CN110509792B - Wireless charging alignment method based on automatic parking, computer readable storage medium and system - Google Patents

Wireless charging alignment method based on automatic parking, computer readable storage medium and system Download PDF

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Publication number
CN110509792B
CN110509792B CN201910806148.7A CN201910806148A CN110509792B CN 110509792 B CN110509792 B CN 110509792B CN 201910806148 A CN201910806148 A CN 201910806148A CN 110509792 B CN110509792 B CN 110509792B
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wireless charging
vehicle
automatic parking
alignment
parking
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CN110509792A (en
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侯雅静
宋磊
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Anjie Wireless Technology Suzhou Co ltd
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Anjie Wireless Technology Suzhou Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides a wireless charging alignment method based on automatic parking, a computer readable storage medium and a system, wherein the wireless charging alignment method comprises the following steps: identifying an auxiliary identifier of a wireless charging parking space; collecting distance data between the vehicle and the wireless charging station identifier, and analyzing and processing the collected distance data; adjusting the driving parameters of the vehicle in real time according to the data obtained by analysis and processing; when the distance between the vehicle and the wireless charging station mark and the offset angle of the vehicle body are within the calibrated error range, suspending automatic parking; carrying out alignment check and feeding back an alignment result to the vehicle; if the feedback alignment result is within the allowable charging error range, stopping parking, otherwise, the vehicle continues to adjust the position. Under the condition that the hardware cost of the wireless charging system is not increased, the wireless charging system and the automatic parking system are interacted, so that the vehicle can be automatically parked, and meanwhile, the wireless charging system is accurately aligned.

Description

Wireless charging alignment method based on automatic parking, computer readable storage medium and system
Technical Field
The invention relates to the technical field of wireless charging, in particular to a wireless charging alignment method based on automatic parking, a computer readable storage medium and a system.
Background
The wired charging of current electric automobile exists and uses inconvenience, the rifle that charges easily wears, contact failure scheduling problem, and wireless charging technology can provide safe convenient the charging for electric automobile power battery, can solve some not enough that exist in the wired charging technology at present.
For the wireless charging system, the power supply equipment does not need to be in contact with the vehicle-mounted equipment, and certain convenience is brought to users. One such convenience is flexibility in alignment between the wirelessly charged vehicle end and the power supply device. However, when there is a large positional deviation, safety and efficiency of charging are hardly ensured. Wireless charging system coil alignment can greatly affect the user experience if it is difficult to do so by a human operator alone.
Disclosure of Invention
The invention aims to provide a wireless charging alignment method based on automatic parking, a computer readable storage medium and a system, so as to overcome the defects in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an automatic parking-based wireless charging alignment method, comprising:
identifying the auxiliary identification of the wireless charging parking space in an image identification mode, and establishing wireless connection between a receiving end and an emitting end of the identified wireless charging parking space when the wireless charging parking space is identified;
acquiring distance data between the vehicle and the wireless charging station identifier, and adjusting driving parameters of the vehicle in real time by the automatic parking system controller according to the acquired distance data to start automatic parking;
when the wireless charging position identification enters the blind area of the rear camera of the vehicle, the vehicle adjusts the control parameters of the automatic parking system in real time according to the distance between the front camera and the auxiliary identification;
when the distance between the vehicle and the auxiliary mark and the offset angle of the vehicle body are within the calibrated error range, suspending automatic parking;
the receiving end sends an alignment signal to the transmitting end, alignment inspection is carried out based on the sent alignment signal, and an alignment result is fed back to the vehicle;
if the feedback alignment result is within the allowable charging error range, stopping parking, otherwise, the vehicle continues to adjust the position.
As an improvement of the wireless charging alignment method based on automatic parking, the analyzing and processing of the collected distance data includes:
as an improvement of the wireless charging alignment method based on automatic parking of the present invention, the driving parameters of the vehicle include: steering of the vehicle, and running speed of the vehicle.
As an improvement of the wireless charging alignment method based on automatic parking of the present invention, the image recognition mode is based on the front and rear cameras of the vehicle, the acquisition of the distance data is based on the ultrasonic sensor, and the automatic parking process further comprises: when the wireless charging position mark enters a blind area of a rear camera of the vehicle, the vehicle judges the distance from the auxiliary mark according to the front camera, and simultaneously judges the angle of the vehicle body through the ultrasonic sensor and the camera, and adjusts the parking parameters of the vehicle in real time.
