CN111002858B - Wireless charging guiding and positioning system and method and vehicle-mounted equipment - Google Patents

Wireless charging guiding and positioning system and method and vehicle-mounted equipment Download PDF

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Publication number
CN111002858B
CN111002858B CN201911306543.5A CN201911306543A CN111002858B CN 111002858 B CN111002858 B CN 111002858B CN 201911306543 A CN201911306543 A CN 201911306543A CN 111002858 B CN111002858 B CN 111002858B
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vehicle
mounted equipment
coordinates
position information
receiving antenna
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CN111002858A (en
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褚维戈
王睿华
王静
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Ztev Corp
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Ztev Corp
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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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—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

Abstract

The invention discloses a wireless charging guiding positioning system and method and vehicle-mounted equipment, wherein ground equipment comprises a primary charging coil, a transmitting antenna and a transmitting antenna control module; the in-vehicle apparatus includes: secondary side charging coil, receiving antenna and receiving antenna control module; the receiving antenna control module receives the beacon signal and measures the signal intensity; the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to the variance between the received signal strength and standard signal strengths of a plurality of preset calibration points; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment. Thus, the accuracy of guiding and positioning can be improved, and the charging efficiency of the wireless charging system can be ensured.

Description

Wireless charging guiding and positioning system and method and vehicle-mounted equipment
Technical Field
The invention relates to the field of wireless charging, in particular to a wireless charging guiding and positioning system and method and vehicle-mounted equipment.
Background
Wireless charging is a novel charging technology which is emerging in recent years, and can realize charging in a certain space range without a charging wire. The method is mainly based on wireless power transmission Wireless Power Transfer and WPT) technology, utilizes principles of magnetic resonance coupling, laser, microwaves and the like to transmit electric energy from a power supply end to an electric equipment end in a non-contact mode, can realize wireless charging/power supply of the electric equipment, has the advantages of safety, reliability, flexibility, convenience, environment friendliness, all-weather operation and the like, and therefore, has received wide attention in recent years.
In practical application, in order to ensure that the charger works in an optimal state and the efficiency consistency of each charging, the wireless charging system must have a parking guiding function, so that the distance between the vehicle and an ideal parking point is ensured to be within an allowable deviation range defined by the wireless charging system, and if the distance between the vehicle and the ideal parking point is not within the allowable deviation range defined by the wireless charging system, the charging efficiency is reduced, and even the vehicle cannot be effectively charged.
Therefore, how to improve the accuracy of wireless charging guidance positioning is a problem to be solved.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a wireless charging guiding and positioning system and method, and a vehicle-mounted device, which can enable a vehicle to perform a precise positioning and guiding function when approaching a charging position, help a driver to park for guiding or automatically park for guiding, and ensure that a distance between the vehicle and an ideal parking point is within an allowable deviation range defined by a wireless charging system after parking is completed.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to an aspect of an embodiment of the present invention, there is provided a wireless charging guidance positioning system, the system including: ground equipment and vehicle-mounted equipment; wherein:
ground equipment installs on charging parking stall, includes: the device comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module;
the vehicle-mounted device is mounted on a vehicle, and includes: the secondary side charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and is used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is arranged in the secondary charging coil and is used for receiving the beacon signal and measuring the signal intensity of the beacon signal;
The vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment.
Optionally, the determining, by the vehicle-mounted device, the first location information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points, includes:
the vehicle-mounted equipment calculates variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
and determining the first position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance of the signal intensity of the beacon signal.
Optionally, the location information includes coordinates, and the determining the first location information of the vehicle-mounted device according to the coordinates of a preset calibration point with the smallest variance of the signal intensity of the beacon signal includes:
Determining the coordinates of at least one preset calibration point with minimum variance of the signal intensity of the beacon signal as the coordinates of the at least one receiving antenna relative to a ground coordinate system;
and determining a first coordinate of the central point of the vehicle-mounted equipment relative to the ground coordinate system according to the coordinate of the at least one receiving antenna relative to the ground coordinate system.
Optionally, the filtering the average value of the first location information of the vehicle-mounted device to obtain second location information of the vehicle-mounted device includes:
calculating average coordinates of N first coordinates of the vehicle-mounted equipment, wherein the N first coordinates are first coordinates of N times before the current time of the vehicle-mounted equipment respectively, and N is a positive integer;
calculating comparison values of the average coordinates of the N first coordinates and the first coordinates of the vehicle-mounted equipment;
and if the comparison value of the first coordinates is not greater than a preset threshold, taking the first coordinates of the vehicle-mounted equipment as second coordinates of the vehicle-mounted equipment, and if the comparison value of the first coordinates is greater than the preset threshold, carrying out coordinate prediction according to the N first coordinates to obtain the second coordinates of the vehicle-mounted equipment.
Optionally, the guiding the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the third position information of the vehicle-mounted device includes:
determining a third coordinate of a central point of the vehicle-mounted equipment relative to a ground coordinate system at intervals of preset time;
