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WO2010040962A1 - Electric or partially electric automobile, associated recharging infrastructure for automatically positioning the vehicle relative to the infrastructure, and related method - Google Patents

Electric or partially electric automobile, associated recharging infrastructure for automatically positioning the vehicle relative to the infrastructure, and related method Download PDF

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Publication number
WO2010040962A1
WO2010040962A1 PCT/FR2009/051922 FR2009051922W WO2010040962A1 WO 2010040962 A1 WO2010040962 A1 WO 2010040962A1 FR 2009051922 W FR2009051922 W FR 2009051922W WO 2010040962 A1 WO2010040962 A1 WO 2010040962A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
infrastructure
charging infrastructure
charging
electric
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/FR2009/051922
Other languages
French (fr)
Inventor
Antoine Grivaux
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PSA Automobiles SA
Original Assignee
Peugeot Citroen Automobiles SA
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 Peugeot Citroen Automobiles SA filed Critical Peugeot Citroen Automobiles SA
Publication of WO2010040962A1 publication Critical patent/WO2010040962A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • 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
    • Y02T10/62—Hybrid 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
    • 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
    • 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
    • Y02T90/12—Electric charging stations
    • 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

Definitions

  • Electric or partially electric motor vehicle and associated charging infrastructure for automatic positioning of the vehicle with respect to the associated infrastructure and method
  • the present invention relates to an electric or partially electric motor vehicle and charging infrastructure for the automatic positioning of the vehicle with respect to the infrastructure and the method of use of these elements associated.
  • partially electric vehicle is meant a hybrid vehicle combining the use of a heat engine and an electric machine.
  • the present invention finds a particularly advantageous application in the field of electric or partially electric traction vehicles comprising energy storage devices that can be recharged from the electrical distribution network of domestic or industrial type.
  • the state of the art teaches vehicles equipped with an electric or partially electric traction chain comprising an electric machine capable of ensuring the traction of the vehicle.
  • the electrical storage devices related to this power train such as electrochemical batteries, or supercapacitors, are likely to be recharged from a power supply network.
  • Electric plug-in vehicle charging is done by means of an electrical connection to a charging infrastructure connected to the distribution network.
  • This electrical connection uses an electrical outlet, located at the end of a wiring, that the user plugs to charge the vehicle, and disconnects when the load is completed.
  • the state of the art teaches piloting assistance devices, intended to assist the driver in the performance of delicate maneuvers; thus, a device known in the state of the art allows the vehicle to perform a so-called parking maneuver in controlling the steering of the wheels and the driving of the vehicle; the precise timing of these controls allows the vehicle to travel a predetermined path, which leads to its parking location.
  • Vehicles that can be recharged electrically from a charging infrastructure require, from their user, regular refills due to a limited autonomy. At each reloading operation, the user must perform a repetitive positioning operation of the vehicle near the infrastructure, connecting a vehicle cable to the charging infrastructure, and then disconnecting electricity. These operations are tedious, and forgetting one of them may result in an inability to use the vehicle, the batteries have not been properly recharged.
  • the invention fills this need by proposing a vehicle equipped with a positioning device for calculating a trajectory to pass from an initial position remote from a charging infrastructure that does not allow charging the vehicle to an end position. allowing the vehicle to be recharged and means for controlling the various components of the vehicle so as to follow the calculated trajectory.
  • the calculation of the position of the vehicle along the trajectory is made from an exchange of signals between transducers installed on the vehicle and a tracking beacon mounted on the infrastructure of the vehicle. refill.
  • the invention preferably uses wireless power transfer connectors or means, such as electromagnetic transformer halves, installed on the vehicle and the charging architecture, which make it possible to avoid use electrical cables.
  • the invention therefore relates to a motor vehicle comprising an electric traction chain formed by at least one electric machine in relation to a storage device intended to be recharged by a storage infrastructure according to the invention, characterized in that it comprises: an electrical device able to receive energy transmitted by the charging infrastructure and to transmit this energy to the storage device to recharge it,
  • At least one transducer generating signals relating to the position of the vehicle relative to the tracking device, from signal exchanges between the transducer and the tracking device,
  • a measuring device in relation to the transducer making it possible to evaluate the position of the vehicle with respect to the charging infrastructure on the basis of the signals supplied by the transducer
  • a device for controlling the movement of the vehicle capable of calculating a trajectory for passing from a position of the vehicle remote from the infrastructure to a predefined final position allowing an energy transfer of the charging infrastructure to the storage device and to actuate one or more of the vehicle members for moving the vehicle along the calculated path.
  • the transducer includes a video camera, or takes the form of ultrasonic sensors, such as those used in parking assist devices.
  • the electrical device comprises an electromagnetic transformer half to allow energy transfer by induction of the charging infrastructure to the storage device. [015]. According to one embodiment, the electrical device comprises a flared guide or a convex shape profile for guiding the docking of said electrical device with the electric device of the charging infrastructure having a complementary shape.
  • the invention also relates to a recharging infrastructure capable of transferring electrical energy to the storage device of an electric or partially electric vehicle according to the invention, characterized in that it comprises:
  • an electrical device capable of transmitting energy from the charging infrastructure to the on-board electrical device on the vehicle
  • a registration device forming a mark allowing the vehicle control device to determine the position of the vehicle with respect to the charging infrastructure.
  • the electrical device comprises one half of an electromagnetic transformer to enable energy transfer by induction of the charging infrastructure to the storage device.
  • the tracking device is integrated with the charging infrastructure.
  • the electrical device is fixed to the charging infrastructure by means of a flexible attachment to cushion a possible impact during a docking of the vehicle.
  • the electrical device is located on a retractable telescopic arm which makes it possible to bring the device into contact with the device once the vehicle is immobilized in the final position.
  • the tracking device comprises optical targets or ultrasonic beacons.
  • the invention also relates to a positioning method implementing the vehicle and the charging infrastructure according to the invention, characterized in that it comprises the following steps:
  • the measuring device evaluates the position of the vehicle with respect to the charging infrastructure and transmits it to the positioning device which corrects the trajectory according to this position information by servo.
  • the final position is recorded beforehand in a memory of the control device or is transmitted by the charging infrastructure to the control device by means for example of a radiofrequency communication.
  • the driver keeps control of the vehicle by means of the steering wheel and the brake pedal and can stop the vehicle at any time if the movement of the latter is a problem. danger for its environment.
  • Figure 1 a schematic representation of a hybrid vehicle according to the invention equipped with a positioning device according to the invention
