JP2010234878A - Power receiving guide device, power receiving guide method and power receiving guide program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power receiving guide device capable of guiding the correct positional relationship of a vehicle and a feeding device using the images of periphery of the vehicle. <P>SOLUTION: The power receiving guide device 90 includes a camera 40 for picturing around the periphery of the vehicle, an image memory 94g for storing the image data of the periphery of the vehicle, a synthetic-image generation part 94a for generating a synthetic image of an area including the vehicle from the image data, a display 93 for displaying the synthetic image and a power receiving position image for indicating the position of a power receiving part 10, a positional relationship information acquiring part 94c for acquiring position relationship information for specifying the positional relationship of a feeding device and the power receiving part 10 based on the power receiving efficiency of the power receiving part 10, a power receiving efficiency specifying part 94b for specifying the power receiving efficiency from the feeding device of the power receiving part 10, a positional-relationship specifying part 94d for specifying the positional relationship of the feeding device and the power receiving part 10 based on the power receiving efficiency and the positional relationship information, and a display positional determination part 94e for determining the display position of the power receiving position image based on the specified positional relationship and the position of the feeding device on the synthetic image. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a power reception guidance device, a power reception guidance method, and a power reception guidance program.

  2. Description of the Related Art Conventionally, a driving support device that displays an image around a vehicle on a display is known as a device that supports driving of a driver. This driving support device displays image data around the vehicle photographed by a camera installed outside the vehicle on a display arranged near the driver's seat.

  In addition, the image data acquired from the camera is stored in the image memory as recorded image data, and the driving support image including the area that has entered the blind spot of the camera is obtained using the latest image data and the recorded image data stored in the image memory. A driving support device for displaying has also been proposed (see, for example, Patent Document 1). According to this apparatus, for example, a white line that has entered the blind spot of the camera, a wheel stopper, and the like can be displayed, so that it is easy to grasp the positional relationship between these objects and the vehicle.

JP 2007-226300 A (paragraph 0018)

  By the way, in recent years, a charging device has been proposed for charging a battery mounted on an automobile from the outside of the automobile. For example, by supplying an alternating current to a power supply side coil installed in a parking lot or the like, an alternating current due to electromagnetic induction is generated in a power reception side coil installed in an automobile, and power is supplied from the power reception side coil to the battery. A charging device has been proposed. In this charging apparatus, in order to efficiently transmit power from the power supply side coil to the power reception side coil, it is necessary to arrange the power supply side coil and the power reception side coil in an appropriate positional relationship. In view of this, it is conceivable to use a conventional driving support device as described above to display the power feeding device that has entered the blind spot of the camera on a display so that the driver can grasp the positional relationship between the power feeding device and the vehicle.

  However, in the conventional apparatus as described above, when the driving image is generated by synthesizing the recorded image data, for example, the parameters corresponding to the installation position of the camera, the motion characteristics of the vehicle, and the like are referred to. When the installation position, the motion characteristics of the vehicle, or the like changes, the composite image may be distorted or shifted because the parameters do not correspond to the changed state. In this case, a deviation occurs between the actual positional relationship between the vehicle and the power feeding device and the positional relationship on the image, and it is difficult to grasp the exact positional relationship based on the image.

  The present invention has been made in view of the above, and is capable of guiding an accurate positional relationship between a vehicle and a power feeding device using an image around the vehicle, a power receiving guide device, a power receiving guidance method, and a power receiving guide. The purpose is to provide a program.

  In order to solve the above-described problems and achieve the object, the power reception guide device according to claim 1 is a power reception guide that performs guidance related to power reception from a power supply unit installed in a parking area to a power reception unit installed in a vehicle. An apparatus for photographing the periphery of a vehicle; a recording means for recording image data around the vehicle photographed by the photographing means; and the image data recorded in the recording means; Composite image generation means for generating a composite image of a region including a vehicle, display means for displaying the composite image generated by the composite image generation means, and a power reception position image indicating a position of the power reception means, and the power reception Positional relation information acquisition means for acquiring positional relation information for specifying the positional relation between the power feeding means and the power receiving means based on the power receiving efficiency of the means; and the power receiving means at the current position of the vehicle Based on the power reception efficiency specifying means for specifying the power reception efficiency from the power supply means, the power reception efficiency from the power supply means specified by the power reception efficiency specification means, and the positional relationship information acquired by the positional relationship information acquisition means, In the case where the image of the power supply unit is included in the composite image generated by the composite image generation unit and the positional relationship specifying unit that specifies the positional relationship between the power supply unit and the power reception unit, the power supply in the composite image Display position determining means for determining a position for displaying the power receiving position image on the display means based on the position of the means and the positional relationship specified by the positional relationship specifying means.

  The power receiving guide device according to claim 2 is the power receiving guide device according to claim 1, wherein the positional relationship is a distance between the power feeding unit and the power receiving unit. The distance between the power supply unit and the power reception unit is specified based on the power reception efficiency from the power supply unit specified by the power reception efficiency specification unit and the positional relationship information acquired by the positional relationship information acquisition unit.

  Further, the power receiving guide device according to claim 3 is the power receiving guide device according to claim 1 or 2, wherein the positional relationship specifying means increases or decreases the power receiving efficiency from the power feeding means specified by the power receiving efficiency specifying means. Based on the history, a direction from the power receiving unit to the power feeding unit is specified.

  According to a fourth aspect of the present invention, in the power receiving guidance device according to any one of the first to third aspects, the positional relationship specifying unit is configured to apply the positional relationship specifying unit to the synthetic image generated by the synthetic image generating unit. When the image of the power supply unit is included, the positional relationship information acquired by the positional relationship information acquisition unit is corrected based on the position of the power supply unit in the composite image.