and drawing a guide line according to a plurality of third coordinates of the center point of the vehicle-mounted equipment, which are continuously determined, and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment.
Optionally, the system further comprises:
selecting a plurality of preset calibration points on the ground equipment and the periphery thereof, and respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points respectively, and the first position information comprises:
and the vehicle-mounted equipment determines the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the standard signal intensities of each group in the standard signal intensity set corresponding to the receiving antenna.
Optionally, the detecting the signal strength received by each receiving antenna at each preset calibration point to obtain a standard signal strength set of each receiving antenna includes:
under different detection parameters, respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna under different detection parameters;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensity in the standard signal intensity set corresponding to the receiving antenna, and the first position information comprises:
determining target detection parameters, and acquiring a standard signal strength set of each receiving antenna under the target detection parameters;
and the vehicle-mounted equipment determines the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signals in the standard signal intensity set of the receiving antenna under the target detection parameters.
According to another aspect of the embodiments of the present invention, a wireless charging guiding and positioning method is provided, which is applied to any one of the wireless charging guiding and positioning systems described above, the system includes: ground equipment and vehicle-mounted equipment; the ground device comprises: at least one transmitting antenna and a transmitting antenna control module; the in-vehicle apparatus includes: at least one receiving antenna and a receiving antenna control module; the method comprises the following steps:
The at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module;
the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module;
the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal;
the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment.
According to another aspect of the embodiments of the present invention, there is provided an in-vehicle apparatus mounted on a vehicle, the in-vehicle apparatus including: secondary charging coil, at least one receiving antenna, receiving antenna control module, on-vehicle equipment main control module, on-vehicle side power supply, wherein:
The vehicle-mounted side power supply is connected with the receiving antenna control module and used for providing power for the receiving antenna control module;
the receiving antenna is arranged in the receiving antenna control module and is used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module;
the receiving antenna control module is arranged in the secondary charging coil, is in communication connection with the vehicle-mounted equipment main control module, and is used for receiving the beacon signal, measuring the signal intensity of the beacon signal and transmitting the signal intensity of the beacon signal to the vehicle-mounted equipment main control module;
the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment.
Optionally, the determining, by the vehicle-mounted device, the first location information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points, includes:
the vehicle-mounted equipment calculates variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
and determining the first position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance of the signal intensity of the beacon signal.
Compared with the related art, the embodiment of the invention provides a wireless charging guiding and positioning system and method and vehicle-mounted equipment, wherein the wireless charging guiding and positioning system comprises the following steps: ground equipment and vehicle-mounted equipment; wherein: ground equipment installs on charging parking stall, includes: the device comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module; the vehicle-mounted device is mounted on a vehicle, and includes: the secondary side charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and is used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is arranged in the secondary charging coil and is used for receiving the beacon signal and measuring the signal intensity of the beacon signal; the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment. By the embodiment of the invention, the accurate positioning and guiding function is executed when the vehicle approaches to the charging position, the driver is helped to conduct guiding during parking operation or conduct automatic parking, the guiding accurate positioning is provided for the driver to navigate to the parking space, the superposition positioning of the center points of the vehicle-mounted equipment and the ground equipment after parking is ensured, the guiding positioning precision is improved, and the charging efficiency of the wireless charging system is ensured. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowable offset range defined by the WPT system, so as to ensure that the distance from the vehicle to the ideal parking point is within the allowable offset range defined by the wireless charging system. In addition, the obtained first position information is subjected to filtering processing to obtain stable vehicle position information, so that the accuracy of vehicle positioning can be effectively improved, and the positioning error is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a wireless charging guiding and positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an application environment of a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a ground device in a wireless charging guiding and positioning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle-mounted device in a wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a transmitting antenna transmitting a beacon signal in a wireless charging guidance positioning system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a coordinate curve before average filtering according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a coordinate curve after average filtering according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of Kalman filtering;
FIG. 9 is a graph of coordinates after Kalman static filtering according to an embodiment of the present invention;
FIG. 10 is a graph showing coordinates before Kalman filtering according to an embodiment of the present invention;
FIG. 11 is a graph of coordinates after Kalman filtering according to an embodiment of the present invention;
fig. 12 is a schematic diagram of a rotation angle of a vehicle-mounted device relative to a ground device in a wireless charging guiding and positioning system according to an embodiment of the present invention;
FIG. 13 is a schematic view of a guide wire provided in a wireless charging guidance and positioning system according to an embodiment of the present invention;
fig. 14 is a schematic diagram of preset calibration points selected by the wireless charging guidance positioning system according to an embodiment of the present invention;