  • Figures 2a-2b representations of the movement of the vehicle from an initial position to a final position for recharging the vehicle during the implementation of the method according to the invention.
  • Figure 1 shows a hybrid vehicle 1 according to the invention comprising a chain 3 of thermal traction ensuring the thermal traction of the front wheels 4 of the vehicle, and an electric traction chain 5 ensuring the electric traction of the rear wheels 6 of the vehicle.
  • the chain 3 of thermal traction is formed by a thermal motor 7, at least one gearbox 8 connected to the wheels 4 and a clutch 11 connected on the one hand to the engine 7 thermal and the other to the gearbox 8.
  • the electric traction chain 5 is formed by at least one electric machine 10 in connection with a device 12 for storing energy via a converter element 13, so that the machine 10 can take energy from the storage device 12 for operating in motor mode in traction phases, or transmitting energy to the storage device 12 when it operates in generator mode, in particular during the braking phases during which the kinetic energy of the vehicle is recovered for transform it into electrical energy and store it in the storage device 12.
  • the vehicle 1 also comprises a system for assisting the steering of the vehicle capable of controlling the direction of the wheels of the vehicle, and brakes 17 installed on each wheel capable of exerting a braking force on the wheels 4, 6 of the vehicle.
  • a recharge infrastructure 18 for recharging the storage device 12 comprises an electric device 21 capable of transmitting energy to an onboard device 23 on the vehicle.
  • the device 23 is able to receive the energy transmitted by the infrastructure 18 and to transmit it to the storage device 12. The energy transfer takes place when the two devices 21 and 23 are in contact with each other, or close to each other.
  • the devices 21 and 23 are electrical connectors, the bringing into contact allows the transfer of energy for the purpose of electrical recharging of the vehicle.
  • it is two halves of an electromagnetic transformer, the approximation allows, by induction, the transfer of energy. In both cases, the connection between the vehicle 1 and the charging infrastructure 18 is performed without the use of an electric cable.
  • the vehicle 1 is also equipped with a positioning device comprising a device 27 for controlling the movement of the vehicle enabling an action on one or more of the vehicle components chosen from: the electrical machine, the heat engine, the vehicle steering assistance system 15, the brakes 17, the clutch 11, and the gearbox 8.
  • a positioning device comprising a device 27 for controlling the movement of the vehicle enabling an action on one or more of the vehicle components chosen from: the electrical machine, the heat engine, the vehicle steering assistance system 15, the brakes 17, the clutch 11, and the gearbox 8.
  • the positioning device 25 also uses a tracking device 29 installed in the vicinity of the recharging infrastructure 18 which forms a positioning mark with respect to the charging infrastructure 18.
  • this tracking device 29 is integrated in the infrastructure 18.
  • the positioning device 25 also comprises transducers 30 capable of transmitting signals relating to the position of the vehicle relative to the device 29, as well as a measuring device 31 relationship with the transducers 30 for evaluating the position of the vehicle with respect to the infrastructure 18 from the signals provided by the transducers 30.
  • optical targets are used as a tracking device associated with a transducer 30 consisting of a video camera.
  • the transducer 30 is in the form of ultrasonic sensors, such as those employed in parking assist devices.
  • the tracking device 29 may then consist of ultrasonic beacons. This embodiment is particularly advantageous because it makes it possible to take advantage of transducers likely to be already installed on the vehicle.
  • the device 25 allows a precise positioning of the vehicle with respect to the infrastructure 18. For this purpose, when the user wishes to perform a reloading operation of the storage device 12, he presents his vehicle with regard to the infrastructure 18 and active the control device 27, for example by means of an electrical switch of the dashboard. Alternatively, the control device 27 is activated automatically when the device 27 detects that it is close to the infrastructure 18.
  • the transducers 30 then exchange signals 33 with the locating device 29, and transmit to the measuring device 31 signals relating to the position of the vehicle relative to the tracking device 29.
  • the measuring device 31 calculates the initial position P1 of the vehicle with respect to the infrastructure 18 from the received signals, and communicates it to the control device 27.
  • the control device 27 calculates a trajectory T making it possible to move from the position P1 to a final position PF with respect to the infrastructure 18.
  • the final position PF of the vehicle is chosen so as to bring the electrical devices 21 and 23 in a predefined relative position allowing their immediate or subsequent berthing so as to allow a transfer of energy E of the charging infrastructure 18 to the storage device 12 and reloading the vehicle storage device 12.
  • the final PF position is stored beforehand in a memory incorporated in said device 27 or transmitted by the charging infrastructure 18 to the control device 27, for example by means of a radio frequency communication.
  • This variant allows the vehicle to be able to adapt to several types of loading infrastructure 18 may have different geometries.
  • the control device 27 then drives the various actuators 7, 8, 11, 15, 17 so as to move the vehicle along the calculated trajectory T.
  • the measuring device 31 evaluates the position P of the vehicle relative to the infrastructure 18 and notifies the positioning device 27, which corrects the trajectory T based on this information.
  • control device 27 controls the actuators 7, 8, 10, 11, 15, 17 so as to immobilize the vehicle 1.
  • the electrical devices 21 and 23 comprise a guiding device for guiding their docking; this guide device may consist of a flared guide installed on one of the electrical devices 21, 23 and a convex shape profile installed on the other electrical device 21, 23 for insertion into the guide.
  • the charging device 21 is fixed to the infrastructure 18 by means of a flexible attachment to cushion a possible impact during a docking.
  • the reloading device 21 is located on a retractable telescopic arm which makes it possible to bring the device 23 into contact with the device 23 once the vehicle is immobilized in the desired position PF.
  • the driver in the vehicle retains control of the vehicle by means of the steering wheel and the brake pedal, and can stop the vehicle at any time if the movement of the vehicle constitutes a danger to the environment.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention essentially relates to a method for positioning a hybrid or all-electric vehicle (1) relative to a recharging infrastructure (18), said method consisting of: measuring the initial position (Pl) of the vehicle relative to the infrastructure (18); calculating a path (T) for moving from the initial position (Pl) to a final position (PF) enabling an immediate or subsequent power transfer from the recharging infrastructure (18) to the storage device; and controlling members (7, 8, 10, 11, 15, 17) of the vehicle so as to move the vehicle along the calculated path (T) up to the final position (PF).

Description

Véhicule automobile électrique ou partiellement électrique et infrastructure de recharge associée pour le positionnement automatique du véhicule par rapport à l'infrastructure et procédé associé Electric or partially electric motor vehicle and associated charging infrastructure for automatic positioning of the vehicle with respect to the associated infrastructure and method

[001]. La présente invention concerne un véhicule automobile électrique ou partiellement électrique et une infrastructure de recharge permettant le positionnement automatique du véhicule par rapport à l'infrastructure ainsi que le procédé d'utilisation de ces éléments associé. Par véhicule partiellement électrique, on entend un véhicule hybride combinant l'utilisation d'un moteur thermique et d'une machine électrique.[001]. The present invention relates to an electric or partially electric motor vehicle and charging infrastructure for the automatic positioning of the vehicle with respect to the infrastructure and the method of use of these elements associated. By partially electric vehicle is meant a hybrid vehicle combining the use of a heat engine and an electric machine.