As an improvement of the wireless charging alignment method based on automatic parking according to the present invention, the error of the calibration of the offset angle of the vehicle body is at most 3 °.
As an improvement of the wireless charging alignment method based on automatic parking according to the present invention, performing an alignment check includes:
after the transmitting end of the wireless charging system is connected with the receiving end WIFI, the receiving end sends an alignment check request to the transmitting end, and meanwhile, the direct current output end of the receiving end is controlled to be in short circuit; when the transmitting terminal receives the alignment check request, the phase angle of the inverter of the transmitting terminal is adjusted, current is generated in a coil of the transmitting terminal and a coil of a receiving terminal at the moment, the larger the offset is, the reflecting impedance Z of the transmitting terminal isGAThe smaller the current generated in the transmitting end coil is, the larger the current generated in the transmitting end coil is, and the coupling degree of the receiving end and the transmitting end coil is determined according to the magnitude of the current of the transmitting end coil, so that whether the alignment is carried out or not is judged.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a system based on the wireless charging alignment method as described above, comprising: the system comprises a wireless charging device, an automatic parking device and a ground mark;
the wireless charging device includes: set up in the transmitting terminal on ground, set up the receiving terminal on the vehicle, automatic parking device sets up on the vehicle, and it includes: the system comprises a vehicle distance detection device, an image acquisition device and an automatic parking control device, wherein the vehicle distance detection device acquires distance data and feeds the distance data back to the automatic parking control device, the image acquisition device acquires image data and feeds the image data back to the automatic parking control device, and the ground identifier comprises: the auxiliary identification is arranged corresponding to the wireless charging parking space, and the wireless charging position identification is arranged in the wireless charging parking space and used for indicating the position of the transmitting end.
As an improvement of the system of the wireless charging alignment method based on automatic parking, the vehicle distance detection device is an ultrasonic sensor, and the image acquisition devices are four cameras in front of, behind, on the left of and on the right of the vehicle.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a computer-readable storage medium having stored thereon a data processing program which, when executed by a processor, implements the steps of the automatic parking-based wireless charging alignment method as described above.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an automated parking-based wireless charging alignment system, comprising:
a processor;
a memory having stored thereon a computer program operable on the processor;
wherein the computer program, when executed by the processor, implements the steps of the automated parking-based wireless charging alignment method of any of claims 1-6.
Compared with the prior art, the invention has the beneficial effects that: the wireless charging alignment method based on automatic parking is based on the automatic parking device under the condition that the hardware cost of the wireless charging system is not increased, and the vehicle is enabled to be automatically parked and simultaneously the accurate alignment of the wireless charging system is realized through the interaction of the wireless charging system and the automatic parking system under the assistance of the ground mark in the automatic parking process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a top view of a ground sign in embodiment 2 of the present invention;
fig. 2 is a schematic diagram illustrating a state where a vehicle stops at a wireless charging location identifier according to the wireless charging alignment method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention combines the automatic parking and the electric automobile wireless charging technology, automatically guides the electric automobile to move to the position aligned with the transmitting end of the wireless charging system, and can realize the maximum power and efficiency transmission of the wireless charging system. The invention realizes the alignment of wireless charging by means of ground identification, and compared with the method of additionally arranging a high-precision GPS positioning module or an LF radio frequency module, the method can guide the automatic parking of the vehicle. There are certain advantages in cost, volume and weight of the device.
Example 1
The wireless charging alignment method based on automatic parking of the embodiment comprises the following steps:
identifying the auxiliary identification of the wireless charging parking space in an image identification mode, and establishing wireless connection between a receiving end and an emitting end of the identified wireless charging parking space when the wireless charging parking space is identified;
acquiring distance data between the vehicle and the wireless charging station identifier, and adjusting driving parameters of the vehicle in real time by the automatic parking system controller according to the acquired distance data to start automatic parking;
when the wireless charging position identification enters the blind area of the rear camera of the vehicle, the vehicle adjusts the control parameters of the automatic parking system in real time according to the distance between the front camera and the auxiliary identification;
when the distance between the vehicle and the auxiliary mark and the offset angle of the vehicle body are within the calibrated error range, suspending automatic parking;
the receiving end sends an alignment signal to the transmitting end, alignment inspection is carried out based on the sent alignment signal, and an alignment result is fed back to the vehicle;
if the feedback alignment result is within the allowable charging error range, stopping parking, otherwise, the vehicle continues to adjust the position.
