or in a modular design.

Die Funktionsblöcke der Identifikationseinheit 4, der Erfassungseinheit 5 und der vorgenannten Eingabeoptionen 6,7,8 stehen hierbei in einer elektrischen Wirkverbindung mit dem Funktionsblock der Interaktionseinheit 12, die ihrerseits zum einen mit der Steuerungseinheit 13 und zum anderen mit der Ausgabeeinheit 15 in einer elektrischen Wirkverbindung steht. Die Funktionsblöcke der Sensoreinheit 9, der Navigationseinheit 10 und der Energieversorgungseinheit 11 weisen zudem eine elektrische Wirkverbindung zu der Steuerungseinheit 13 auf, wobei die Steuerungseinheit 13 wiederum auf die Antriebseinheit 14 wirkt. Ausgehend von diesem Funktionsaufbau umfasst das fahrerlose Elektrofahrzeug die Antriebseinheit 14, deren Energieversorgung mittels der elektrischen Energieversorgungseinheit 11 und deren Steuerung mittels der Steuerungseinheit 13 erfolgen. Die Steuerungseinheit 13 kommuniziert mit einer Interaktionseinheit 12, über welche sowohl der Datentransfer der Funktionsblöcke des Eingangsbereichs 1 als auch der Datentransfer des Funktionsblocks des Ausgangsbereichs 3 stattfindet. Die Interaktionseinheit 12 spielt darüber hinaus bei der Anmeldung eines Nutzers und der Herstellung eines Nutzerbezugs gegenüber dem Elektrofahrzeug eine zentrale Rolle. Hierbei korrespondieren die Identifikationseinheit 4, welche zur Identifikation eines Nutzers dient, und die Erfassungseinheit 5, welche zur Bewegungserfassung des Nutzers vorgesehen ist, mit der Interaktionseinheit 12. In Abhängigkeit der Nutzerbewegungen sind dann vorgegebene Bewegungsmuster mittels der Antriebseinheit 14 ausführbar.The functional blocks of the identification unit 4, the detection unit 5 and the aforementioned input options 6, 7, 8 are in an electrically operative connection with the functional block of the interaction unit 12, which in turn is in electrical operative connection with the control unit 13 and with the output unit 15 stands. The functional blocks of the sensor unit 9, the navigation unit 10 and the power supply unit 11 also have an electrical operative connection to the control unit 13, wherein the control unit 13 in turn acts on the drive unit 14. Based on this functional design, the driverless electric vehicle comprises the drive unit 14, whose power supply takes place by means of the electric power supply unit 11 and its control by means of the control unit 13. The control unit 13 communicates with an interaction unit 12, via which both the data transfer of the function blocks of the input area 1 and the data transfer of the function block of the output area 3 take place. The interaction unit 12 also plays a central role in the registration of a user and the production of a user relation to the electric vehicle. Here, the identification unit 4, which serves to identify a user, and the detection unit 5, which is provided for detecting movement of the user, with the interaction unit 12. Depending on the user movements then predetermined movement pattern by means of the drive unit 14 can be executed.

Der fahrzeugseitigen Identifikationseinheit 4 ist ein Identifikationsmittel zuordenbar, welches von dem jeweiligen Nutzer mit sich geführt werden kann. Das Identifikationsmittel ist beispielsweise in Form einer Chipkarte oder eines Transponders ausführbar und erlaubt somit eine schnelle, sichere, zuverlässige und komfortable Anmeldung an dem Elektrofahrzeug. Eine mögliche Anwendung könnte darin bestehen, dass ein einzelnes Elektrofahrzeug von mehreren Nutzer nacheinander einsetzbar ist, beispielsweise beim Einkauf oder beim Golfspiel. Mit anderen Worten dient die Identifikationseinheit 4 zur Identifikation des aktuellen Nutzers, wodurch festgelegt wird, welche Person das teilautonome Elektrofahrzeug begleiten soll. Auch wird durch die Nutzeridentifikation eine nutzerspezifische Konfiguration hinsichtlich einer Sprache, einer sprecherabhängigen Spracheingabe und eines nutzerabhängigen Interaktionskonzepts bestimmt.The vehicle-side identification unit 4 can be assigned an identification means which can be carried by the respective user. The identification means can be executed, for example, in the form of a chip card or a transponder, and thus permits fast, secure, reliable and convenient log-on to the electric vehicle. One possible application could be that a single electric vehicle can be used successively by several users, for example when shopping or playing golf. In other words, the identification unit 4 is used to identify the current user, which determines which person should accompany the teilautonomous electric vehicle. The user identification also determines a user-specific configuration with regard to a language, a speaker-dependent voice input and a user-dependent interaction concept.