[002]. La présente invention trouve une application particulièrement avantageuse dans le domaine des véhicules à traction électrique ou partiellement électrique comportant des dispositifs de stockage d'énergie susceptibles d'être rechargés à partir du réseau de distribution électrique de type domestique ou industriel.[002]. The present invention finds a particularly advantageous application in the field of electric or partially electric traction vehicles comprising energy storage devices that can be recharged from the electrical distribution network of domestic or industrial type.

[003]. L'état de l'art enseigne des véhicules dotés d'une chaîne de traction électrique ou partiellement électrique comportant une machine électrique apte à assurer la traction du véhicule. Les dispositifs de stockage électriques liés à cette chaîne de traction, tels que batteries électrochimiques, ou supercondensateurs, sont susceptibles d'être rechargés à partir d'un réseau d'alimentation électrique.[003]. The state of the art teaches vehicles equipped with an electric or partially electric traction chain comprising an electric machine capable of ensuring the traction of the vehicle. The electrical storage devices related to this power train, such as electrochemical batteries, or supercapacitors, are likely to be recharged from a power supply network.

[004]. Le rechargement électrique de véhicules de type « plug in » s'effectue au moyen d'une connexion électrique à une infrastructure de recharge reliée au réseau de distribution. Cette connexion électrique fait appel à une prise électrique, située à l'extrémité d'un câblage, que l'utilisateur branche pour recharger le véhicule, et débranche lorsque la charge est achevée.[004]. Electric plug-in vehicle charging is done by means of an electrical connection to a charging infrastructure connected to the distribution network. This electrical connection uses an electrical outlet, located at the end of a wiring, that the user plugs to charge the vehicle, and disconnects when the load is completed.

[005]. Par ailleurs, l'état de l'art enseigne des dispositifs d'aide au pilotage, destinés à assister le conducteur dans l'accomplissement de manœuvres délicates ; ainsi, un dispositif connu dans l'état de l'art permet au véhicule d'effectuer une manœuvre de stationnement dite en créneau, en contrôlant le braquage des roues ainsi que l'entraînement du véhicule ; la synchronisation précise de ces contrôles permet au véhicule de parcourir une trajectoire déterminée au préalable, qui l'amène à son emplacement de stationnement.[005]. In addition, the state of the art teaches piloting assistance devices, intended to assist the driver in the performance of delicate maneuvers; thus, a device known in the state of the art allows the vehicle to perform a so-called parking maneuver in controlling the steering of the wheels and the driving of the vehicle; the precise timing of these controls allows the vehicle to travel a predetermined path, which leads to its parking location.

[006]. Les véhicules pouvant être rechargés électriquement depuis une infrastructure de recharge nécessitent, de la part de leur utilisateur, des recharges régulières du fait d'une autonomie limitée. A chaque opération de rechargement, l'utilisateur doit effectuer une opération répétitive de positionnement du véhicule à proximité de l'infrastructure, de branchement d'un câble du véhicule à l'infrastructure de recharge, puis de débranchement électrique. Ces opérations sont fastidieuses, et l'oubli de l'une d'entre elles peut avoir pour conséquence une impossibilité d'utiliser le véhicule, les batteries n'ayant pas été convenablement rechargées.[006]. Vehicles that can be recharged electrically from a charging infrastructure require, from their user, regular refills due to a limited autonomy. At each reloading operation, the user must perform a repetitive positioning operation of the vehicle near the infrastructure, connecting a vehicle cable to the charging infrastructure, and then disconnecting electricity. These operations are tedious, and forgetting one of them may result in an inability to use the vehicle, the batteries have not been properly recharged.

[007]. De plus, la présence d'un câble de rechargement suscite un risque mécanique et électrique certain pour les personnes situées à proximité. En effet, la présence d'un câble dans un lieu de passage entraîne des risques de chute, et des possibilités d'électrisation résultent de toute détérioration mécanique ou mauvaise manipulation du câblage et des prises.[007]. In addition, the presence of a charging cable creates a mechanical and electrical risk for people in the vicinity. Indeed, the presence of a cable in a place of passage entails risks of falling, and possibilities of electrization result from any mechanical deterioration or bad handling of the wiring and the sockets.

[008]. Il existe donc le besoin d'un système permettant de faciliter le positionnement d'un véhicule au voisinage d'une infrastructure de recharge.[008]. There is therefore a need for a system to facilitate the positioning of a vehicle in the vicinity of a charging infrastructure.

[009]. L'invention comble ce besoin en proposant un véhicule équipé d'un dispositif de positionnement permettant de calculer une trajectoire pour passer d'une position initiale éloignée d'une infrastructure de recharge ne permettant pas d'effectuer la recharge du véhicule à une position finale permettant d'effectuer la recharge du véhicule et des moyens pour commander les différents organes du véhicule de manière à le faire suivre la trajectoire calculée.[009]. The invention fills this need by proposing a vehicle equipped with a positioning device for calculating a trajectory to pass from an initial position remote from a charging infrastructure that does not allow charging the vehicle to an end position. allowing the vehicle to be recharged and means for controlling the various components of the vehicle so as to follow the calculated trajectory.

[010]. Le calcul de la position du véhicule tout au long de la trajectoire est effectué à partir d'un échange de signaux entre des transducteurs installés sur le véhicule et une balise de repérage montée sur l'infrastructure de recharge.[010]. The calculation of the position of the vehicle along the trajectory is made from an exchange of signals between transducers installed on the vehicle and a tracking beacon mounted on the infrastructure of the vehicle. refill.

[011]. Par ailleurs, l'invention fait de préférence appel à des connecteurs ou des moyens de transfert d'énergie sans fil, tels que des moitiés de transformateur électromagnétique, installés sur le véhicule et l'architecture de recharge, qui permettent d'éviter d'avoir recours à des câbles électriques.[011]. Moreover, the invention preferably uses wireless power transfer connectors or means, such as electromagnetic transformer halves, installed on the vehicle and the charging architecture, which make it possible to avoid use electrical cables.