As shown in fig. 1 and 2, based on the above wireless charging alignment method, specifically, the vehicle starts the automatic parking system, runs at a low speed, and determines whether the vehicle is a wireless charging parking space by image recognition of the ground auxiliary identifier. After the parking space is selected, the vehicle is automatically connected to the ground end WIFI. When the vehicle finds the wireless charging parking place, the image data of the vehicle and the wireless charging place identification and the distance data of the surrounding objects from the vehicle body can be collected through image collection and vehicle-mounted distance detection, and the image data and the distance data are transmitted to the automatic parking control system; the automatic parking control system can analyze and process the collected data. The automatic parking control system adjusts the state of the vehicle body in real time according to the acquired parameters, makes control on the driving aspect of the vehicle such as vehicle steering, vehicle speed and the like according to the instructions, and starts automatic parking. When the wireless charging position mark enters a blind area of a rear camera of the vehicle, the vehicle judges the distance from the auxiliary mark according to the front camera, and simultaneously judges the angle of the vehicle body through the ultrasonic sensor and the camera, and adjusts the parking parameters of the vehicle in real time. And when the distance between the vehicle and the front auxiliary mark is within a calibrated error range and the deviation angle of the vehicle body is not more than 3 degrees, parking is suspended. After parking is suspended, the vehicle sends a precise alignment signal to the wireless charging system, and the wireless charging system performs alignment check and feeds back the alignment state of the coil to the vehicle. If the coil returns to the alignment state and is within the error range of the allowable charging, stopping parking, otherwise, the vehicle continues to adjust the position.
However, the larger the offset between the transmitting end and the receiving end, the smaller the reflected impedance ZGA (impedance viewed from the coil input end of the transmitting end) of the transmitting end, and therefore the larger the current generated in the coil of the transmitting end. Therefore, based on the above relationship, the wireless charging system performing the alignment check includes:
after the transmitting end of the wireless charging system is connected with the receiving end WIFI, the receiving end sends an alignment check request to the transmitting end, and meanwhile, the direct current output end of the receiving end is controlled to be in short circuit; when the transmitting terminal receives the alignment check request, the phase angle of the inverter of the transmitting terminal is adjusted, and at the moment, current is generated in the coil of the transmitting terminal and the coil of the receiving terminal. The greater the offset, the smaller the reflected impedance ZGA at the transmit end, and the greater the current generated in the coil at the transmit end. And determining the coupling degree of the receiving end and the transmitting end coil according to the current of the transmitting end coil, thereby judging whether the receiving end and the transmitting end coil are aligned. Therefore, the alignment check can be realized by using the power coil and the control unit of the wireless charging system without increasing other hardware cost.
Example 2
The wireless charging alignment system based on automatic parking of the present embodiment is used for implementing the wireless charging alignment method as described in embodiment 1, and the wireless charging alignment system of the present embodiment includes: the system comprises a wireless charging device, an automatic parking device and a ground mark.
The wireless charging device includes: the transmitting end is arranged on the ground, and the receiving end is arranged on the vehicle.
The automatic parking device is arranged on a vehicle and comprises: the automatic parking control system comprises a vehicle distance detection device, an image acquisition device and an automatic parking control device, wherein the vehicle distance detection device acquires distance data and feeds the distance data back to the automatic parking control device, and the image acquisition device acquires image data and feeds the image data back to the automatic parking control device. The vehicle distance detection device is an ultrasonic sensor, and the image acquisition devices are front, rear, left and right cameras of the vehicle.
As shown in fig. 1, the ground mark includes: auxiliary identification 2 that corresponds the setting with wireless parking stall 1 that charges, be located wireless charging position sign 3 that indicates the emitter position in wireless parking stall 1.
Example 3
The present embodiment provides a computer-readable storage medium for storing a computer program that operates according to the steps of the wireless charging alignment method described in embodiment 1.
In this embodiment, the computer readable storage medium has stored thereon a data processing program, which when executed by a processor implements the steps of the automatic parking-based wireless charging alignment method described above.
Example 4
The embodiment provides a wireless charging alignment system based on automatic parking, which comprises:
a processor;
a memory having stored thereon a computer program operable on the processor;
wherein the computer program, when executed by the processor, implements the steps of the automated parking-based wireless charging alignment method as described above.