  The power reception guidance method according to claim 5 is a power reception guidance method for performing guidance regarding power reception from the power supply means installed in the parking area to the power reception means installed in the vehicle, and photographing the periphery of the vehicle. A recording step for recording image data around the vehicle photographed in the photographing step in a recording means, and the image data recorded in the recording means in the recording step are combined to form an area including the vehicle. A composite image generating step for generating a composite image; a display step for causing the display means to display the composite image generated in the composite image generation step; and a power receiving position image indicating a position of the power receiving means; A positional relationship information acquisition step for acquiring positional relationship information for specifying a positional relationship between the power feeding unit and the power receiving unit based on power reception efficiency; and the vehicle The power reception efficiency specifying step for specifying the power reception efficiency from the power supply means of the power reception means at the current position, the power reception efficiency from the power supply means specified in the power reception efficiency specification step, and the positional relationship information acquisition step When the positional relationship specifying step for specifying the positional relationship between the power feeding unit and the power receiving unit based on the positional relationship information, and the composite image generated in the composite image generating step includes an image of the power feeding unit. And a display position determining step of determining a position at which the power receiving position image is displayed on the display means based on the position of the power supply unit in the composite image and the positional relationship specified in the positional relationship specifying step.

  A power reception guide program according to claim 6 causes a computer to execute the method according to claim 5.

  According to the power reception guidance device according to claim 1, the power reception guidance method according to claim 5, and the power reception guidance program according to claim 6, the position of the power feeding means in the composite image and the positional relationship identification means are specified. Since the position at which the power receiving position image is displayed on the display means is determined based on the positional relation, the positional relation between the actual power feeding means and the power receiving means specified by the power receiving efficiency from the power feeding means of the power receiving means at the current position of the vehicle And the power receiving position image can be displayed so that the positional relationship between the power feeding means and the power receiving position image in the composite image is equal, and the power receiving guidance is performed so that the accurate positional relationship between the power feeding means and the power receiving means can be grasped. Can do.

  Further, according to the power reception guide device according to claim 2, the power supply means and the power reception means are based on the power reception efficiency from the power supply means specified by the power reception efficiency specification means and the positional relationship information acquired by the positional relationship information acquisition means. Therefore, the distance between the actual power feeding means and the power receiving means can be identified, and the power receiving position is set so that the distance between the power feeding means and the power receiving position image in the composite image is equal to the actual distance. An image can be displayed.

  Further, according to the power reception guide device according to claim 3, the direction from the power reception means to the power supply means is specified based on the increase / decrease history of the power reception efficiency from the power supply means specified by the power reception efficiency specification means. In which direction the power receiving position image should be arranged from the power feeding means along the traveling direction of the vehicle can be specified.

  According to the power reception guide device of the fourth aspect, since the positional relationship information acquired by the positional relationship information acquisition unit is corrected based on the position of the power supply unit in the composite image, the direction relationship information is orthogonal to the traveling direction of the vehicle. Even if the power feeding means and the power receiving means are deviated, the positional relationship information can be corrected based on the magnitude of the deviation, and the power feeding means and the power receiving means in the traveling direction of the vehicle based on the power receiving efficiency of the power receiving means. It is possible to specify the positional relationship with

FIG. 1A is a schematic diagram illustrating a power reception guidance system, FIG. 1A is a plan view of a parking lot where a power feeding device is installed, and FIG. 1B is a diagram illustrating a guidance screen output by the power reception guidance device. It is a block diagram which illustrates a power reception guidance system. It is the graph which illustrated the positional relationship information for pinpointing the distance of an electric power feeder and a power receiving part as a positional relationship. It is a flowchart of an image generation process. It is a flowchart of a power reception guidance process. FIG. 6A is a diagram illustrating a display screen of a display that performs guidance output, and FIG. 6A is a diagram illustrating a case where a power reception position image is displayed based on the position of the vehicle in the composite image generated by the image generation processing; b) is a diagram showing a case where a power receiving position image is displayed at a position determined by the power receiving guidance process. FIG. 7A is a diagram showing a display screen of a display that performs guidance output, and FIG. 7A is a diagram showing a case where a power receiving position image is displayed based on the position of the vehicle in the composite image generated by the image generation processing; b) is a diagram showing a case where a power receiving position image is displayed at a position determined by the power receiving guidance process.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a power reception guide device according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the embodiments.

(Constitution)
First, the configuration of the power reception guidance system will be described. FIG. 1 is a schematic diagram illustrating a power reception guidance system, FIG. 1 (a) is a plan view of a parking lot where a power feeding device is installed, and FIG. 1 (b) is a diagram illustrating a guidance screen output by a power reception guidance device. It is. The power reception guidance system 1 is a system mounted on a vehicle 2 and relates to power reception from a power supply device 3 installed in a parking area to a power reception unit installed in the vehicle 2 as shown in FIG. Give guidance. For example, as shown in FIG. 1B, a guidance screen that can grasp the positional relationship between the power receiving means installed in the vehicle 2 and the power feeding device 3 is output.

  As a specific method of power reception, for example, a non-contact power reception method using mutual induction generated between two coils can be cited. In this method, a magnetic field change is generated by applying a high-frequency current to the primary coil on the power feeding side, and an induced current is generated in the secondary coil on the power receiving side by the change of the magnetic field. It becomes possible to receive electric power. In the present embodiment, as illustrated in FIG. 1A, a case where a power feeding device 3 including a primary coil as a power feeding unit is embedded in the ground of a parking area such as a parking lot will be described as an example.