In Ergänzung zu der Identifikationseinheit 4 kommt die Erfassungseinheit 5 fahrzeugseitig zum Einsatz, die mit einem dem Nutzer zuordenbaren Erfassungsmittel kommuniziert. Beispielweise kann hierzu der Nutzer einen Sender, einen Transponder oder dergleichen am Körper bzw. an der seiner Kleidung tragen, der mit der Erfassungseinheit Daten austauscht. Je nach Auslegung des Fahrzeugsystems können die Erfassungseinheit 5 Teil der Identifikationseinheit 4 und das Erfassungsmittel Teil des Identifikationsmittels sein. Auf Grund dieser Funktionsweise folgt oder führt das fahrerlose Elektrofahrzeug automatisch dem bzw. den Nutzer. Durch eine kontinuierliche Kommunikation zwischen der vorgenannten Erfassungseinheit 5 und dem zugehörigen Erfassungsmittel ist das Elektrofahrzeug in der Lage, sich stets in der näheren Umgebung des Nutzers aufzuhalten und für die Übernahme von Aufgaben bereitzustehen. Dabei spielt die Körperhaltung oder die Körperlage des Nutzers keine Rolle, da durch die berührungslose Kommunikation, insbesondere via Funk, stets Datensignale von der Sendeeinrichtung des Nutzers zu der Empfängereinrichtung der Elektrofahrzeugs gelangen.In addition to the identification unit 4, the detection unit 5 is used on the vehicle side, which communicates with a detection means that can be assigned to the user. For example, for this purpose, the user can wear a transmitter, a transponder or the like on the body or on his clothing, which exchanges data with the detection unit. Depending on Design of the vehicle system, the detection unit 5 may be part of the identification unit 4 and the detection means part of the identification means. Due to this operation, the driverless electric vehicle automatically follows or guides the user. Through continuous communication between the aforementioned detection unit 5 and the associated detection means, the electric vehicle is able to always reside in the immediate vicinity of the user and to stand by for the assumption of tasks. In this case, the posture or the body position of the user plays no role, as always get through the contactless communication, in particular via radio, data signals from the transmitting device of the user to the receiver device of the electric vehicle.

Um mehrere Arten der Kommandoeingabe bereitzustellen, kann das Elektrofahrzeug neben einer Tastatur, die unmittelbar an dem Gehäuse bzw. der Karosserie des Elektrofahrzeugs angeordnet ist, auch mit Datenschnittstellen für eine Fernbedienung, insbesondere Funkfernsteuerung, und für eine Spracheingabe versehen werden. Der Nutzer wird dadurch in die Lage versetzt, je nach Umgebung, Einsatzzweck und Situation auf unterschiedliche Weise Informationen, Kommandos oder Daten dem Elektrofahrzeug zukommen zu lassen. Hinsichtlich der Spracheingabe kann in diesem Zusammenhang sowohl ein sprecherabhängiger Anteil der Sprachinteraktion als auch ein sprecherunabhängiger Anteil der Sprachinteraktion berücksichtigt werden. Hierbei können allgemeine Funktionen, wie beispielsweise eine selbstständige Fahrt zur Akkumulator-Ladestation, über den sprecherunabhängigen Anteil der Sprachinteraktion stattfinden. Bei speziellen oder auch personenbezogenen Funktionen, wie beispielsweise einer Fahraktion bis zur Erreichung eines Körperkontakts zu dem Nutzer, kann dann der sprecherabhängige Anteil der Sprachinteraktion zum Tragen kommen.In order to provide several types of command input, the electric vehicle can be provided with a keyboard, which is located directly on the housing or the body of the electric vehicle, also with data interfaces for a remote control, in particular radio remote control, and for voice input. The user is thus enabled to send information, commands or data to the electric vehicle in different ways, depending on the environment, purpose and situation. With regard to speech input, in this context both a speaker-dependent part of the speech interaction and a speaker-independent part of the speech interaction can be taken into account. Here, general functions, such as a self-drive to the battery charging station, take place via the speaker-independent portion of the voice interaction. In the case of special or also person-related functions, such as, for example, a driving action until a body contact with the user is reached, then the speaker-dependent portion of the voice interaction can come to bear.

