SYSTEM AND METHOD FOR POSITIONING A VEHICLE AT A CHARGING STATION

Abstract

A system for positioning a vehicle at a charging station. The system comprises: a wireless communication arrangement comprising a first communication device configured to wirelessly communicate with a second communication device by a wireless protocol; a vehicle positioning arrangement comprising a transmitting antenna configured to transmit a detection signal, and a receiving antenna configured to receive the detection signal. The transmission of the detection signal by the transmitting antenna and/or the detection of the detection signal by the receiving antenna is controlled to determine an angle between the transmitting antenna and the receiving antenna, which angle is used to guide the vehicle to a predetermined position at the charging station. The first communication device comprises one of the transmitting antenna and receiving antenna of the vehicle positioning arrangement.

Claims

1. A system for positioning a vehicle at a charging station, comprising: a wireless communication arrangement comprising a first communication device configured to wirelessly communicate with a second communication device by a wireless protocol, a vehicle positioning arrangement comprising a transmitting antenna configured to transmit a detection signal, and a receiving antenna configured to receive the detection signal, one of the transmitting antenna and receiving antenna being arranged on the vehicle and the other one on the charging station, wherein the transmission of the detection signal by the transmitting antenna and/or the detection of the detection signal by the receiving antenna is controlled to determine an angle between the transmitting antenna and the receiving antenna, which angle is used to guide the vehicle to a predetermined position at the charging station, and wherein the first communication device comprises the transmitting antenna or receiving antenna of the vehicle positioning arrangement.

2. The system according to claim 1, wherein at least one of the transmitting antenna and receiving antenna comprises an array of antenna elements configured to form a radiation pattern having a main lobe, wherein the array of antenna elements is arranged to form a directional antenna being able to change the shape of the main lobe.

3. The system according to claim 2, wherein the array of antenna elements is arranged in an xy-plane, and wherein the vehicle positioning arrangement is configured to shape the main lobe by activating the antenna elements in a focused direction, e.g. the x-direction and/or y-direction.

4. The system according to claim 2, wherein the vehicle positioning arrangement is configured to introduce a phase difference between neighbouring antenna elements.

5. The system according to claim 3, wherein the vehicle positioning arrangement is configured to achieve a tilt of the main lobe by introducing the phase difference between neighbouring antenna elements being activated in a focused direction.

6. The system according to claim 5, wherein the vehicle positioning arrangement is configured to detect the signal strength of the detection signal in relation to different tilting of main lobe, and based on the signal strength determine the angle between the transmitting antenna and the receiving antenna.

7. The system according to claim 1, wherein the vertical distance between the transmitting antenna and receiving antenna is known or predetermined.

8. The system according to claim 5, wherein the vehicle positioning arrangement is configured to repeatedly alter the phase difference between the various antenna elements to vary the direction of the main lobe.

9. The system according to claim 1, wherein the vehicle positioning arrangement is configured to position the vehicle at the charging station by re-positioning the vehicle by at least 1 m, or at least 2 m, or at least 5 m.

10. A method for positioning a vehicle at a charging station, the vehicle or charging station comprising a first communication device being configured to wirelessly communicate with a second communication device by a wireless protocol, the method comprising: transmitting a detection signal by a transmitting antenna arranged on the vehicle or charging station, receiving the detection signal from the transmitting antenna by a receiving antenna arranged on the other one of the vehicle and charging station, controlling the transmission of the detection signal by the transmitting antenna and/or the detection of the detection signal by the receiving antenna to determine an angle between the transmitting antenna and the receiving antenna, guiding the vehicle to a predetermined position at the charging station using at least the determined angle, wherein transmitting the detection signal or receiving the detection signal comprises using the first communication device for the transmitting antenna or receiving antenna.

11. The method according to claim 10, wherein at least one of the transmitting antenna and receiving antenna comprises an array of antenna elements configured to form a radiation pattern having a main lobe, the array of antenna elements being arranged to form a directional antenna, the method comprising: changing the shape of the main lobe by controlling the array of antenna elements.