  FIG. 2 is a block diagram illustrating a power reception guidance system 1 according to the embodiment. As shown in FIG. 2, the power reception guidance system 1 includes a power reception unit 10, a charging unit 20, a battery 30, a camera 40, a current position detection processing unit 50, a vehicle speed sensor 60, a steering sensor 70, a shift position sensor 80, and a power reception. A guide device 90 is provided.

(Configuration-Power receiving unit)
The power receiving unit 10 receives power from the power feeding device 3 installed in the parking area, and supplies the received power to the battery 30 via the charging unit 20. The power receiving unit 10 is configured using, for example, the above-described secondary coil, and is installed on the bottom surface of the vehicle 2, for example. By parking the vehicle 2 so that the power reception unit 10 and the primary coil of the power supply device 3 face each other, the power reception unit 10 can receive power from the power supply device 3.

(Configuration-Charging part)
The charging unit 20 is charging means for charging the battery 30 with the power supplied from the power receiving unit 10. The specific configuration of the charging unit 20 is arbitrary, and can be configured using, for example, a known charge control circuit including an overcharge / overdischarge / overcurrent protection circuit.

(Configuration-Battery)
The battery 30 is a rechargeable battery that stores electricity supplied from the power receiving unit 10 via the charging unit 20. For example, a known rechargeable battery such as a lithium ion secondary battery or a nickel hydride secondary battery may be used. it can.

(Configuration-Camera)
The camera 40 is a photographing unit that photographs the periphery of the vehicle 2. For example, the camera 40 is disposed below the vehicle 2 so as to be able to photograph a mark provided in the parking area in order to indicate a buried place of the power feeding device 3. Further, this camera 40 may be configured to be shared with a known back camera or side mirror camera. The video data acquired by the camera 40 is output to the power reception guide device 90. The specific configuration of the camera 40 is arbitrary, and is configured using a known imaging device such as a CMOS image sensor or a CCD image sensor, and a known optical system component such as a fisheye lens or a prism.

(Configuration-Current position detection processing unit)
The current position detection processing unit 50 is a current position detection unit that detects the current position of the vehicle 2 to which the power reception guide device 90 is attached. Specifically, the current position detection processing unit 50 includes at least one of a GPS, a geomagnetic sensor, a distance sensor, and a gyro sensor (all of which are not shown), and the current position (coordinates), direction, and the like of the vehicle 2 Is detected by a known method.

(Configuration-vehicle speed sensor)
The vehicle speed sensor 60 outputs a vehicle speed pulse signal or the like proportional to the rotational speed of the axle to the power receiving guide device 90, and a known vehicle speed sensor can be used.

(Configuration-steering sensor)
The steering sensor 70 detects the steering angle of the steering wheel of the vehicle 2 and outputs the detected value to the power receiving guide device 90, and a known steering sensor can be used.

(Configuration-Shift position sensor)
The shift position sensor 80 detects the position of the shift lever for operating the transmission of the vehicle 2 and outputs the detected value to the power reception guide device 90, and a known shift position sensor can be used.

(Configuration-Power reception guide device)
The power reception guidance device 90 is a device that performs guidance regarding power reception from the power supply device 3 installed in the parking area to the power reception unit 10 installed in the vehicle 2, and includes a magnetic field sensor 91, a speaker 92, a display 93, a control unit 94, And a data recording unit 95.

(Configuration-Power reception guide device-Magnetic field sensor)
The magnetic field sensor 91 is a magnetic field strength detection unit that detects the magnetic field strength in the power receiving unit 10. As the magnetic field sensor 91, for example, a known coil or Hall element can be used.

(Configuration-Power reception guide device-Speaker and display)
The speaker 92 is output means for outputting various sounds based on the control of the control unit 94. In addition, the specific aspect of the audio | voice output from the speaker 92 is arbitrary, The synthesized audio | voice produced | generated as needed and the audio | voice recorded beforehand can be output. The display 93 is display means for displaying an image based on the control of the control unit 94. The specific configuration of the display 93 is arbitrary, and a known flat panel display such as a liquid crystal display or an organic EL display can be used.

(Configuration-Power reception guide device-Control unit)
The control unit 94 is a control unit that controls the power reception guide device 90. Specifically, the CPU, various programs interpreted and executed on the CPU (a basic control program such as an OS, and a specific program that is activated and specified on the OS). And an internal memory such as a RAM for storing the program and various data. In particular, the power reception guidance program according to the present embodiment is installed in the power reception guidance device 90 via an arbitrary recording medium or network, thereby substantially configuring each unit of the control unit 94.

  This control unit 94 is functionally conceptually composed of a composite image generation unit 94a, a power reception efficiency specification unit 94b, a positional relationship information acquisition unit 94c, a positional relationship specification unit 94d, a display position determination unit 94e, a guidance control unit 94f, and an image memory. 94g. The composite image generation unit 94a is a composite image generation unit that combines the image data recorded in the image memory 94g to generate a composite image of an area including the vehicle 2. The power receiving efficiency specifying unit 94 b is a power receiving efficiency specifying unit that specifies the power receiving efficiency from the power feeding device 3 of the power receiving unit 10 at the current position of the vehicle 2. The positional relationship information acquisition unit 94c is a positional relationship information acquisition unit that acquires positional relationship information for specifying the positional relationship between the power supply device 3 and the power receiving unit 10. The positional relationship specifying unit 94d is a positional relationship specifying unit that specifies the positional relationship between the power feeding unit and the power receiving unit. The display position determination unit 94 e is a display position determination unit that determines a position at which a power reception position image indicating the position of the power reception unit 10 is displayed on the display 93. The guidance control unit 94 f is guidance control means for outputting information to the speaker 92 and the display 93. The image memory 94g is a recording unit that records image data around the vehicle 2 taken by the camera 40. Details of processing executed by each component of the control unit 94 will be described later.