[012]. L'invention concerne donc un véhicule automobile comportant une chaîne de traction électrique formée par au moins une machine électrique en relation avec un dispositif de stockage destiné à être rechargé par une infrastructure de stockage selon l'invention, caractérisé en ce qu'il comporte : - un dispositif électrique apte à recevoir de l'énergie transmise par l'infrastructure de recharge et à transmettre cette énergie vers le dispositif de stockage pour assurer sa recharge,[012]. The invention therefore relates to a motor vehicle comprising an electric traction chain formed by at least one electric machine in relation to a storage device intended to be recharged by a storage infrastructure according to the invention, characterized in that it comprises: an electrical device able to receive energy transmitted by the charging infrastructure and to transmit this energy to the storage device to recharge it,

- au moins un transducteur générant des signaux relatifs à la position du véhicule par rapport au dispositif de repérage, à partir d'échanges de signaux entre le transducteur et le dispositif de repérage,at least one transducer generating signals relating to the position of the vehicle relative to the tracking device, from signal exchanges between the transducer and the tracking device,

- un dispositif de mesure en relation avec le transducteur permettant d'évaluer la position du véhicule par rapport à l'infrastructure de recharge à partir des signaux fournis par le transducteur, eta measuring device in relation to the transducer making it possible to evaluate the position of the vehicle with respect to the charging infrastructure on the basis of the signals supplied by the transducer, and

- un dispositif de contrôle du déplacement du véhicule apte à calculer une trajectoire pour passer d'une position du véhicule distante de l'infrastructure à une position finale prédéfinie autorisant un transfert énergétique de l'infrastructure de recharge vers le dispositif de stockage et à actionner un ou plusieurs des organes du véhicule pour assurer le déplacement du véhicule suivant la trajectoire calculée.a device for controlling the movement of the vehicle capable of calculating a trajectory for passing from a position of the vehicle remote from the infrastructure to a predefined final position allowing an energy transfer of the charging infrastructure to the storage device and to actuate one or more of the vehicle members for moving the vehicle along the calculated path.

[013]. Selon une réalisation, le transducteur comporte une caméra vidéo, ou prend la forme de capteurs à ultrasons, tels que ceux employés dans les dispositifs d'aide au stationnement.[013]. In one embodiment, the transducer includes a video camera, or takes the form of ultrasonic sensors, such as those used in parking assist devices.

[014]. Selon une réalisation, le dispositif électrique comporte une moitié de transformateur électromagnétique pour permettre le transfert d'énergie par induction de l'infrastructure de recharge vers le dispositif de stockage. [015]. Selon une réalisation, le dispositif électrique comporte un guide évasé ou un profil de forme convexe permettant de guider l'accostage dudit dispositif électrique avec le dispositif électrique de l'infrastructure de recharge présentant une forme complémentaire.[014]. In one embodiment, the electrical device comprises an electromagnetic transformer half to allow energy transfer by induction of the charging infrastructure to the storage device. [015]. According to one embodiment, the electrical device comprises a flared guide or a convex shape profile for guiding the docking of said electrical device with the electric device of the charging infrastructure having a complementary shape.

[016]. L'invention concerne en outre une infrastructure de recharge apte à transférer de l'énergie électrique vers le dispositif de stockage d'un véhicule électrique ou partiellement électrique selon l'invention, caractérisée en ce qu'elle comporte :[016]. The invention also relates to a recharging infrastructure capable of transferring electrical energy to the storage device of an electric or partially electric vehicle according to the invention, characterized in that it comprises:

- un dispositif électrique apte à transmettre de l'énergie de l'infrastructure de recharge au dispositif électrique embarqué sur le véhicule, etan electrical device capable of transmitting energy from the charging infrastructure to the on-board electrical device on the vehicle, and

- un dispositif de repérage formant un repère permettant au dispositif de contrôle du véhicule de déterminer la position du véhicule par rapport à l'infrastructure de recharge.- A registration device forming a mark allowing the vehicle control device to determine the position of the vehicle with respect to the charging infrastructure.

[017]. Selon une réalisation, le dispositif électrique comporte une moitié d'un transformateur électromagnétique pour permettre le transfert d'énergie par induction de l'infrastructure de recharge vers le dispositif de stockage.[017]. According to one embodiment, the electrical device comprises one half of an electromagnetic transformer to enable energy transfer by induction of the charging infrastructure to the storage device.

[018]. Selon une réalisation, le dispositif de repérage est intégré à l'infrastructure de recharge.[018]. In one embodiment, the tracking device is integrated with the charging infrastructure.

[019]. Selon une réalisation, le dispositif électrique est fixé à l'infrastructure de recharge au moyen d'une fixation souple afin d'amortir un éventuel choc lors d'un accostage du véhicule.[019]. According to one embodiment, the electrical device is fixed to the charging infrastructure by means of a flexible attachment to cushion a possible impact during a docking of the vehicle.

[020]. Selon une réalisation, le dispositif électrique est situé sur un bras télescopique rétractable qui permet d'amener le dispositif au contact du dispositif une fois que le véhicule est immobilisé dans la position finale.[020]. According to one embodiment, the electrical device is located on a retractable telescopic arm which makes it possible to bring the device into contact with the device once the vehicle is immobilized in the final position.

[021]. Selon une réalisation, le dispositif de repérage comporte des cibles optiques ou des balises ultrasonores.[021]. According to one embodiment, the tracking device comprises optical targets or ultrasonic beacons.

[022]. L'invention concerne également un procédé de positionnement mettant en œuvre le véhicule et l'infrastructure de recharge selon l'invention, caractérisé en ce qu'il comporte les étapes suivantes :[022]. The invention also relates to a positioning method implementing the vehicle and the charging infrastructure according to the invention, characterized in that it comprises the following steps:

- mesurer, au moyen du dispositif de mesure, la position initiale du véhicule par rapport à l'infrastructure à partir de signaux fournis par le transducteur relatifs à la position du véhicule par rapport au dispositif de repérage de l'infrastructure de recharge,measuring, by means of the measuring device, the initial position of the vehicle with respect to the infrastructure on the basis of signals supplied by the transducer relating to the position of the vehicle relative to the device for marking the charging infrastructure,

- communiquer au dispositif de contrôle la position mesurée,- communicate to the control device the measured position,

- calculer, au moyen du dispositif de contrôle, une trajectoire permettant de passer de la position initiale jusqu'à une position finale autorisant un transfert énergétique de l'infrastructure de recharge vers le dispositif de stockage, et - commander, au moyen du dispositif de contrôle, des organes du véhicule de façon à déplacer le véhicule selon la trajectoire calculée jusqu'à la position finale.calculating, by means of the control device, a path for moving from the initial position to a final position allowing an energy transfer from the charging infrastructure to the storage device, and controlling, by means of the device of control of the vehicle members so as to move the vehicle along the calculated path to the final position.

[023]. Selon une mise en œuvre, tout au long du déplacement du véhicule, le dispositif de mesure évalue la position du véhicule par rapport à l'infrastructure de recharge et la transmet au dispositif de positionnement qui corrige la trajectoire en fonction de ces informations de position par asservissement.[023]. According to one implementation, throughout the movement of the vehicle, the measuring device evaluates the position of the vehicle with respect to the charging infrastructure and transmits it to the positioning device which corrects the trajectory according to this position information by servo.

[024]. Selon une mise en œuvre, la position finale est enregistrée au préalable dans une mémoire du dispositif de contrôle ou est transmise par l'infrastructure de recharge au dispositif de contrôle au moyen par exemple d'une communication radiofréquence.[024]. According to one implementation, the final position is recorded beforehand in a memory of the control device or is transmitted by the charging infrastructure to the control device by means for example of a radiofrequency communication.