Zur Kollisionsvermeidung und zur frühzeitigen Detektion von Hindernissen ist das fahrerlose Elektrofahrzeug mit einer Sensoreinheit 9 ausgerüstet. Das fahrerlose Elektrofahrzeug bewegt sich somit in einer Weise, die der Umgebung angepasst ist. Das Fahrverhalten des Elektrofahrzeugs beispielsweise in einem Einkaufsmarkt unterscheidet sich folglich von dem Fahrverhalten beispielsweise auf einem Golfplatz. Die Sensoreinheit 9 bewahrt somit nicht nur den Nutzer, sondern auch das Elektrofahrzeug per se vor einer Kollision mit Gegenständen, Tieren und Personen. Die Erfassung des Umfelds des Elektrofahrzeugs geschieht vornehmlich mittels Ultraschallwandlern, Nahbereichs- Mikrowellenradar, Standard- oder Infrarotkameras. Ergänzend hierzu kann zur Positionsbestimmung eine Navigationseinheit 10 mit einer optionalen Navigationsdatenbank verwendet werden.For collision avoidance and for the early detection of obstacles, the driverless electric vehicle is equipped with a sensor unit 9. The driverless electric vehicle thus moves in a manner that is adapted to the environment. The driving behavior of the electric vehicle, for example, in a shopping market thus differs from the driving behavior, for example, on a golf course. The sensor unit 9 thus not only protects the user, but also the electric vehicle per se before a collision with objects, animals and persons. The detection of the environment of the electric vehicle is done primarily by means of ultrasonic transducers, short-range microwave radar, standard or infrared cameras. In addition to this, a navigation unit 10 with an optional navigation database can be used to determine the position.

Eine zentrale Rolle bei der Kommunikation zwischen dem Nutzer und dem fahrerlosen Elektrofahrzeug übernimmt die so genannte Interaktionseinheit 12. Die Interaktionseinheit 12 empfängt und interpretiert die Eingaben des Nutzers, priorisiert sowohl Handlungen als auch Aktionen und gibt Informationen an die Steuerungseinheit 13 weiter. Ferner empfängt die Interaktionseinheit 12 Informationen von der Steuerungseinheit 13 und gibt diese an die Ausgabeeinheit 15 weiter. Die Interaktionseinheit 12 ist insbesondere in Form eines Rechners mit einer integrierten Interaktions-Software ausgestattet und steuert alle wesentlichen Logikfunktionen. Beispielsweise kann unter Verwendung der Interaktions-Software ein geeigneter Abstand zwischen dem Elektrofahrzeug und dem Nutzer sichergestellt werden. Auch wird dadurch das Fahrzeug in die Lage versetzt, situationsgerecht auf eine Aktion des Nutzers zu warten und schließlich in geeigneter Weise darauf zu reagieren.A central role in the communication between the user and the driverless electric vehicle is provided by the so-called interaction unit 12. The interaction unit 12 receives and interprets the inputs of the user, prioritizes both actions and actions, and forwards information to the control unit 13. Further, the interaction unit 12 receives information from the control unit 13 and forwards it to the output unit 15. The interaction unit 12 is equipped in particular in the form of a computer with an integrated interaction software and controls all essential logic functions. For example, using the interaction software, a suitable distance between the electric vehicle and the user can be ensured. This also enables the vehicle to wait for an action of the user according to the situation and finally to respond to it in a suitable manner.