(Configuration-Power reception guide device-Data recording unit)
The data recording unit 95 is a recording unit that records a program and various data necessary for the operation of the power reception guide device 90, and is configured using, for example, a hard disk (not shown) as an external storage device. However, any other recording medium including a magnetic recording medium such as a magnetic disk or an optical recording medium such as a DVD or a Blu-ray disk can be used instead of or together with the hard disk.

  The data recording unit 95 includes a map information database (hereinafter, the database is referred to as “DB”) 95a. The map information DB 95a is map information storage means for storing map information. “Map information” includes, for example, map data and facility data, and includes power supply device information 95b.

  Of these, the facility data is information for identifying facilities such as restaurants, shopping centers, parking lots, etc., and is information that identifies the location coordinates (for example, the outer peripheral coordinates and center coordinates of the facility), type, and name of the facility. It is.

  The power supply device information 95b is information for specifying the installation location and performance of the power supply device 3, and is stored in association with each facility specified based on the facility data. The power supply device information 95 b includes positional relationship information for specifying the positional relationship between the power supply device 3 and the power reception unit 10 based on the power reception efficiency of the power reception unit 10. Here, the “positional relationship” means the distance or angle between the coil central axis of the primary coil of the power feeding device 3 and the secondary coil of the power receiving unit 10 or the distance between the opposing surfaces of the power feeding device 3 and the power receiving unit 10. It is a concept including FIG. 3 is a graph illustrating positional relationship information for specifying the distance between the power feeding device 3 and the power receiving unit 10 as the positional relationship. In the graph shown in FIG. 3, the horizontal axis represents the distance between the coil central axes of the primary coil of the power feeding device 3 and the secondary coil of the power receiving unit 10, and the vertical axis represents the power receiving efficiency of the power receiving unit 10. This is a mountain-shaped curve in which the power receiving efficiency becomes a maximum value when the distance between the coil central axes is zero. In addition, the positional relationship information before correction | amendment by the power receiving guidance process mentioned later is shown as a continuous line, and the positional relationship information after correction | amendment is shown with a broken line.

  The power supply device information 95b includes, for example, coordinate information of the position where the power supply device 3 is installed, the maximum magnetic field intensity that can be generated by each power supply device 3, the maximum rate of change of the magnetic field strength, or per unit time. Performance information that specifies the maximum amount of power that can be received by the power receiving unit 10 from each power supply device 3 can be included.

(processing)
Next, a process executed by the power reception guidance system 1 configured as described above will be described.

(Processing-Image generation processing)
First, image generation processing executed by the power reception guidance system 1 will be described. FIG. 4 is a flowchart of the image generation process (in the following description of each process, step is abbreviated as “S”). This image generation process is a process for generating an image around the vehicle 2 as shown in FIG. 1B, for example, and an instruction to start the image generation process is input through a known input unit, for example. Or when the shift position sensor 80 detects that the shift position is set to reverse.

  As shown in FIG. 4, when the image generation process is activated, the composite image generation unit 94a determines whether there is an image combination trigger (SA1). For example, when a vehicle speed pulse signal is input from the vehicle speed sensor 60, it is determined that there is an image composition trigger. Alternatively, when the vehicle 2 is stopped, it is determined that an image composition trigger has occurred when a predetermined time has elapsed since the last image composition.

  As a result, when it is determined that there is no trigger for image synthesis (SA1, No), the synthesized image generation unit 94a continues the determination of SA1. On the other hand, when it is determined that there is no trigger for image composition (SA1, Yes), the composite image generation unit 94a acquires image data around the vehicle 2 from the camera 40 and records it in the image memory 94g (SA2).

  Subsequently, the composite image generation unit 94a generates an overhead image using the image data recorded in the image memory 94g (SA3). For example, an overhead image can be generated by performing a known coordinate conversion process on the image data. Then, the generated overhead image is synthesized with the synthesized image already recorded in the image memory 94g (SA4). Here, the “composite image” is an image generated by sequentially combining the overhead image generated in SA3 in SA4, and is recorded in the image memory 94g. For example, based on information such as a vehicle speed pulse signal input from the vehicle speed sensor 60 and a detected value of the steering angle input from the steering sensor 70, the vehicle 2 moves from the reference position of the composite image recorded in the image memory 94g. Specify the distance and turning angle. Then, the overhead view image generated in SA3 based on the specified turning angle is rotated, and the rotated overhead view image is a position corresponding to the moving distance and turning angle of the vehicle 2 in the composite image recorded in the image memory 94g. To synthesize.

  Furthermore, the synthesized image generation unit 94a extracts a portion to be displayed on the display 93 from the synthesized synthesized image, performs a rotation process in accordance with the turning angle of the vehicle 2, and displays it on the display 93 (SA5). Further, the vehicle image indicating the position of the vehicle 2 and the power receiving position image indicating the position of the power receiving unit 10 in the vehicle 2 are superimposed and displayed on the composite image (SA6). The position determination method for displaying the vehicle image and the power receiving position image in an overlapping manner is arbitrary. For example, the vehicle in the composite image is based on the moving distance and turning angle of the vehicle 2 from the reference position of the composite image recorded in the image memory 94g. The current position of 2 is specified, and the display position of the vehicle image and the power receiving position image is determined based on the specified current position. As the vehicle image, for example, an image in a case where the vehicle 2 is looked down from vertically above is used. Further, as the power receiving position image, for example, a mark indicating the position of the power receiving unit 10 is used.

