Motor vehicle, system and method for operating such a motor vehicle and such a system

A method for operation of a motor vehicle having a current collector with contact strips, at least one actuator and a supporting structure, the actuator being coupled to the supporting structure, the supporting structure bearing the contact strips and is embodied to bring the contact strips into touching contact with an overhead line, which comprises the steps of:

• determining, via a first sensor, a position of the overhead line relative to the motor vehicle and providing a control unit with a relative position;
• calculating, via a global positioning device, a global position of the motor vehicle on a basis of an acquisition of data signals of different satellites and on a basis of acquired data signals, and provides the control unit with the global position;
• calculating via the control unit, on a basis of the relative position, the global position and information about a configuration of the overhead line, a position of the motor vehicle;
• comparing the configuration of the overhead line with a previously saved configuration of the overhead line stored in a data memory for detecting damage to the overhead line;
• establishing, via a second sensor, a trajectory of the motor vehicle and providing the control unit with the trajectory;
• calculating, via the control unit, on a basis of the position of the motor vehicle and the configuration of the overhead line saved in the data memory, a driving channel, the driving channel mapping an area in which the motor vehicle can drive without departing from a lane of a road and contact strips are in contact with the overhead line, the driving channel extends in an area of several hundred meters in front of the motor vehicles;
• comparing in the control unit the driving channel with the trajectory;
• providing a control signal in dependence on a result of a comparison;
• supplying the control unit with a closed-loop control path, the closed-loop control path having a section of the driving channel as a setpoint value, the section lying directly in front of the motor vehicle, and the section is larger than a scanning range of the first sensor, and the closed-loop control path, on a basis of an actual value of at least one of an actuator or an actual value of a alignment of contact strips relative to the overhead line activates the actuator by means of a further control signal.

A motor vehicle, comprising:

• a first sensor;
• a global positioning device;
• a control device having a control unit and a data memory, wherein at least one item of information about a configuration of an overhead line is stored in said data memory, said control unit is connected to said first sensor and to said global positioning device;
• said first sensor determining a position of the overhead line relative to the motor vehicle and providing said control unit with a relative position;
• said global positioning device determining a global position of the motor vehicle on a basis of data signals from different satellites and, on a basis of acquired data signals, calculates the global position of the motor vehicle and provides said control unit with the global position;
• said control unit, on a basis of the relative position, the global position and the information about the configuration of the overhead line, calculates a position of the motor vehicle;
• a second sensor connected to said control unit, said second sensor establishing a trajectory of the motor vehicle and providing said control unit with an established trajectory;
• contact strips;
• said control unit, on a basis of the position of the motor vehicle, a course of a road and the configuration of the overhead line saved in the data memory, calculating a driving channel, the driving channel mapping an area, in which the motor vehicle can drive without departing from a lane of the road and said contact strips are in contact with the overhead line, the driving channel extends in an area of several hundred meters in front of the motor vehicle;
• said control unit comparing the driving channel with the trajectory in a comparison, wherein depending on a result of the comparison, said control unit provides a control signal;
• a current collector having said contact strips, at least one actuator and a supporting structure, said actuator is coupled to said supporting structure, said supporting structure bearing said contact strips and is embodied to bring said contact strips into touching contact with the overhead line;
• said actuator is connected to said control unit;
• said actuator is mechanically coupled to said supporting structure and is embodied to alter a contact strip position;
• said control unit having a closed-loop control path, said closed-loop control path is supplied with a section of the driving channel as a setpoint value, the section lies directly in front of the motor vehicle, and the section is larger than a scanning range of said first sensor;
• and
• said closed-loop control path, on a basis of an actual value of at least one of said actuator or an actual value of a alignment of said contact strips relative to the overhead line activates said actuator by means of a further control signal.