Von besonderer Bedeutung sind auch die Energieversorgungseinheit 11 , die Steuerungseinheit 13 und die Antriebseinheit 14, welche auf Grund neuer Technologien, beispielsweise auf dem Gebiet der Akkumulatoren- und der Antriebstechnik, eine aus Fußgängersicht akzeptable Reichweite des fahrerlosen Elektrofahrzeugs begünstigen. Als Energieversorgungseinheit 11 dient gemäß der vorliegenden Ausführungsform ein elektrochemischer Speicher, auch Akkumulator genannt, der von einer Überwachungselektronik im Sinne eines Energiemanagements hinsichtlich seines Ladezustandes und seiner Restlebensdauer überwacht wird. Die Steuerungseinheit 13 kann hierbei als so genanntes Embedded System, beispielsweise in Form eines MikroControllers, ausgeführt sein, wobei deren Schwerpunkt auf der Verarbeitung von Informationen und der Steuerung von Antriebs- und Lenkaktionen sowie der Informationsausgabe liegen. Die Antriebseinheit 14 weist im Allgemeinen neben einem Motor und einer Lenkvorrichtung auch ein Getriebe auf. In diesem Zusammenhang lässt sich das fahrerlose Elektrofahrzeug für dessen Fortbewegung mit Rädern, mit drei zueinander um 120° versetzt angeordneten Rädern zur Treppenüberwindung, mit Raupen, mit Walzen oder Beinen ausrüsten.Also of particular importance are the power supply unit 11, the control unit 13 and the drive unit 14, which due to new technologies, for example in the field of accumulator and drive technology, favor a range of the driverless electric vehicle that is acceptable from a pedestrian perspective. As an energy supply unit 11 is used according to the present embodiment, an electrochemical storage, also called accumulator, which is monitored by a monitoring electronics in terms of energy management in terms of its state of charge and its remaining life. The control unit 13 can in this case be embodied as a so-called embedded system, for example in the form of a microcontroller, with its emphasis on the processing of information and the control of drive and steering actions as well as the information output. The drive unit 14 generally has a transmission in addition to a motor and a steering device. In this In connection can be the driverless electric vehicle for its movement with wheels, equipped with three offset by 120 ° arranged wheels to overcome stairs, with caterpillars, with rollers or legs.

Ein typischer Anwendungsfall kann zum Beispiel darin bestehen, dass der Nutzer dem fahrerlosen Elektrofahrzeug mitteilen kann, ob das Fahrzeug voraus fahren oder hinterher fahren, und in welchem Abstand zum Nutzer das Fahrzeug diese Funktion ausführen soll. Das Elektrofahrzeug ist zudem in der Lage, bekannte Kommandos für Bewegungssequenzen abzurufen, um diese in entsprechende Bewegungsmuster umzusetzen. Die Kommandos werden im Einzelnen individuell und je nach Situation mittels der beschriebenen Eingabeoptionen erfasst und ausgeführt; dazu können zählen „Nimm aus dem Regal", „Lade in Kofferraum ein", „Verstaue Dich im Auto", „Öffne die Tür" oder „Steige die Treppe". Auch ist das fahrerlose Elektrofahrzeug in der Lage, sich an den Nutzer anzupassen. Beispielsweise kann das Fahrzeug seine Fahrgeschwindigkeit der Schrittgeschwindigkeit des Nutzers anpassen, Präferenzen hinsichtlich des Fahrkurses treffen, Durchgangs- und Durchfahrtsbreiten berücksichtigen und seine Fahreigenschaften an einen zu nutzenden Aufzug, eine zu besteigende Treppe oder eine zu durchfahrende Unterführung ausrichten.For example, a typical application may be that the user can tell the driverless electric vehicle whether to drive the vehicle ahead or drive behind, and at what distance to the user the vehicle should perform that function. The electric vehicle is also able to retrieve known commands for motion sequences in order to translate them into corresponding movement patterns. The commands are individually recorded and executed according to the situation using the described input options; these may include "get off the shelf," "load in the trunk," "stow away in the car," "open the door" or "climb the stairs." Also, the driverless electric vehicle is able to adapt to the user For example, the vehicle can adapt its travel speed to the user's walking speed, make preferences regarding the driving course, take into account passage and passage widths and align its driving characteristics with a lift to be used, a staircase to be climbed or an underpass to be traveled.