  Thereafter, the processing from SA1 to SA6 is repeated. For example, when the shift position sensor 80 detects that the shift position has been changed to a position other than reverse, or when an instruction to end image generation processing is input via a known input unit (not shown), The image generation process ends.

(Processing-Power reception guidance processing)
Next, the power reception guidance process will be described. FIG. 5 is a flowchart of the power reception guidance process. This power reception guidance process is repeatedly started at a predetermined cycle after the power supply to the power reception guidance system 1 is turned on, for example, when the image generation process shown in FIG. 4 is started. This power reception guidance process is executed in parallel with the image generation process of FIG.

  After starting the power reception guidance process, the power reception efficiency specifying unit 94b determines whether or not the battery 30 needs to be charged (SB1). For example, when the remaining amount of electric power in the battery 30 of the current vehicle 2 is below the amount of electric power required when traveling on the route to the next destination, it is determined that the battery 30 needs to be charged. . Alternatively, the remaining amount of energy (gasoline, light oil, etc.) other than the battery 30 is also taken into consideration, and the battery 30 is used when the energy required for traveling on the route to the destination is not reached even when these energies are used. It is determined that charging is required.

  As a result, when it is determined that charging of the battery 30 is not necessary (SB1, No), it is not necessary to perform power reception guidance, and the power reception efficiency specifying unit 94b ends the power reception guidance processing. On the other hand, when it is determined that the battery 30 needs to be charged (SB1, Yes), the power receiving efficiency specifying unit 94b specifies the power receiving efficiency of the power receiving unit 10 at the current position of the vehicle 2, and recording means such as a RAM (not shown) (SB2). For example, when specifying the power receiving efficiency, the power receiving efficiency specifying unit 94 b causes the magnetic field sensor 91 to detect the magnetic field strength in the power receiving unit 10. Furthermore, the map information DB 95a stores the maximum magnetic field intensity that can be generated at the position of the power receiving unit 10 of the vehicle 2 parked at an appropriate position by the power feeding device 3 installed in the parking area into which the vehicle 2 has entered. The power supply device information 95b is specified. The power receiving efficiency can be specified based on a comparison between the magnetic field intensity detected by the magnetic field sensor 91 and the maximum magnetic field intensity specified based on the power supply device information 95b. Specifically, when the magnetic field intensity detected by the magnetic field sensor 91 is P [A / m] and the maximum magnetic field intensity specified from the power feeding device information 95b is Pmax [A / m], power reception efficiency = (P / Pmax) × It can be calculated as 100 [%].

  Subsequently, the power reception efficiency specifying unit 94b determines whether or not the vehicle 2 has entered the parking frame in the parking area (SB3). For example, when a part of the vehicle body of the vehicle 2 is located within the parking frame based on the current position of the vehicle 2 detected by the current position detection processing unit 50 or the travel locus of the vehicle 2, the vehicle 2 is within the parking frame. It is determined that the vehicle has entered.

  As a result, when it is determined that the vehicle 2 has not entered the parking frame (SB3, No), the guidance control unit 94f provides guidance on the power reception efficiency specified by the power reception efficiency specifying unit 94b in SB2, such as the speaker 92 and the display. 93 (SB11), and the power reception guidance process is terminated. For example, a numerical value or graph indicating power reception efficiency is displayed on the display 93.

  On the other hand, when it is determined that the vehicle 2 has entered the parking frame (SB3, Yes), the positional relationship information acquisition unit 94c determines the position of the power feeding device 3 in the composite image displayed on the display 93 in SA5 of FIG. Then, the position of the power receiving position image superimposed on the composite image is specified (SB4). The method of specifying the position of the power supply device 3 in the composite image is arbitrary. For example, image data of a sign indicating the installation position of the power supply device 3 is stored in advance in the map information DB 95a as part of the power supply device information 95b, and combined. The position of the image data of the sign in the image is specified using a known image analysis technique. Further, the position of the power receiving position image is specified based on, for example, the coordinate data of the power receiving position image superimposed and displayed on the composite image in SA6 of the image composition processing in FIG. Alternatively, it is specified based on coordinate data or the like that specifies the position where the power reception position image is superimposed and displayed on the composite image, determined in the previous power reception guidance process.

  Next, the positional relationship information acquisition unit 94c acquires positional relationship information from the map information DB 95a (SB5). Then, the positional relationship information acquired in SB5 is corrected based on the position of the power feeding device 3 in the composite image specified in SB4 and the position of the power receiving position image superimposed and displayed on the composite image (SB6). For example, when the position of the power feeding device 3 in the composite image is deviated from the position of the power receiving position image in a direction orthogonal to the traveling direction of the vehicle 2, the power feeding device 3 and the power receiving unit 10 may move even if the vehicle 2 goes straight ahead. The distance between them does not become 0, and the power reception efficiency does not reach 100%. Therefore, based on the distance between the power feeding device 3 and the power receiving unit 10 in the direction orthogonal to the traveling direction of the vehicle 2, correction is performed to decrease the value of the power receiving efficiency in the positional relationship information graph shown in FIG. For example, when the distance between the power feeding device 3 and the power receiving unit 10 in a direction orthogonal to the traveling direction of the vehicle 2 is 10 cm, the power feeding device 3 and the power receiving unit 10 when the vehicle 2 is moved straight along the traveling direction. Therefore, the maximum value of the power reception efficiency is 80% according to the positional relationship information before correction shown in FIG. 3 (solid line in FIG. 3). Therefore, the power receiving efficiency value in the positional relationship information graph shown in FIG. 3 is reduced by 20% as a whole, and the maximum value is corrected to 80% (broken line in FIG. 3). By using the positional relationship information corrected in this way, the distance between the power feeding device 3 and the power receiving unit 10 in the traveling direction of the vehicle 2 can be specified based on the power receiving efficiency of the power receiving unit 10.