12. The method according to claim 11, wherein the array of antenna elements is arranged in an xy-plane, the method comprising: shaping the main lobe by activating the antenna elements in a focused direction, e.g. the x-direction and/or y-direction.

13. The method according to claim 12, comprising: introducing a phase difference between neighbouring antenna elements in the array of antenna elements.

14. The method according to claim 12, comprising: tilting the main lobe by introducing the phase difference between neighbouring antenna elements during shaping the main lobe by activating the antenna elements in a focused direction.

15. The method according to claim 14, comprising: detecting the signal strength of the detection signal in relation to different tilting of main lobe, and determining the angle between the transmitting antenna and the receiving antenna based on the detected signal strength.

16. The method according to claim 10, comprising: providing (S40) known or predetermined value of the vertical distance between the transmitting antenna and receiving antenna.

17. A computer program comprising instructions to cause a system to execute the steps of the method of claim 10, when the program is run on a computer.

18. A charging station for charging a vehicle, the charging station being configured for facilitating positioning of the vehicle at the charging station, the charging station comprising: a wireless communication arrangement including a first communication device configured to wirelessly communicate with a second communication device by a wireless protocol, a transmitting antenna configured to transmit a detection signal, or a receiving antenna configured to receive a detection signal transmitted from a transmitting antenna, the transmitting antenna or receiving antenna being configured to interact with a corresponding receiving antenna or transmitting antenna on the vehicle, wherein the transmission of the detection signal by the transmitting antenna or the detection of the detection signal by the receiving antenna, whichever is comprised in charging station, is controlled to determine an angle between the transmitting antenna or receiving antenna on the charging station and the corresponding receiving antenna or transmitting antenna on the vehicle, which angle is used to determine the distance from the vehicle to a predetermined position at the charging station, and wherein the first communication device comprises the transmitting antenna or receiving antenna, whichever is comprised in the charging station.

19. A vehicle configured to be charged at a charging station, the vehicle being configured to be positioned at the charging station, the vehicle comprising: a wireless communication arrangement including a first communication device configured to wirelessly communicate with a second communication device by a wireless protocol, a transmitting antenna configured to transmit a detection signal, or a receiving antenna configured to receive a detection signal transmitted from a transmitting antenna, the transmitting antenna or receiving antenna being configured to interact with a corresponding receiving antenna or transmitting antenna on the charging station, wherein the transmission of the detection signal by the transmitting antenna or the detection of the detection signal by the receiving antenna, whichever is comprised in the vehicle, is controlled to determine an angle between the transmitting antenna or receiving antenna on the vehicle and the corresponding receiving antenna or transmitting antenna on the charging station, which angle is used to determine the distance from the vehicle to a predetermined position at the charging station, and wherein the first communication device comprises the transmitting antenna or receiving antenna, whichever is comprised in the charging station.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0090] With reference to the appended drawings, below follows a more detailed description of embodiments of the invention cited as examples.

[0091] In the drawings:

[0092] FIG. 1a is a schematic view of a charging station, a vehicle and a system for positioning the vehicle at the charging station in accordance with an example embodiment of the invention;

[0093] FIG. 1b is a perspective view of the charging station, the vehicle and the system for positioning the vehicle at the charging station of FIG. 1a;

[0094] FIG. 2 is a schematic detailed perspective view of an array of antenna elements for at least one of the transmitting antenna and the receiving antenna, in accordance with example embodiments of the invention;

[0095] FIGS. 3a, 3b, 3c and 3d are schematic detailed views of the array of antenna elements in accordance with example embodiments of the invention elements; and

[0096] FIG. 4 is a flowchart illustrating the steps of method in accordance with example embodiments of the invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE INVENTION