[025]. Selon une mise en œuvre, il est mis en œuvre lorsque le conducteur du véhicule active le dispositif de contrôle par exemple au moyen d'un contacteur électrique du tableau de bord du véhicule.[025]. According to one implementation, it is implemented when the driver of the vehicle activates the control device for example by means of an electric switch of the vehicle dashboard.

[026]. Selon une mise en œuvre, tout au long de la mise en œuvre, le conducteur garde le contrôle du véhicule au moyen du volant de direction et de la pédale de frein et peut stopper à tout instant le véhicule si le mouvement de ce dernier constitue un danger pour son environnement.[026]. According to one implementation, throughout the implementation, the driver keeps control of the vehicle by means of the steering wheel and the brake pedal and can stop the vehicle at any time if the movement of the latter is a problem. danger for its environment.

[027]. L'invention sera mieux comprise à la lecture de la description qui suit et à l'examen des figures qui l'accompagnent. Ces figures ne sont données qu'à titre illustratif mais nullement limitatif de l'invention. Elles montrent :[027]. The invention will be better understood on reading the description which follows and on examining the figures which accompany it. These figures are not data as illustrative but not limiting of the invention. They show :

[028]. Figure 1 : une représentation schématique d'un véhicule hybride selon l'invention équipé d'un dispositif de positionnement selon l'invention ;[028]. Figure 1: a schematic representation of a hybrid vehicle according to the invention equipped with a positioning device according to the invention;

[029]. Figures 2a-2b : des représentations du déplacement du véhicule d'une position initiale à une position finale permettant la recharge du véhicule lors de la mise en œuvre du procédé selon l'invention.[029]. Figures 2a-2b: representations of the movement of the vehicle from an initial position to a final position for recharging the vehicle during the implementation of the method according to the invention.

[030]. Les éléments identiques conservent la même référence d'une figure à l'autre.[030]. Identical elements retain the same reference from one figure to another.

[031]. La Figure 1 montre un véhicule 1 hybride selon l'invention comportant une chaîne 3 de traction thermique assurant la traction thermique des roues avant 4 du véhicule, et une chaîne 5 de traction électrique assurant la traction électrique des roues arrière 6 du véhicule.[031]. Figure 1 shows a hybrid vehicle 1 according to the invention comprising a chain 3 of thermal traction ensuring the thermal traction of the front wheels 4 of the vehicle, and an electric traction chain 5 ensuring the electric traction of the rear wheels 6 of the vehicle.

[032]. La chaîne 3 de traction thermique est formée par un moteur 7 thermique, au moins une boîte 8 de vitesses connectée aux roues 4 et un embrayage 11 relié d'une part au moteur 7 thermique et d'autre part à la boîte 8 de vitesses.[032]. The chain 3 of thermal traction is formed by a thermal motor 7, at least one gearbox 8 connected to the wheels 4 and a clutch 11 connected on the one hand to the engine 7 thermal and the other to the gearbox 8.

[033]. La chaîne 5 de traction électrique est formée par au moins une machine 10 électrique en relation avec un dispositif 12 de stockage d'énergie par l'intermédiaire d'un élément 13 convertisseur, de sorte que la machine 10 peut prélever de l'énergie du dispositif 12 de stockage pour fonctionner en mode moteur dans des phases de traction, ou transmettre de l'énergie au dispositif 12 de stockage lorsqu'elle fonctionne en mode générateur notamment lors des phases de freinage pendant lesquelles on récupère l'énergie cinétique du véhicule pour la transformer en énergie électrique et la stocker dans le dispositif 12 de stockage.[033]. The electric traction chain 5 is formed by at least one electric machine 10 in connection with a device 12 for storing energy via a converter element 13, so that the machine 10 can take energy from the storage device 12 for operating in motor mode in traction phases, or transmitting energy to the storage device 12 when it operates in generator mode, in particular during the braking phases during which the kinetic energy of the vehicle is recovered for transform it into electrical energy and store it in the storage device 12.

[034]. Le véhicule 1 comporte également un système 15 d'assistance de la direction du véhicule apte à commander la direction des roues du véhicule, et des freins 17 installés sur chaque roue aptes à exercer un effort de freinage sur les roues 4, 6 du véhicule.[034]. The vehicle 1 also comprises a system for assisting the steering of the vehicle capable of controlling the direction of the wheels of the vehicle, and brakes 17 installed on each wheel capable of exerting a braking force on the wheels 4, 6 of the vehicle.

[035]. Par ailleurs, une infrastructure 18 de recharge permettant de recharger le dispositif 12 de stockage comporte un dispositif 21 électrique apte à transmettre de l'énergie à un dispositif 23 électrique embarqué sur le véhicule. Le dispositif 23 est apte à recevoir l'énergie transmise par l'infrastructure 18 et à la transmettre au dispositif 12 de stockage. Le transfert d'énergie s'effectue lorsque les deux dispositifs 21 et 23 se situent au contact l'un de l'autre, ou à proximité l'un de l'autre.[035]. Furthermore, a recharge infrastructure 18 for recharging the storage device 12 comprises an electric device 21 capable of transmitting energy to an onboard device 23 on the vehicle. The device 23 is able to receive the energy transmitted by the infrastructure 18 and to transmit it to the storage device 12. The energy transfer takes place when the two devices 21 and 23 are in contact with each other, or close to each other.

[036]. Selon un mode de réalisation, les dispositifs 21 et 23 sont des connecteurs électriques, dont la mise en contact permet le transfert d'énergie à des fins de rechargement électrique du véhicule. Selon un autre mode de réalisation, il s'agit de deux moitiés d'un transformateur électromagnétique, dont le rapprochement permet, par induction, le transfert d'énergie. Dans les deux cas, la connexion entre le véhicule 1 et l'infrastructure 18 de recharge est effectuée sans avoir à utiliser de câble électrique.[036]. According to one embodiment, the devices 21 and 23 are electrical connectors, the bringing into contact allows the transfer of energy for the purpose of electrical recharging of the vehicle. According to another embodiment, it is two halves of an electromagnetic transformer, the approximation allows, by induction, the transfer of energy. In both cases, the connection between the vehicle 1 and the charging infrastructure 18 is performed without the use of an electric cable.

[037]. Par ailleurs, le véhicule 1 est également équipé d'un dispositif 25 de positionnement comportant un dispositif 27 de contrôle du déplacement du véhicule permettant une action sur un ou plusieurs des organes du véhicule choisi parmi : la machine 10 électrique, le moteur 7 thermique, le système 15 d'assistance de la direction du véhicule, les freins 17, l'embrayage 11 , et la boîte 8 de vitesses.[037]. Furthermore, the vehicle 1 is also equipped with a positioning device comprising a device 27 for controlling the movement of the vehicle enabling an action on one or more of the vehicle components chosen from: the electrical machine, the heat engine, the vehicle steering assistance system 15, the brakes 17, the clutch 11, and the gearbox 8.