  Next, the positional relationship specifying unit 94d determines the positions of the power feeding device 3 and the power receiving unit 10 based on the power receiving efficiency from the power feeding device 3 specified by the power receiving efficiency specifying unit 94b in SB2 and the positional relationship information corrected in SB6. The relationship is specified (SB7). For example, when the power receiving efficiency specified by the power receiving efficiency specifying unit 94b in SB2 is 60%, according to the corrected positional relationship information (broken line in FIG. 3) shown in FIG. The distance between the device 3 and the power receiving unit 10 is specified as about 11 cm.

  Subsequently, the positional relationship specifying unit 94d refers to a history of power reception efficiency recorded in a recording unit such as a RAM, determines increase / decrease in power reception efficiency from the history, and supplies power from the power reception unit 10 based on the increase / decrease history of power reception efficiency. A direction toward the device 3 is specified (SB8). For example, when the maximum value is included in the increase / decrease history of the power receiving efficiency, it is considered that the distance between the power receiving unit 10 and the power feeding device 3 has once approached the shortest distance and then has moved away from the current vehicle. It can be specified that the power feeding device 3 exists in the direction opposite to the traveling direction 2. Further, when the power receiving efficiency increases monotonously and does not include the maximum value, it is considered that the power receiving unit 10 is approaching the power feeding device 3, so that the power feeding device 3 exists in the current traveling direction of the vehicle 2. Then you can identify.

  Then, the display position determination unit 94e determines a position for displaying the power reception position image on the display 93 based on the position of the power feeding device 3 in the composite image and the positional relationship specified by the positional relationship specifying unit 94d (SB9). For example, the distance of the position of the power receiving position image from the position of the power supply device 3 in the composite image specified in SB4 is equal to the distance between the power supply device 3 specified by the positional relationship specifying unit 94d in SB7 and the power receiving unit 10. Next, the position of the power receiving position image is determined. At this time, in consideration of the direction from the power receiving unit 10 specified in SB 8 toward the power feeding device 3, it is specified in which direction the power receiving position image should be arranged from the power feeding device 3 along the traveling direction of the vehicle 2.

  Subsequently, the guidance control unit 94f superimposes and displays the power reception position image at the position specified in SB9 on the composite image, and also determines the distance between the power supply device 3 and the power reception unit 10 and the power reception efficiency specified in SB2. The guidance is output to the speaker 92 and the display 93 (SB10). Thereafter, the power reception guidance process is terminated.

  FIG. 6 is a diagram showing a display screen of the display 93 that performs guidance output. FIG. 6A shows a case where a power receiving position image is displayed based on the position of the vehicle 2 in the composite image generated by the image generation processing. FIG. 6B is a diagram illustrating a case where a power reception position image is displayed at a position determined in the power reception guidance process. FIG. 6 illustrates a case where the distance between the power feeding device 3 and the power receiving unit 10 in the direction orthogonal to the traveling direction of the vehicle 2 is 0, and the positional relationship information is not corrected in SB6 of FIG.

  In the display screen shown in FIG. 6A, the power receiving efficiency is displayed as “80%”, and the distance between the power feeding device 3 and the power receiving unit 10 is displayed as “15 cm”. However, in SB7 of FIG. 5, based on the positional relationship information of FIG. 3, the distance between the power feeding device 3 and the power receiving unit 10 when the power receiving efficiency is 80% is specified as 10 cm. Therefore, when the power receiving position image is displayed based on the position of the vehicle 2 in the composite image generated by the image generation process, a deviation occurs between the actual positional relationship and the positional relationship on the image.

  On the other hand, on the display screen shown in FIG. 6B, the power receiving efficiency is displayed as “80%”, and the distance between the power feeding device 3 and the power receiving unit 10 is displayed as “10 cm”. That is, in SB7 in FIG. 5, the distance between the power feeding device 3 and the power receiving unit 10 when the power receiving efficiency specified based on the positional relationship information in FIG. 3 is 80%, the power feeding device 3 and the power receiving position image in the composite image, The power receiving position image is displayed so that the distance is equal. Therefore, an accurate positional relationship between the power feeding device 3 and the power receiving unit 10 can be grasped from the composite image.

  7 is a diagram showing a display screen of the display 93 that performs guidance output. FIG. 7A shows a case where a power receiving position image is displayed based on the position of the vehicle 2 in the composite image generated by the image generation processing. FIG. 7B is a diagram illustrating a case where a power reception position image is displayed at a position determined by the power reception guidance process. FIG. 7 illustrates a case where the distance between the power feeding device 3 and the power receiving unit 10 in the direction orthogonal to the traveling direction of the vehicle 2 is 10 cm, and the positional relationship information is corrected in SB6 of FIG.

  In the display screen shown in FIG. 7A, the power receiving efficiency is “60%”, and the distance between the power feeding device 3 and the power receiving unit 10 in the traveling direction of the vehicle 2 is “15 cm”. However, in SB7 of FIG. 5, based on the corrected positional relationship information of FIG. 3, the distance between the power feeding device 3 and the power receiving unit 10 in the traveling direction of the vehicle 2 when the power receiving efficiency is 60% is specified as 11 cm. . Therefore, when the power receiving position image is displayed based on the position of the vehicle 2 in the composite image generated by the image generation process, a deviation occurs between the actual positional relationship and the positional relationship on the image.