Ferner kann das teilautonome Elektrofahrzeug eine elektronische Karte mit Nutzer-, Einsatz- und Umgebungsdaten mit sich führen und kann diese selbsttätig aktualisieren und ergänzen. Auch das Mitführen einer Einkaufsliste, die selbsttätig durch einen Datenaustausch mit einem Vorratsspeicher, insbesondere Kühlschrank, aktualisiert und ergänzt wird, ist möglich. Eine weitere nützliche Eigenschaft des fahrerlosen Elektrofahrzeugs besteht darin, dass es seinen Energievorrat hinsichtlich einer bevorstehenden Fahraktion abschätzen und gegebenenfalls seinen Nutzer über eine notwendige Wiederaufladung der Energieversorgungseinheit 11 oder aber über eine ausreichende Energieversorgung informiert. Bei der Programmierung des Fahrzeugs kann dabei auch die Ausgabe eines situationsgerechten Lösungsvorschlags berücksichtigt werden. Zu guter Letzt ist das Elektrofahrzeug auch in der Lage, sich an einer Ladestation, z.B. im Haus oder im Kraftfahrzeug des Nutzers, zu verstauen und bei Bedarf Energie abzuzapfen. Diese Funktionen zählen zu den eingangs erwähnten Sonderfunktionen.Further, the semi-autonomous electric vehicle may carry an electronic map of user, mission and environmental data and may automatically update and supplement it. It is also possible to carry along a shopping list which is automatically updated and supplemented by data exchange with a reserve store, in particular a refrigerator. Another useful feature of the driverless electric vehicle is that it estimates its energy supply in terms of an upcoming driving action and possibly informs its user about a necessary recharge of the power supply unit 11 or about a sufficient power supply. When programming the vehicle, it is also possible to take into account the output of a situation-specific proposed solution. Last but not least, the electric vehicle is also capable of being located at a charging station, eg in the house or in the motor vehicle the user to stow and tap energy when needed. These functions are among the special functions mentioned in the beginning.

Durch das Zusammenspiel der einzelnen Funktionseinheiten sind daher Anwendungen möglich, bei dem das Elektrofahrzeug bedarfsgerecht eine Ladung beim Einkaufen, beim Sport oder beim Essen aufnehmen kann. Das Überwinden von Treppen oder die Funktion als Geh- und Stehhilfe zählen ebenfalls dazu. Mittels der Navigationseinheit 10 können auch sehbehinderte Nutzer bei der Zielerreichung unterstützt werden. Das teilautonome Elektrofahrzeug kann weiterhin dazu dienen, eine bessere Sichtbarkeit des Nutzers im öffentlichen Straßenverkehr zu erzielen oder durch eine Beleuchtungseinrichtung am Fahrzeug für eine verbesserte Sicht des Nutzers zu sorgen. Die Bezeichnung des fahrerlosen Elektrofahrzeugs als teilautonomer elektronischer Begleiter ergibt sich aus der Fahrzeugkonfiguration, wonach eine Fahrzeugbewegung im Allgemeinen nutzerabhängig, jedoch im Speziellen selbstständig erfolgen kann. Due to the interplay of the individual functional units, therefore, applications are possible in which the electric vehicle can pick up a load as needed during shopping, sports or eating. The overcoming of stairs or the function as walking and standing aid are also included. By means of the navigation unit 10, visually impaired users can also be assisted in achieving their goals. The semi-autonomous electric vehicle can continue to serve to achieve better visibility of the user in public road traffic or to provide an improved view of the user by a lighting device on the vehicle. The designation of the driverless electric vehicle as teilautonomer electronic companion results from the vehicle configuration, according to which a vehicle movement in general can be user-dependent, but in particular independently.