In summary, the wireless charging alignment method based on automatic parking according to the present invention is based on the automatic parking device without increasing the hardware cost of the wireless charging system, and the vehicle is automatically parked and the wireless charging system is accurately aligned through the interaction between the wireless charging system and the automatic parking system under the assistance of the ground identifier in the automatic parking process.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (8)

1. A wireless charging alignment method based on automatic parking is characterized by comprising the following steps:
identifying the auxiliary identification of the wireless charging parking space in an image identification mode, and establishing wireless connection between a receiving end and an emitting end of the identified wireless charging parking space when the wireless charging parking space is identified;
acquiring distance data between the vehicle and the wireless charging station identifier, and adjusting driving parameters of the vehicle in real time by the automatic parking system controller according to the acquired distance data to start automatic parking;
when the wireless charging position identification enters the blind area of the rear camera of the vehicle, the vehicle adjusts the control parameters of the automatic parking system in real time according to the distance between the front camera and the auxiliary identification;
when the distance between the vehicle and the auxiliary mark and the offset angle of the vehicle body are within the calibrated error range, suspending automatic parking;
the receiving end sends an alignment signal to the transmitting end, alignment inspection is carried out based on the sent alignment signal, and an alignment result is fed back to the vehicle;
if the fed-back alignment result is within the error range of the allowable charging, stopping parking, otherwise, continuously adjusting the position of the vehicle;
performing an alignment check includes:
after the transmitting end of the wireless charging system is connected with the receiving end WIFI, the receiving end sends an alignment check request to the transmitting end, and meanwhile, the direct current output end of the receiving end is controlled to be in short circuit; when the transmitting terminal receives the alignment check request, the phase angle of the inverter of the transmitting terminal is adjusted, current is generated in a coil of the transmitting terminal and a coil of a receiving terminal at the moment, the larger the offset is, the reflecting impedance Z of the transmitting terminal isGAThe smaller the current generated in the transmitting end coil is, the larger the current generated in the transmitting end coil is, and the coupling degree of the receiving end and the transmitting end coil is determined according to the magnitude of the current of the transmitting end coil, so that whether the alignment is carried out or not is judged.
2. The automated parking-based wireless charging alignment method according to claim 1, wherein the driving parameters of the vehicle include: steering of the vehicle, and running speed of the vehicle.
3. The wireless charging alignment method based on automatic parking according to claim 1, wherein the image recognition is based on front and rear cameras of the vehicle, the distance data acquisition is based on an ultrasonic sensor, and the automatic parking process further comprises: when the wireless charging position mark enters a blind area of a rear camera of the vehicle, the vehicle judges the distance from the auxiliary mark according to the front camera, and simultaneously judges the angle of the vehicle body through the ultrasonic sensor and the camera, and adjusts the parking parameters of the vehicle in real time.
4. The automated parking-based wireless charging alignment method according to claim 1, wherein an error of calibration of the offset angle of the vehicle body is at most 3 °.
5. A system based on the wireless charging alignment method of any one of claims 1-4, the system comprising: the system comprises a wireless charging device, an automatic parking device and a ground mark;
the wireless charging device includes: set up in the transmitting terminal on ground, set up the receiving terminal on the vehicle, automatic parking device sets up on the vehicle, and it includes: the system comprises a vehicle distance detection device, an image acquisition device and an automatic parking control device, wherein the vehicle distance detection device acquires distance data and feeds the distance data back to the automatic parking control device, the image acquisition device acquires image data and feeds the image data back to the automatic parking control device, and the ground identifier comprises: the auxiliary identification is arranged corresponding to the wireless charging parking space, and the wireless charging position identification is arranged in the wireless charging parking space and used for indicating the position of the transmitting end.
6. The system of claim 5, wherein the vehicle distance detecting device is an ultrasonic sensor, and the image capturing devices are four cameras in front, rear, left and right of the vehicle.
7. A computer-readable storage medium, wherein a data processing program is stored thereon, and when executed by a processor, implements the steps of the automatic parking-based wireless charging alignment method according to any one of claims 1 to 4.
8. An automatic parking-based wireless charging alignment system, comprising:
a processor;
a memory having stored thereon a computer program operable on the processor;
wherein the computer program, when executed by the processor, implements the steps of the automated parking-based wireless charging alignment method of any of claims 1-4.
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CN112124128A (en) * 2020-09-24 2020-12-25 广东杜尼智能机器人工程技术研究中心有限公司 Automatic alignment charging method depending on vision
CN112186908B (en) * 2020-09-27 2022-06-14 东南大学 Three-dimensional multi-degree-of-freedom accurate angle positioning method for wireless charging coil
CN112829622B (en) * 2020-12-23 2022-11-08 中兴新能源科技有限公司 Vehicle guide alignment method, device and system and electronic equipment
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