  On the other hand, in the display screen shown in FIG. 7B, the power receiving efficiency is displayed as “60%”, and the distance between the power feeding device 3 and the power receiving unit 10 is displayed as “11 cm”. That is, in SB7 in FIG. 5, the distance between the power feeding device 3 and the power receiving unit 10 in the traveling direction of the vehicle 2 when the power receiving efficiency specified based on the corrected positional relationship information in FIG. The power receiving position image is displayed so that the distance between the power feeding device 3 and the power receiving position image in the traveling direction of the vehicle 2 is equal. Therefore, an accurate positional relationship between the power feeding device 3 and the power receiving unit 10 can be grasped from the composite image.

(effect)
As described above, according to the embodiment, the position at which the power receiving position image is displayed on the display 93 is determined based on the position of the power feeding device 3 in the composite image and the positional relation specified by the positional relation specifying unit 94d. 2, the positional relationship between the actual power feeding device 3 and the power receiving unit 10 specified by the power receiving efficiency from the power feeding device 3 of the power receiving unit 10 at the current position, and the positional relationship between the power feeding device 3 and the power receiving position image in the composite image. The power reception position images can be displayed so as to be equal to each other, and the power reception guidance can be performed so that the accurate positional relationship between the power supply device 3 and the power reception unit 10 can be grasped.

  Further, since the power receiving efficiency from the power feeding device 3 specified by the power receiving efficiency specifying unit 94b and the positional relationship information acquired by the positional relationship information acquiring unit 94c are specified, the distance between the power feeding device 3 and the power receiving unit 10 is specified. The distance between the actual power feeding device 3 and the power receiving unit 10 can be specified, and the power receiving position image is displayed so that the distance between the power feeding device 3 and the power receiving position image in the composite image is equal to the actual distance. Can do.

  Further, since the direction from the power receiving unit 10 toward the power feeding device 3 is identified based on the history of increase or decrease in power receiving efficiency from the power feeding device 3 identified by the power receiving efficiency identifying unit 94b, power feeding is performed along the traveling direction of the vehicle 2 in the composite image. In which direction from the device 3 the power receiving position image should be arranged can be specified.

  Further, since the positional relationship information acquired by the positional relationship information acquisition unit 94c is corrected based on the position of the power supply device 3 in the composite image, the power supply device 3 and the power reception unit 10 are shifted in a direction orthogonal to the traveling direction of the vehicle 2. Even if it is, the positional relationship information can be corrected based on the magnitude of the deviation, and the positional relationship between the power feeding device 3 and the power receiving unit 10 in the traveling direction of the vehicle 2 based on the power receiving efficiency of the power receiving unit 10. Can be specified.

[Modifications to Embodiment]
Although the embodiments of the present invention have been described above, the specific configuration and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above-mentioned contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved.

(About power reception guidance processing)
In the above-described embodiment, it has been described that the position at which the power receiving position image is displayed on the display 93 is determined based on the position of the power supply device 3 in the composite image and the positional relationship specified by the positional relationship specifying unit 94d. You may make it correct the parameter used when the production | generation part 94a produces | generates a synthesized image.

  For example, when the moving distance of the vehicle 2 is specified based on the vehicle speed pulse signal input from the vehicle speed sensor 60, the distance (vehicle speed pulse length) that the vehicle 2 moves per one output pulse of the vehicle speed pulse signal is used as the distance parameter. . For example, when the tire diameter fluctuates due to tire replacement, the actual vehicle speed pulse length is different from the vehicle speed pulse length recorded as a distance parameter in recording means such as a RAM. As a result, a difference is generated between the distance between the power feeding device 3 and the power receiving unit 10 in the composite image and the distance between the actual power feeding device 3 and the power receiving unit 10 specified by the positional relationship specifying unit 94d.

  In this case, the distance between the power feeding device 3 and the power receiving unit 10 in the composite image and the distance between the actual power feeding device 3 and the power receiving unit 10 specified by the positional relationship specifying unit 94d are recorded as distance parameters. Correct the vehicle speed pulse length. As a result, an accurate composite image can be generated using the corrected distance parameter, and an accurate positional relationship between the power feeding device 3 and the power receiving unit 10 can be grasped based on the composite image.

  In the above-described embodiment, when the position of the power feeding device 3 in the composite image is shifted from the position of the power receiving position image in the direction orthogonal to the traveling direction of the vehicle 2, the position of the power feeding device 3 in the composite image Although it has been described that the positional relationship information is corrected based on the position of the power receiving position image superimposed and displayed on the composite image, the positional relationship information may not be corrected. For example, as shown in FIG. 7, when the power receiving position image is shifted in the direction orthogonal to the traveling direction of the vehicle 2, the power receiving efficiency from the power feeding device 3 and the positional relationship information acquired from the map information DB 95 a are used. Based on this, the linear distance between the power feeding device 3 and the power receiving unit 10 is specified. Further, the distance between the power feeding device 3 and the power receiving unit 10 in the direction orthogonal to the traveling direction of the vehicle 2 is specified based on the positions of the power feeding device 3 and the power receiving position image in the composite image. A direction from the power receiving unit 10 toward the power feeding device 3 is identified based on the identified distance, and guidance output can be performed so as to move the vehicle 2 toward the center of the power feeding device 3 based on the identified direction.