Claims

Ansprüche claims 1. Fahrerloses Elektrofahrzeug mit einer Antriebseinheit (14), deren Energieversorgung mittels einer elektrischen Energieversorgungseinheit (11 ) und deren Steuerung mittels einer Steuerungseinheit (13) erfolgen, wobei die Steuerungseinheit mit einer Interaktionseinheit (12) in einer Wirkverbindung steht, dadurch gekennzeichnet, dass eine Identifikationseinheit (4) zur Nutzeridentifikation und eine Erfassungseinheit (5) zur Bewegungserfassung des Nutzers dient, wobei in Abhängigkeit der Nutzerbewegungen vorgegebene Bewegungsmuster mittels der Antriebseinheit (14) ausführbar sind.1. A driverless electric vehicle with a drive unit (14) whose power supply by means of an electrical power supply unit (11) and its control by means of a control unit (13), wherein the control unit with an interaction unit (12) is in an operative connection, characterized in that a Identification unit (4) for user identification and a detection unit (5) for detecting the movement of the user is used, wherein predetermined movement patterns by means of the drive unit (14) are executable depending on the user movements. 2. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass zu der Identifikationseinheit (4) ein einem Nutzer zuordenbares Identifikationsmittel vorgesehen ist.2. Driverless electric vehicle according to one of the preceding claims, characterized in that to the identification unit (4) a user assignable identification means is provided. 3. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass zu der Erfassungseinheit (5) ein dem Nutzer zuordenbares Erfassungsmittel vorgesehen ist.3. Driverless electric vehicle according to one of the preceding claims, characterized in that to the detection unit (5) is provided a user assignable detection means. 4. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Tastatur (6) zur direkten Dateneingabe vorgesehen ist.4. Driverless electric vehicle according to one of the preceding claims, characterized in that a keyboard (6) is provided for direct data input. 5. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Fernbedienungsschnittstelle (7) zum5. Driverless electric vehicle according to one of the preceding claims, characterized in that a remote control interface (7) for Datenaustausch mit einer Fernbedienung vorgesehen ist.Data exchange is provided with a remote control. 6. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Spracheingabeschnittstelle (8) zum Empfang von Sprachdaten vorgesehen ist.6. Driverless electric vehicle according to one of the preceding claims, characterized in that a voice input interface (8) is provided for receiving voice data. 7. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Sensoreinheit (9) zur Kollisionsvermeidung vorgesehen ist. 7. Driverless electric vehicle according to one of the preceding claims, characterized in that a sensor unit (9) is provided for collision avoidance. 8. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Navigationseinheit (10) zur Positionsbestimmung vorgesehen ist.8. Driverless electric vehicle according to one of the preceding claims, characterized in that a navigation unit (10) is provided for determining the position. 9. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Energiemanagement zur Überwachung der Energieversorgungseinheit (11 ) vorgesehen ist.9. Driverless electric vehicle according to one of the preceding claims, characterized in that an energy management for monitoring the power supply unit (11) is provided. 10. Fahrerloses Elektrofahrzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Ausgabeeinheit (15) zur Informationsausgabe für den Nutzer dient. 10. Driverless electric vehicle according to one of the preceding claims, characterized in that an output unit (15) is used for information output for the user.
PCT/EP2008/059167 2007-09-14 2008-07-14 Driverless electric vehicle WO2009037018A2 (en)

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