[038]. Le dispositif 25 de positionnement fait également appel à un dispositif 29 de repérage installé au voisinage de l'infrastructure 18 de recharge qui forme un repère de positionnement par rapport à l'infrastructure 18 de recharge. De préférence, ce dispositif 29 de repérage est intégré à l'infrastructure 18.[038]. The positioning device 25 also uses a tracking device 29 installed in the vicinity of the recharging infrastructure 18 which forms a positioning mark with respect to the charging infrastructure 18. Preferably, this tracking device 29 is integrated in the infrastructure 18.

[039]. Le dispositif 25 de positionnement comporte également des transducteurs 30 aptes à transmettre des signaux relatifs à la position du véhicule par rapport au dispositif 29, ainsi qu'un dispositif 31 de mesure en relation avec les transducteurs 30 permettant d'évaluer la position du véhicule par rapport à l'infrastructure 18 à partir des signaux fournis par les transducteurs 30.[039]. The positioning device 25 also comprises transducers 30 capable of transmitting signals relating to the position of the vehicle relative to the device 29, as well as a measuring device 31 relationship with the transducers 30 for evaluating the position of the vehicle with respect to the infrastructure 18 from the signals provided by the transducers 30.

[040]. Selon un mode de réalisation, on utilise des cibles optiques en guise de dispositif 29 de repérage, associées à un transducteur 30 constitué d'une caméra vidéo. Selon un autre mode de réalisation, le transducteur 30 prend la forme de capteurs à ultrasons, tels que ceux employés dans les dispositifs d'aide au stationnement. Le dispositif 29 de repérage peut alors être constitué de balises ultrasonores. Ce mode de réalisation est particulièrement avantageux car il permet de tirer partie de transducteurs susceptibles d'être déjà installés sur le véhicule.[040]. According to one embodiment, optical targets are used as a tracking device associated with a transducer 30 consisting of a video camera. In another embodiment, the transducer 30 is in the form of ultrasonic sensors, such as those employed in parking assist devices. The tracking device 29 may then consist of ultrasonic beacons. This embodiment is particularly advantageous because it makes it possible to take advantage of transducers likely to be already installed on the vehicle.

[041]. Le dispositif 25 permet un positionnement précis du véhicule par rapport à l'infrastructure 18. A cet effet, lorsque l'utilisateur souhaite effectuer une opération de rechargement du dispositif 12 de stockage, il présente son véhicule en regard de l'infrastructure 18 et active le dispositif 27 de contrôle, par exemple au moyen d'un contacteur électrique du tableau de bord. En variante, le dispositif 27 de contrôle s'active automatiquement lorsque le dispositif 27 détecte qu'il se trouve à proximité de l'infrastructure 18.[041]. The device 25 allows a precise positioning of the vehicle with respect to the infrastructure 18. For this purpose, when the user wishes to perform a reloading operation of the storage device 12, he presents his vehicle with regard to the infrastructure 18 and active the control device 27, for example by means of an electrical switch of the dashboard. Alternatively, the control device 27 is activated automatically when the device 27 detects that it is close to the infrastructure 18.

[042]. Comme représenté sur la figure 2a, les transducteurs 30 échangent alors des signaux 33 avec le dispositif 29 de repérage, et transmettent au dispositif 31 de mesure des signaux relatifs à la position du véhicule par rapport au dispositif 29 de repérage. Le dispositif 31 de mesure calcule la position initiale Pl du véhicule par rapport à l'infrastructure 18 à partir des signaux reçus, et la communique au dispositif 27 de contrôle.[042]. As shown in FIG. 2a, the transducers 30 then exchange signals 33 with the locating device 29, and transmit to the measuring device 31 signals relating to the position of the vehicle relative to the tracking device 29. The measuring device 31 calculates the initial position P1 of the vehicle with respect to the infrastructure 18 from the received signals, and communicates it to the control device 27.

[043]. En fonction de l'information de position Pl reçue, le dispositif 27 de contrôle calcule une trajectoire T permettant de passer de la position Pl jusqu'à une position PF finale par rapport à l'infrastructure 18. La position PF finale du véhicule est choisie de façon à amener les dispositifs électriques 21 et 23 dans une position relative prédéfinie permettant leur accostage immédiat ou ultérieur de façon à permettre un transfert d'énergie E de l'infrastructure 18 de recharge vers le dispositif 12 de stockage et de procéder ainsi au rechargement du dispositif 12 de stockage du véhicule.[043]. Based on the position information P1 received, the control device 27 calculates a trajectory T making it possible to move from the position P1 to a final position PF with respect to the infrastructure 18. The final position PF of the vehicle is chosen so as to bring the electrical devices 21 and 23 in a predefined relative position allowing their immediate or subsequent berthing so as to allow a transfer of energy E of the charging infrastructure 18 to the storage device 12 and reloading the vehicle storage device 12.

[044]. La position PF finale est enregistrée au préalable dans une mémoire incorporée dans ledit dispositif 27 ou transmise par l'infrastructure 18 de recharge au dispositif 27 de contrôle, au moyen par exemple d'une communication radiofréquence. Cette variante permet au véhicule de pouvoir s'adapter à plusieurs types d'infrastructure 18 de chargement pouvant présenter des géométries différentes.[044]. The final PF position is stored beforehand in a memory incorporated in said device 27 or transmitted by the charging infrastructure 18 to the control device 27, for example by means of a radio frequency communication. This variant allows the vehicle to be able to adapt to several types of loading infrastructure 18 may have different geometries.

[045]. Le dispositif de contrôle 27 pilote alors les différents actionneurs 7, 8, 11 , 15, 17 de façon à déplacer le véhicule selon la trajectoire T calculée. Tout au long du déplacement du véhicule, le dispositif 31 de mesure évalue la position P du véhicule par rapport à l'infrastructure 18 et en avise le dispositif 27 de positionnement, lequel corrige la trajectoire T en fonction de ces informations.[045]. The control device 27 then drives the various actuators 7, 8, 11, 15, 17 so as to move the vehicle along the calculated trajectory T. Throughout the movement of the vehicle, the measuring device 31 evaluates the position P of the vehicle relative to the infrastructure 18 and notifies the positioning device 27, which corrects the trajectory T based on this information.

[046]. Lorsque le véhicule 1 est en position PF pour permettre l'accostage des dispositifs 21 et 23 comme représenté sur la Figure 2b, le dispositif 27 de contrôle pilote les actionneurs 7, 8, 10, 11 , 15, 17 de façon à immobiliser le véhicule 1.[046]. When the vehicle 1 is in the position PF to allow the docking of the devices 21 and 23 as shown in Figure 2b, the control device 27 controls the actuators 7, 8, 10, 11, 15, 17 so as to immobilize the vehicle 1.