[0097] With reference to FIGS. 1a and 1 b, a vehicle 1, here embodied as a heavy duty truck 1, is disclosed for which a system 100 for positioning the vehicle 1 at a charging station 200 of a kind disclosed in the present disclosure is advantageous. However, the system 100 may as well be implemented in other types of vehicles, such as in busses, light-weight trucks, passenger cars, marine applications etc, which vehicles are in need of charging. The vehicle 1 is an electric vehicle, such as a full electric vehicle or a hybrid, comprising a battery 10 and a motor or engine 20, here referred to as an electric machine powered by the battery 10. The vehicle 1 is configured to be charged by the charging station 200. In FIGS. 1a and 1 b, the charging is achieved by means of a power transmitter 210 arranged on the charging station 200 and being configured to transfer power to a power receiver 30 of the vehicle 1, but charging may as well be achieved by a wireless charging system (not shown), such as an inductive charging system comprising a transmitting coil and a receiving coil of which one is arranged on the vehicle 1. The vehicle 1 in FIGS. 1a and 1b further comprises a roof 5 comprising the upper side of the vehicle 1, and means for propelling the vehicle 1, such as wheels.

[0098] The system 100 for positioning the vehicle 1 at the charging station 200 comprises a wireless communication arrangement 110 having a first communication device 112 configured to wirelessly communicate with a second communication device 114 by a wireless protocol 116. The second communication device 114 may, but do not have to, be comprised in the wireless communication arrangement 110. The first communication device 112 is in FIGS. 1a and 1 b arranged on the charging station 200 and the second communication device 114 is illustrated as being a communication device external of the vehicle 1, but may as well be arranged on the vehicle 1, or may be comprised in a user-carrying device such as a mobile phone. Alternatively, the first communication device 112 may be arranged on the vehicle 1, and the second communication device 114 arranged externally of the vehicle 1 and charging station 200, or arranged on the charging station 200. The wireless communication arrangement 110 may e.g. be a Wi-Fi arrangement using a communication protocol of IEEE 802.11 utilizing various frequencies, including but not limited to, 2.4 GHz, 5 GHz, 6 GHz, and 60 GHz frequency bands.

[0099] The system 100 for positioning the vehicle 1 at the charging station 200 further comprises a vehicle positioning arrangement 120 comprising a transmitting antenna 122 configured to transmit a detection signal 126, and a receiving antenna 124 configured to receive the detection signal 126. The detection signal 126 is schematically illustrated as an arrow in FIG. 1a, but may rather be considered as a beam having a certain detection area. In FIGS. 1a and 1 b, the transmitting antenna 122 is arranged on the charging station 200 and the receiving antenna 124 is arranged on the vehicle 1. However, having the transmitting antenna 122 arranged on the vehicle 1, and the receiving antenna 124 arranged on the charging station 200 is also conceivable within the scope of the invention. Regardless if positioned on the charging station 200 or on the vehicle 1, the transmitting antenna 122 is preferably configured to send out a beacon (e.g. in all directions or in a directed direction) and the receiving antenna is configured to scan its surrounding to detect the beacon and to determine the angle, such as the angle in the three dimensional space, to it. For embodiments in which the transmitting antenna 122 is configured to transmit a directed beacon or detection signal (e.g. by including the array of antenna as described below with reference to FIG. 2), the receiving antenna 124 is typically configured to send some type of recognition signal back to the transmitting antenna to verify that the receiving antenna 124 received the beacon (possibly including the signal strength of the same to determine the angle between the transmitting antenna 122 and receiving antenna 124, as will be described below). When the vehicle 1 is close enough to the charging station 200 to enable the receiving antenna 124 to recognize the presence of the transmitting antenna 122 (by e.g. recognizing a beacon signal), the positioning of the vehicle 1 relative the charging station 200 may begin.