(About positional relationship information)
In the above-described embodiment, it has been described that the graph illustrated in FIG. 3 is stored in the data recording unit 95 as the positional relationship information, but other information may be used as the positional relationship information. For example, based on the power receiving efficiency of the power receiving unit 10, a function that can specify the distance between the power feeding device 3 and the power receiving unit 10, the position vector of the power receiving unit 10 based on the power feeding device 3, and the like is used as the positional relationship information. Also good.

(About power reception)
In the above-described embodiment, non-contact power reception using mutual induction generated between two coils has been described as an example. However, even in contact-type power reception in which power is received by bringing electrodes into contact with each other, a power reception guide device 90 can be used. For example, when the power receiving efficiency of the power receiving unit from the power feeding device changes according to the positional relationship between the power feeding side electrode and the power receiving side electrode, the power feeding side electrode is used to efficiently transmit power from the power feeding side electrode to the power receiving side electrode. It may be necessary to arrange the power receiving side electrode and the power receiving side electrode in an appropriate positional relationship. Therefore, by using the power reception guide device 90, the positional relationship between the actual power supply side electrode and the power reception side electrode specified by the power reception efficiency at the current position of the vehicle, and the position of the power supply side electrode and the power reception side electrode in the composite image. The power receiving position image of the power receiving side electrode can be displayed so that the relationship is equal, and the power receiving guidance can be performed so that the exact positional relationship between the power feeding side electrode and the power receiving side electrode can be grasped.

DESCRIPTION OF SYMBOLS 1 Power receiving guidance system 2 Vehicle 3 Power supply apparatus 10 Power receiving part 20 Charging part 30 Battery 40 Camera 50 Current position detection processing part 60 Vehicle speed sensor 70 Steering sensor 80 Shift position sensor 90 Power receiving guide apparatus 91 Magnetic field sensor 92 Speaker 93 Display 94 Control part 94a Composite image generating unit 94b Power reception efficiency specifying unit 94c Positional relationship information acquiring unit 94d Positional relationship specifying unit 94e Display position determining unit 94f Guide control unit 94g Image memory 95 Data recording unit 95a Map information DB
95b Power supply information

Claims (6)

A power reception guide device for providing guidance on power reception from power supply means installed in a parking area to power reception means installed in a vehicle,
Photographing means for photographing the periphery of the vehicle;
Recording means for recording image data around the vehicle photographed by the photographing means;
Combining the image data recorded in the recording means and generating a composite image of an area including the vehicle;
Display means for displaying the composite image generated by the composite image generation means and a power receiving position image indicating a position of the power receiving means;
Positional relation information acquisition means for acquiring positional relation information for specifying the positional relation between the power supply means and the power reception means based on the power reception efficiency of the power reception means;
Power receiving efficiency specifying means for specifying the power receiving efficiency from the power feeding means of the power receiving means at the current position of the vehicle;
A positional relationship that specifies a positional relationship between the power feeding unit and the power receiving unit based on the power receiving efficiency from the power feeding unit specified by the power receiving efficiency specifying unit and the positional relationship information acquired by the positional relationship information acquiring unit. Specific means,
When the image of the power supply unit is included in the composite image generated by the composite image generation unit, based on the position of the power supply unit in the composite image and the positional relationship specified by the positional relationship specifying unit, Display position determining means for determining a position for displaying the power receiving position image on the display means;
A power receiving guide device comprising: The positional relationship is
A distance between the power feeding means and the power receiving means;
The positional relationship specifying means includes
Identifying the distance between the power feeding means and the power receiving means based on the power receiving efficiency from the power feeding means specified by the power receiving efficiency specifying means and the positional relationship information acquired by the positional relationship information acquiring means;
The power receiving guide device according to claim 1. The positional relationship specifying means includes
Based on the increase / decrease history of the power reception efficiency from the power supply means specified by the power reception efficiency specifying means, the direction from the power reception means toward the power supply means is specified,
The power receiving guide device according to claim 1 or 2. The positional relationship specifying means includes
When the composite image generated by the composite image generation unit includes the image of the power supply unit, the positional relationship information acquired by the positional relationship information acquisition unit is obtained based on the position of the power supply unit in the composite image. to correct,
The power receiving guide device according to any one of claims 1 to 3. A power reception guidance method for performing guidance on power reception from a power supply means installed in a parking area to a power reception means installed in a vehicle,
A shooting step for shooting around the vehicle;
A recording step of recording image data around the vehicle photographed in the photographing step in a recording unit;
A composite image generation step of combining the image data recorded in the recording means in the recording step and generating a composite image of an area including the vehicle;
A display step of displaying on the display means the composite image generated in the composite image generation step and a power receiving position image indicating a position of the power receiving means;
A positional relationship information acquisition step for acquiring positional relationship information for specifying the positional relationship between the power feeding unit and the power receiving unit based on the power receiving efficiency of the power receiving unit;
A power receiving efficiency specifying step for specifying power receiving efficiency from the power feeding means of the power receiving means at the current position of the vehicle;
A positional relationship for specifying a positional relationship between the power feeding unit and the power receiving unit based on the power receiving efficiency from the power feeding unit specified in the power receiving efficiency specifying step and the positional relationship information acquired in the positional relationship information acquiring step. Specific steps,
When the image of the power supply means is included in the composite image generated in the composite image generation step, based on the position of the power supply means in the composite image and the positional relationship specified in the positional relationship specification step, A display position determining step for determining a position for displaying a power receiving position image on the display means;
Including a power receiving guide method.   A power reception guide program for causing a computer to execute the method according to claim 5.

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