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WO2009037018A2 - Véhicule électrique sans conducteur - Google Patents

Véhicule électrique sans conducteur 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)
English (en)
Other versions
WO2009037018A3 (fr
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/fr
Publication of WO2009037018A3 publication Critical patent/WO2009037018A3/fr

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
    • 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
    • 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
    • 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
    • B60L2200/30—Trolleys
    • 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
    • B60L2200/40—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
    • Y02T10/00—Road transport of goods or passengers
    • 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
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

La présente invention concerne un véhicule électrique sans conducteur, comprenant une unité d'entraînement (14) qui est alimentée par une unité d'alimentation électrique (11) et qui est commandée par une unité de commande (13). L'unité de commande (13) se trouve en liaison fonctionnelle avec une unité d'interaction (12). Selon l'invention, une unité d'identification (4) permet d'identifier l'utilisateur et une unité de détection (5) permet de détecter les déplacements de l'utilisateur et, en fonction de ces déplacements, des modèles de déplacement prédéfinis peuvent être mis en oeuvre au moyen de l'unité d'entraînement (14).
PCT/EP2008/059167 2007-09-14 2008-07-14 Véhicule électrique sans conducteur WO2009037018A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007044006.7 2007-09-14
DE200710044006 DE102007044006A1 (de) 2007-09-14 2007-09-14 Fahrerloses Elektrofahrzeug

Publications (2)

Publication Number Publication Date
WO2009037018A2 true WO2009037018A2 (fr) 2009-03-26
WO2009037018A3 WO2009037018A3 (fr) 2009-06-11

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PCT/EP2008/059167 WO2009037018A2 (fr) 2007-09-14 2008-07-14 Véhicule électrique sans conducteur

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DE (1) DE102007044006A1 (fr)
WO (1) WO2009037018A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8774981B2 (en) 2009-09-14 2014-07-08 Israel Aerospace Industries Ltd. Infantry robotic porter system and methods useful in conjunction therewith
US10422649B2 (en) 2014-02-24 2019-09-24 Ford Global Technologies, Llc Autonomous driving sensing system and method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19509320A1 (de) * 1995-03-15 1996-09-19 Technologietransfer Anstalt Te Folgesteuerung für ein selbstfahrendes Fahrzeug
US5711388A (en) * 1995-07-20 1998-01-27 Golfpro International, Inc. Robotic golf caddy apparatus and method
US6327219B1 (en) * 1999-09-29 2001-12-04 Vi&T Group Method and system for directing a following device toward a movable object
ES2346324T3 (es) * 2005-01-20 2010-10-14 O.M.G. S.R.L. Carro de conduccion automatica para el transporte de objetos, en particular sobre campos de golf.

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8774981B2 (en) 2009-09-14 2014-07-08 Israel Aerospace Industries Ltd. Infantry robotic porter system and methods useful in conjunction therewith
US10422649B2 (en) 2014-02-24 2019-09-24 Ford Global Technologies, Llc Autonomous driving sensing system and method

Also Published As

Publication number Publication date
DE102007044006A1 (de) 2009-04-02
WO2009037018A3 (fr) 2009-06-11

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