[0100] In FIGS. 1a and 1 b, the first communication device 112 comprises the transmitting antenna 122. The vehicle positioning arrangement 120 is configured such that the transmission of the detection signal 126 by the transmitting antenna 122 and/or the detection of the detection signal 126 by the receiving antenna 124 is controlled to determine an angle α between the transmitting antenna 122 and the receiving antenna 124. The angle α may be used to guide the vehicle 1 to a predetermined position 300 at the charging station 200 as will be described in more detail with reference to FIG. 4.

[0101] An embodiment of the vehicle positioning arrangement, or at least a part of the vehicle positioning arrangement, will now be described with reference to FIG. 2 and FIGS. 3a, 3b, 3c and 3d. FIG. 2 schematically illustrate an array of antenna elements 420 comprising five antenna elements 420A, 420B, 420C, 420D, 420E (commonly referred to as 420A-E) which may be used in at least one of the transmitting antenna and receiving antenna of the vehicle positioning arrangement (such as e.g. at least one of the transmitting antenna 122 and receiving antenna 124 of the vehicle positioning arrangement 120 of FIGS. 1a and 1b). The antenna elements 420A-E are arranged in an xy-plane in relation to a three dimensional space defined in a Cartesian coordinate system by an x-axis, a y-axis and a z-axis. The array of antenna elements 420 is configured to form a radiation pattern having a main lobe 450. The main lobe 450 has a main extension in the z-direction and a width or breadth in the xy-plane. In the example embodiment of FIG. 2, the five antenna elements 420A-E are arranged in a cross, with three antenna elements 420A, 420B, 420C arranged in a first linear direction being the x-direction, and three antenna elements 420A, 420D, 420E arranged in a second linear direction being the y-direction (thus, the antenna element 420A arranged in the middle of the cross is used as the middle antenna element 420A for both the first and second linear directions of the antenna elements 420A-E).

[0102] The array of antenna elements 420 are arranged to form a directional antenna being able to change the direction of the main lobe 420. In more detail, the main lobe 450 may be shaped by activating the antenna elements 420A-E in a focused direction. For example, the main lobe 450 may be shaped in a first manner by activating the antenna elements 420A, 420B, 420C in the first linear direction (here being the x-direction). Here the main lobe 450 is shaped to be relative narrow in the x-direction and relatively wide in the y-direction, i.e. the main lobe 450 is shaped by a limited breath in the x-direction, as shown in FIGS. 3a and 3b. Correspondingly, the main lobe 450 may be shaped in a second manner by activating the antenna elements 420A, 420D, 420E in the second linear direction (here being the y-direction). Here the main lobe 450 is shaped to be relatively narrow in the y-direction and relatively wider in the x-direction, i.e. the main lobe 450 is shaped by a limited breath in the y-direction, as shown in FIGS. 3c and 3d. In other words, the vehicle positioning arrangement is, by means of the array of antenna elements 420, configured to shape the main lobe 450 by activating the antenna elements 420A-E in a focused direction, e.g. the x-direction and/or y-direction. It should be understood that the configuration of the array of antenna elements 420 shown in FIG. 2 is only an example, and other type of antenna patterns and other focused directions than the perpendicular x- and y-directions may be used to shape the main lobe 450.