[047]. Selon un mode de réalisation, les dispositifs électriques 21 et 23 comportent un dispositif de guidage permettant de guider leur accostage ; ce dispositif de guidage pouvant être constitué d'un guide évasé installé sur un des dispositifs électriques 21 , 23 et par un profil de forme convexe installé sur l'autre dispositif électrique 21 , 23 destiné à s'insérer dans le guide.[047]. According to one embodiment, the electrical devices 21 and 23 comprise a guiding device for guiding their docking; this guide device may consist of a flared guide installed on one of the electrical devices 21, 23 and a convex shape profile installed on the other electrical device 21, 23 for insertion into the guide.

[048]. Selon un mode de réalisation, le dispositif 21 de rechargement est fixé à l'infrastructure 18 au moyen d'une fixation souple afin d'amortir un éventuel choc lors d'un accostage. Selon un autre mode de réalisation, le dispositif 21 de rechargement est situé sur un bras télescopique rétractable qui permet d'amener le dispositif 23 au contact du dispositif 23 une fois que le véhicule est immobilisé dans la position PF voulue.[048]. According to one embodiment, the charging device 21 is fixed to the infrastructure 18 by means of a flexible attachment to cushion a possible impact during a docking. According to another embodiment, the reloading device 21 is located on a retractable telescopic arm which makes it possible to bring the device 23 into contact with the device 23 once the vehicle is immobilized in the desired position PF.

[049]. De préférence, lors de la manœuvre de positionnement, le conducteur présent dans le véhicule garde le contrôle de ce dernier, au moyen du volant de direction et de la pédale de frein, et peut stopper à tout instant le véhicule si le mouvement de ce dernier constitue un danger pour son environnement. [049]. Preferably, during the positioning maneuver, the driver in the vehicle retains control of the vehicle by means of the steering wheel and the brake pedal, and can stop the vehicle at any time if the movement of the vehicle constitutes a danger to the environment.