[0103] The vehicle positioning arrangement may further be configured to introduce a phase difference between neighbouring antenna elements 420A-E, for example in the first linear direction as a phase difference between the antenna elements 420A, 420B, 420C. This will tilt the main lobe 450 in focused direction, here in the xz-plane with an angle α1, shown by the alternative form 451 of the main lobe 450 in FIG. 2. To further clarify the tilt of the main lobe 450 by the alternative form 451, a schematic illustration of the alternative form 451 of the main lobe is shown in FIGS. 3a and 3b, where different views of the main lobe is shown. In FIG. 3a, the x-axis is extending into the paper, away from the reader, as indicated by the circled cross, and in FIG. 3b the y-axis is extending into the paper. In FIGS. 3a and 3b, only the three active antenna elements 420A, 420B, 420C are indicated by black lines (the other antenna elements 420D, 420E are inactive and not visualised here). As shown particularly in FIG. 3b, the angle α1 of the alternative form 451 of the main lobe 450 relative the z-axis is visualised. Correspondingly, the vehicle positioning arrangement may be configured to introduce a phase difference between neighbouring antenna elements 420A-E in the second linear direction as a phase difference between the antenna elements 420A, 420D, 420E. This will tilt the main lobe 450 in another focused direction, here in the yz-plane with an angle α2, shown by the alternative form 452 of the main lobe 450 in FIG. 2. To further clarify the tilt of the main lobe 450 by the alternative form 452, a schematic illustration of the alternative form 452 of the main lobe 450 is shown in FIGS. 3c and 3d, where different views of the main lobe is shown. In FIG. 3c, the y-axis is extending into the paper, away from the reader, as indicated by the circled cross, and in FIG. 3d the x-axis is extending into the paper. In FIGS. 3c and 3d, only the three active antenna elements 420A, 420D, 420E are indicated by black lines (the other antenna elements 420B, 420C are inactive and not visualised here). As shown particularly in FIG. 3d, the angle α2 of the alternative form 452 of the main lobe 450 relative the z-axis is visualised.

[0104] The vehicle positioning arrangement may further be configured to detect the signal strength of the detection signal in relation to different tilting of main lobe 450. By comparing the signal strength with the specific tilting, i.e. the form 451, 452 of the main lobe 450 giving the highest signal strength, the angle between the transmitting antenna and the receiving antenna can be determined. This may e.g. be performed by determining the components of the angle α (α1 and α2 as shown in FIGS. 2, 3a-3d) in the x- and y-directions by comparing signal strength for introduced phase differences between neighbouring antenna elements 420A, 420B, 420C in the first linear direction (x-direction) and comparing signal strength for introduced phase differences between neighbouring antenna elements 420A, 420D, 420E in the second linear direction (y-direction). It should be noted that the main lobe 450, and the shape and tilting of the same is equally applicable to if the array of antenna elements 420 is arranged on the transmitting antenna or the receiving antenna. That is, for the transmitting antenna the main lobe 450 corresponds to the radiation pattern of the transmitted signal, i.e. the detection signal, while for the receiving antenna the main lobe 450 corresponds to the radiation pattern of the reception of the detection signal.

[0105] For embodiments in which the receiving antenna 124 comprising the array of antenna elements 420, and thus shapes the main lobe 450, the angle α can be determined directly by detecting the direction in which the receiving antenna 124 receives the strongest detection signal (e.g. by a procedure as previously described). For embodiments in which the transmitting antenna 122 comprises the array of antenna elements 420, and thus shapes the main lobe 450, some kind of secondary information including in which direction the receiving antenna 124 receives the strongest detection signal may be send back as feedback, or the transmitting antenna 122 is programmed to shape the main lobe in a predetermined manner under a specific time scheme (which together with a synchronized detection of the receiving antenna 124 enables determination of the angle α).

[0106] Turning back to FIGS. 1a and 1 b, the array of antenna elements 420 being comprised in at least one of the transmitting antenna 122 and receiving antenna 124, the angle α may be determined by the configuration described with reference to FIGS. 2, 3a-3d. Moreover, by knowing the vertical distance Z (e.g. described as z-distance in a corresponding Cartesian coordinate system in FIGS. 1a and 1b) between the transmitting antenna 122 and the receiving antenna 124, the position of the vehicle 1 in relation to the charging station 200 can be determined by the determined angle α and the vertical distance between the antennas 122, 124. The vertical distance between the transmitting antenna 122 and the receiving antenna 124 may e.g. be determined by knowing the vertical position (or height) of the charging station 200 and in particular the vertical position (or height) of the transmitting antenna 122, and knowing the vertical position (or height) of the roof 5 of the vehicle 1 and in particular the vertical position (or height) of the receiving antenna 124. By knowing the position of the vehicle 1 in relation to the charging station 200, the vehicle 1 may be guided to the desired or predetermined position 300 in order to locate the vehicle 1 in a charging position relative the charging station 200, or at least close enough to a charging position for enabling fine tuning positioning of the power transmitter 210 relative the power receiver 30 to initiate charging of the vehicle 1. For example, the guidance of the vehicle 1 into the predetermined position 300 may be achieved by a guiding instructions provided to the driver of the vehicle 1 for enabling the driver to drive the vehicle 1 into the predetermined position 300. During charging, power is transmitted from the charging station 200 to the vehicle 1 for charging the battery 10.

[0107] Turning to FIG. 1b, the angle α is shown in relation to a three dimensional space. That is, the angle α between the transmitting antenna and the receiving antenna is an angle α in the three dimensional space. Thus, as the transmitting antenna and the receiving antenna is separated in the three dimensional space, there exist a geometrical vector 126′ extending from the transmitting antenna to the receiving antenna corresponding to the direction of the detection signal 126 of FIG. 1a. Such geometrical vector 126′ may e.g. be defined in relation to a spherical coordinate system according to ISO 80000-2:2019. Thus, the vehicle positioning arrangement 120 may be configured to determine the angle α, as well as the direction, of the geometrical vector 126′ in relation to spherical coordinate system, e.g. determined by the configuration described with reference to FIGS. 2, 3a-3d. The geometrical vector 126′ may be referred to as the radial distance from the transmitting antenna 122 to the receiving antenna 124 (with reference to the spherical coordinate system). In other words, in an xyz-coordinate system, the determined angle α may be determined from the polar angle φ measured from the z-axis, and the azimuthal angle ϕ of its orthogonal projection on a reference plane (xy-plane) that passes through the origin (i.e. the transmitting or receiving antenna) and is orthogonal to the z-direction, measured from a fixed reference direction on that plane. Thus, by the determined angle α in the three dimensional space (i.e. polar angle φ and azimuthal angle ϕ), and knowing either the radial distance from the transmitting antenna 122 to the receiving antenna 124, or the distance in the z-direction (i.e. the height difference between the transmitting antenna 122 and the receiving antenna 124) the distance in the xy-plane between the transmitting antenna 122 and the receiving antenna 124 may be determined, which in FIG. 1b is indicated with the horizontal distance 127′. Hereby, guiding of the vehicle 1 to the predetermined position 300 is facilitated.

[0108] According to at least one example embodiment, the vehicle positioning arrangement 120 further comprises a control unit configured to autonomously re-position the vehicle 1, e.g. by taking control over the driving operation of the vehicle 1, and driving the vehicle 1 into the desired position 130.

[0109] The invention will now be described with reference to the flow chart of FIG. 4, describing the steps of a method for positioning a vehicle at a charging station, such as vehicle 1 and the charging station 200 of FIGS. 1a and 1 b. Thus reference will also be made to the system 100 of FIGS. 1a and 1b, and the array of antenna elements 420 of FIG. 2. Thus, the vehicle 1 or charging station 200 comprises a first communication device, as first communication device 112, being configured to wirelessly communicate with a second communication device by a wireless protocol.

[0110] In a first step, S10, a detection signal is transmitted by a transmitting antenna arranged on the vehicle or charging station. For example, the transmitting antenna 122 on charging station 200 is used for transmitting the detection signal.

[0111] In a second step S20, the detection signal from the transmitting antenna is received by a receiving antenna arranged on the other one of the vehicle and charging station. For example, the receiving antenna 124 on the vehicle 1 is used for receiving the detection signal.

[0112] According to at least one example embodiment, the detection signal is transmitted as a beacon (at least initially) and the receiving antenna is configured to scan its surrounding and upon detection or recognition of the beacon, the method may continue (by using the beacon, or another type of detection signal).

[0113] At least one of the steps S10, S20 comprises using the first communication device for the transmitting antenna or receiving antenna.