Claims

REVENDICATIONS 1. Véhicule automobile comportant une chaîne de traction électrique formée par au moins une machine (10) électrique en relation avec un dispositif (12) de stockage destiné à être rechargé par une infrastructure (18) de stockage définie selon l'une des revendications 5 à 10, caractérisé en ce qu'il comporte :Motor vehicle comprising an electric power train formed by at least one electrical machine (10) in connection with a storage device (12) to be recharged by a storage infrastructure (18) defined according to one of claims 5. at 10, characterized in that it comprises: - un dispositif (23) électrique apte à recevoir de l'énergie transmise par l'infrastructure (18) de recharge et à transmettre cette énergie vers le dispositif (12) de stockage pour assurer sa recharge, ledit dispositif (23) comportant un guide évasé ou un profil de forme convexe permettant de guider l'accostage dudit dispositif (23) électrique avec le dispositif (21 ) électrique de l'infrastructure (18) de recharge présentant une forme complémentaire - au moins un transducteur (30) générant des signaux relatifs à la position du véhicule par rapport au dispositif (29) de repérage, à partir d'échanges de signaux entre le transducteur (30) et le dispositif (29) de repérage,an electrical device (23) capable of receiving energy transmitted by the recharging infrastructure (18) and transmitting this energy to the storage device (12) to recharge it, said device (23) comprising a guide flare or a convex shaped profile for guiding the docking of said electrical device (23) with the electric device (21) of the recharging infrastructure (18) having a complementary shape - at least one transducer (30) generating signals relating to the position of the vehicle relative to the tracking device (29), based on signal exchanges between the transducer (30) and the tracking device (29), - un dispositif (31 ) de mesure en relation avec le transducteur (30) permettant d'évaluer la position du véhicule par rapport à l'infrastructure (18) de recharge à partir des signaux fournis par le transducteur (30), eta measuring device (31) in relation to the transducer (30) for evaluating the position of the vehicle with respect to the charging infrastructure (18) from the signals supplied by the transducer (30), and - un dispositif (27) de contrôle du déplacement du véhicule apte à calculer une trajectoire (T) pour passer d'une position (Pl) du véhicule distante de l'infrastructure à une position (PF) finale prédéfinie autorisant un transfert énergétique de l'infrastructure (18) de recharge vers le dispositif (12) de stockage et à actionner un ou plusieurs des organes (7, 8, 10, 11 , 15, 17) du véhicule pour assurer le déplacement du véhicule suivant la trajectoire (T) calculée.a device (27) for controlling the movement of the vehicle capable of calculating a trajectory (T) for passing from a position (P1) of the vehicle remote from the infrastructure to a predefined final position (PF) allowing an energy transfer of the vehicle; infrastructure (18) for charging to the storage device (12) and operating one or more of the vehicle members (7, 8, 10, 11, 15, 17) to move the vehicle along the path (T) calculated. 2. Véhicule selon la revendication 1 , caractérisé en ce que le transducteur (30) comporte une caméra vidéo, ou prend la forme de capteurs à ultrasons, tels que ceux employés dans les dispositifs d'aide au stationnement. 2. Vehicle according to claim 1, characterized in that the transducer (30) comprises a video camera, or takes the form of ultrasonic sensors, such as those used in parking assist devices. 3. Véhicule selon la revendication 1 ou 2, caractérisé en ce que le dispositif (23) électrique comporte une moitié de transformateur électromagnétique pour permettre le transfert d'énergie par induction de l'infrastructure (18) de recharge vers le dispositif (12) de stockage.Vehicle according to claim 1 or 2, characterized in that the electrical device (23) comprises an electromagnetic transformer half to enable energy transfer by induction of the charging infrastructure (18) to the device (12). storage. 4. Infrastructure (18) de recharge apte à transférer de l'énergie électrique vers le dispositif (12) de stockage d'un véhicule électrique ou partiellement électrique défini selon l'une des revendications 1 à 3, caractérisée en ce qu'elle comporte : - un dispositif (21 ) électrique apte à transmettre de l'énergie de l'infrastructure (18) de recharge au dispositif (23) électrique embarqué sur le véhicule, ledit dispositif (21 ) présentant une forme complémentaire au dispositif (23) électrique embarqué sur le véhicule, etCharging infrastructure (18) adapted to transfer electrical energy to the storage device (12) of an electric or partially electric vehicle defined according to one of claims 1 to 3, characterized in that it comprises an electrical device (21) capable of transmitting energy from the recharging infrastructure (18) to the on-vehicle electrical device (23), said device (21) having a shape complementary to the electric device (23). embarked on the vehicle, and - un dispositif (29) de repérage formant un repère permettant au dispositif (27) de contrôle du véhicule de déterminer la position du véhicule par rapport à l'infrastructure (18) de recharge.- a marking device (29) forming a mark allowing the vehicle control device (27) to determine the position of the vehicle with respect to the charging infrastructure (18). 5. Infrastructure de recharge selon la revendication 4, caractérisée en ce que le dispositif (21 ) électrique comporte une moitié d'un transformateur électromagnétique pour permettre le transfert d'énergie par induction de l'infrastructure (18) de recharge vers le dispositif (12) de stockage.Recharging infrastructure according to claim 4, characterized in that the electrical device (21) comprises one half of an electromagnetic transformer for enabling energy transfer by induction of the charging infrastructure (18) to the device ( 12) storage. 6. Infrastructure de recharge selon la revendication 4 ou 5, caractérisée en ce que le dispositif (29) de repérage est intégré à l'infrastructure (18) de recharge.6. charging infrastructure according to claim 4 or 5, characterized in that the device (29) for locating is integrated in the infrastructure (18) of recharge. 7. Infrastructure de recharge selon l'une des revendications 4 à 6, caractérisée en ce que le dispositif (21 ) électrique est fixé à l'infrastructure (18) de recharge au moyen d'une fixation souple afin d'amortir un éventuel choc lors d'un accostage du véhicule.Charging infrastructure according to one of Claims 4 to 6, characterized in that the electrical device (21) is fixed to the charging infrastructure (18) by means of a flexible attachment in order to dampen a possible shock. when docking the vehicle. 8. Infrastructure de recharge selon l'une des revendications 4 à 7, caractérisée en ce que le dispositif (21 ) électrique est situé sur un bras télescopique rétractable qui permet d'amener le dispositif (23) au contact du dispositif (23) une fois que le véhicule est immobilisé dans la position (PF) finale.8. Charging infrastructure according to one of claims 4 to 7, characterized in that the device (21) is located on a retractable telescopic arm which makes it possible to bring the device (23) into contact with the device (23). when the vehicle is stopped in the (PF) position final. 9. Infrastructure de recharge selon l'une des revendications 4 à 8, caractérisée en ce que le dispositif (29) de repérage comporte des cibles optiques ou des balises ultrasonores.9. charging infrastructure according to one of claims 4 to 8, characterized in that the device (29) for locating includes optical targets or ultrasonic beacons. 10. Procédé de positionnement mettant en œuvre le véhicule défini selon l'une des revendications 1 à 3 et l'infrastructure de recharge définie selon l'une des revendications 4 à 9, caractérisé en ce qu'il comporte les étapes suivantes :10. Positioning method implementing the vehicle defined according to one of claims 1 to 3 and the charging infrastructure defined according to one of claims 4 to 9, characterized in that it comprises the following steps: - mesurer, au moyen du dispositif (31 ) de mesure, la position (Pl) initiale du véhicule par rapport à l'infrastructure (18) à partir de signaux fournis par le transducteur (30) relatifs à la position du véhicule par rapport au dispositif (29) de repérage de l'infrastructure (18) de recharge, - communiquer au dispositif (27) de contrôle la position (Pl) mesurée,measuring, by means of the measuring device (31), the initial position (P1) of the vehicle with respect to the infrastructure (18) from signals supplied by the transducer (30) relating to the position of the vehicle relative to the device (29) for marking the recharging infrastructure (18), - communicating to the control device (27) the measured position (P1), - calculer, au moyen du dispositif (27) de contrôle, une trajectoire (T) permettant de passer de la position (Pl) initiale jusqu'à une position (PF) finale autorisant un transfert énergétique de l'infrastructure (18) de recharge vers le dispositif (12) de stockage, et - commander, au moyen du dispositif (27) de contrôle, des organes (7,calculating, by means of the control device (27), a trajectory (T) making it possible to pass from the initial position (Pl) to a final position (PF) allowing an energy transfer of the charging infrastructure (18) to the storage device (12) and, by means of the control device (27), to control the organs (7, 8, 10, 11 , 15, 17) du véhicule de façon à déplacer le véhicule selon la trajectoire (T) calculée jusqu'à la position (PF) finale.8, 10, 11, 15, 17) of the vehicle so as to move the vehicle along the calculated trajectory (T) to the final position (PF). 11. Procédé selon la revendication 11 , caractérisé en ce que tout au long du déplacement du véhicule, le dispositif (31 ) de mesure évalue la position du véhicule par rapport à l'infrastructure (18) de recharge et la transmet au dispositif (27) de positionnement qui corrige la trajectoire (T) en fonction de ces informations de position par asservissement.11. The method of claim 11, characterized in that throughout the movement of the vehicle, the measuring device (31) evaluates the position of the vehicle relative to the charging infrastructure (18) and transmits it to the device (27). ) which corrects the trajectory (T) according to these position information by servo-control. 12. Procédé selon la revendication 10 ou 11 , caractérisé en ce que la position (PF) finale est enregistrée au préalable dans une mémoire du dispositif (27) de contrôle ou est transmise par l'infrastructure (18) de recharge au dispositif (27) de contrôle au moyen par exemple d'une communication radiofréquence. Method according to claim 10 or 11, characterized in that the final position (PF) is previously stored in a memory of the control device (27) or is transmitted by the charging infrastructure (18) to the device (27). ) control by means for example of a radiofrequency communication. 13. Procédé selon l'une des revendications 10 à 12, caractérisé en ce qu'il est mis en œuvre lorsque le conducteur du véhicule active le dispositif (27) de contrôle par exemple au moyen d'un contacteur électrique du tableau de bord du véhicule.13. Method according to one of claims 10 to 12, characterized in that it is implemented when the driver of the vehicle activates the device (27) control for example by means of an electric switch of the dashboard of the vehicle. 14. Procédé selon l'une des revendications 10 à 13, caractérisé en ce que lors de sa mise en œuvre, le conducteur garde le contrôle du véhicule au moyen du volant de direction et de la pédale de frein et peut stopper à tout instant le véhicule si le mouvement de ce dernier constitue un danger pour son environnement. 14. Method according to one of claims 10 to 13, characterized in that during its implementation, the driver keeps control of the vehicle by means of the steering wheel and the brake pedal and can stop at any time the vehicle if the movement of the latter constitutes a danger to its environment.
PCT/FR2009/051922 2008-10-09 2009-10-08 Electric or partially electric automobile, associated recharging infrastructure for automatically positioning the vehicle relative to the infrastructure, and related method Ceased WO2010040962A1 (en)

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FR0856850A FR2936996B1 (en) 2008-10-09 2008-10-09 ELECTRIC OR PARTIALLY ELECTRIC MOTOR VEHICLE AND ASSOCIATED RECHARGE INFRASTRUCTURE FOR THE AUTOMATIC POSITIONING OF THE VEHICLE WITH RESPECT TO INFRASTRUCTION AND ASSOCIATED METHOD
FR0856850 2008-10-09

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