[0114] In a third step, S30, the transmission of the detection signal by the transmitting antenna and/or the detection of the detection signal by the receiving antenna is controlled to determine an angle between the transmitting antenna and the receiving antenna. This is for example shown in FIG. 1a as the angle α between the transmitting antenna 122 and the receiving antenna 124 and in FIG. 1b, as the angle α in the three dimensional space (i.e. polar angle φ and azimuthal angle ϕ). Thus, the determined angle typically includes the direction between the transmitting antenna 122 and the receiving antenna 124.

[0115] As described with reference to FIG. 2, at least one of the transmitting antenna and receiving antenna comprises an array of antenna elements 420 configured to form a radiation pattern having a main lobe 450. Thus, in a first sub-step S31 to the third step S30, the shape of the main lobe 450 is changed by controlling the array of antenna elements. Thus, the array of antenna elements 420 may form a directional antenna, for which the angle between the transmitting antenna and the receiving antenna can be determined.

[0116] For example, the array of antenna elements 420 is arranged in an xy-plane as shown in FIG. 2, and in a second sub-step S32, the main lobe 450 is shaped by activating the antenna elements 420A-420E in a focused direction, e.g. the x-direction and/or y-direction.

[0117] For example, in a third sub-step S33, a phase difference is introduced between neighbouring antenna elements 420A-420E in the array of antenna elements 420. The second and third sub-steps S31, S32 may be carried out simultaneously to tilt the main lobe 450 by introducing the phase difference between neighbouring antenna elements 420A-420E during shaping the main lobe 450 by activating the antenna elements 420A-420E in a focused direction.

[0118] In a fourth sub-step S34 the signal strength of the detection signal is detected in relation to different tilting of the main lobe 450. Alternatively, the signal strength of the detection signal is detected in relation to different shaping of the main lobe 450.

[0119] In a fifth sub-step S35, the angle between the transmitting antenna and the receiving antenna is determined based on the detected signal strength. That is, based on the detected signal strength in relation to different tilting or shaping of the main lobe 450.

[0120] Thus, all of the first to fifth sub-steps S31-S35 may be sub-steps to the third step S30, or at least be carried out during the third step S30.

[0121] In a fourth step, S40, known or predetermined value of the vertical distance between the transmitting antenna and receiving antenna is provided. For example, the vertical distance between the transmitting antenna and receiving antenna is measured, or the vertical position of the respective transmitting antenna and receiving antenna is known in relation to some reference frame. The vertical distance between the transmitting antenna and receiving antenna may be referred to the height difference between the transmitting antenna and receiving antenna.

[0122] In a fifth step, S50, the vehicle is guided to a predetermined position at the charging station using at least the determined angle. The guidance may e.g. be realised by guiding instructions provided to the driver of the vehicle, or by autonomously driving the vehicle into the predetermined position at the charging station. As previously described, the predetermined position may be a charging position at which charging of the vehicle by the charging station is possible, or at least close enough to such charging position so that at least fine adjustment positioning of the charging means is possible, and that after such fine adjustment positioning of the charging means, charging of the vehicle by the charging station is possible. Such fine adjustment positioning may e.g. be coil adjustments of the relative position of a power emitting coil to the power receiving coil of an inductive charging system. For example, the guidance of the vehicle using the determined angle between the transmitting antenna and the receiving antenna is performed to bring the power receiving coil within an electromagnetic radiation reception distance from the power emitting coil, or the guidance of the vehicle using the determined angle between the transmitting antenna and the receiving antenna is performed to bring a conductor of the power transmitter within reachable distance of a conductor of the power receiver. Typically, the re-positioning of the vehicle during such fine adjustment positioning is far smaller (if occurring at all) compared to the re-positioning of the vehicle impelled by the guidance of the vehicle using the determined angle between the transmitting antenna and the receiving antenna.

[0123] It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

[0124] Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed inventive concept, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.