fig. 15 is a schematic diagram of a wireless charging guiding positioning system according to an embodiment of the present invention when different angles are selected;
fig. 16 is a flow chart of a wireless charging guiding positioning method according to an embodiment of the present invention;
fig. 17 is a second schematic structural diagram of a ground device in a wireless charging guiding and positioning system according to an embodiment of the present invention;
fig. 18 is a second schematic structural diagram of a vehicle-mounted device in a wireless charging guiding and positioning system according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear and obvious, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the particular embodiments described herein are illustrative only and are not limiting upon the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In one embodiment, please refer to fig. 1. The invention provides a wireless charging guiding and positioning system, which comprises: a ground apparatus 100 (GA) and an in-vehicle apparatus 200 (VA); wherein:
the floor apparatus 100 is installed on a charging parking space, including: a primary charging coil 11, at least one transmitting antenna 12, and a transmitting antenna control module 13, each transmitting antenna 12 being connected to the transmitting antenna control module 13 by a wire harness; the at least one transmitting antenna 12 is fixedly arranged on the primary charging coil 11; the at least one transmitting antenna 12 transmits a beacon signal under the driving of the transmitting antenna control module 13.
The in-vehicle apparatus 200 is mounted on a vehicle, and includes: secondary charging coil 21, at least one receiving antenna 22, and receiving antenna control module 23; each receiving antenna 22 is installed in the receiving antenna control module 23; the at least one receiving antenna control module 23 is installed in the secondary charging coil 21; the at least one receiving antenna 22 receives the beacon signal transmitted by the transmitting antenna 12 and passes it to the receiving antenna control module 23; the receive antenna control module 23 receives the beacon signal and measures the signal strength RSSI (Received Signal Strength Indication ) of the beacon signal.
The vehicle-mounted device 200 determines first position information of the vehicle-mounted device 200 according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points respectively; average filtering is performed on the first position information of the vehicle-mounted equipment 200 to obtain second position information of the vehicle-mounted equipment 200, and Kalman filtering is performed on the second position information of the vehicle-mounted equipment 200 to obtain third position information of the vehicle-mounted equipment 200; and guides the center point of the in-vehicle apparatus 200 to coincide with the center point of the ground apparatus according to the third position information of the in-vehicle apparatus 200.
Wherein, the center point of the vehicle-mounted device 200 coincides with the center point of the ground device 100 to be in an ideal alignment state. The charging space in which the ground device 100 is located is divided into an X axis and a Y axis, forming a ground coordinate system in which the vehicle front-rear direction (traveling direction) is the X axis and the vehicle left-right direction (vertical traveling direction) is the Y axis. The above-described complete coincidence is that the center point of the in-vehicle apparatus 200 coincides with the center point of the ground apparatus 100. As shown in fig. 2.
In this embodiment, at least one transmitting antenna of the ground device transmits a beacon signal under the drive of the transmitting antenna control module, a receiving antenna of the vehicle-mounted device receives the beacon signal and transmits the beacon signal to the receiving antenna control module, and the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal; the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment. Thus, when approaching the charging position, the vehicle-mounted device executes the accurate positioning guide function, helps the driver to park to conduct guiding or automatically park to conduct guiding, provides guiding accurate positioning for the driver to navigate to the parking space, ensures that the center points of the vehicle-mounted device and the ground device are overlapped and positioned after parking, improves the accuracy of guiding positioning, and ensures the charging efficiency of the wireless charging system. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowable offset range defined by the WPT system, so as to ensure that the distance from the vehicle to the ideal parking point is within the allowable offset range defined by the wireless charging system. In addition, the obtained first position information is subjected to filtering processing to obtain stable vehicle position information, so that the accuracy of vehicle positioning can be effectively improved, and the positioning error is reduced.
Optionally, the at least one transmitting antenna comprises 1, 2 or more transmitting antennas; the at least one receive antenna comprises 1, 2 or more receive antennas.
In an embodiment of the present invention, the at least one transmitting antenna includes 1, 2 or more transmitting antennas, and the at least one receiving antenna includes 1, 2 or more receiving antennas. In a preferred embodiment of the present invention, the number of the transmitting antennas is 4, and the number of the receiving antennas is 2.
Optionally, the number of transmit antenna control modules includes 1, 2, or more; the number of the receiving antenna control modules includes 1, 2 or more.
In the embodiment of the present invention, the number of the transmitting antenna control modules 13 may be one, each transmitting antenna 12 is connected to one transmitting antenna control module 13, and the number of the transmitting antenna control modules 13 may also correspond to the number of the transmitting antennas 12, that is, each transmitting antenna 12 corresponds to one receiving antenna control module 13. The number of the receiving antenna control modules 23 is at least one, specifically, the number of the receiving antenna control modules 23 may be one, each receiving antenna 22 is connected to one receiving antenna control module 23, and the number of the receiving antenna control modules 23 may also correspond to the number of the transmitting antennas 22, that is, each receiving antenna 22 corresponds to one receiving antenna control module 23.
In one embodiment, the number of the transmitting antenna control modules 13 is one, as shown in fig. 3. The one transmitting antenna control module 13 is connected to the plurality of transmitting antennas 12 through a wire harness while driving the plurality of transmitting antennas 12 to transmit beacon signals.
In one embodiment, the ground device 100 further includes a ground device master control module 14, and the ground device master control module 14 is communicatively connected to the transmitting antenna control module 13 to communicate information related to interaction.
In one embodiment, the ground device 100 further comprises a ground side power supply 15, the ground side power supply 15 being connected to the transmit antenna control module 13 for providing power to the transmit antenna control module 13.
In one embodiment, as shown in fig. 4, the vehicle-mounted device 200 further includes a vehicle-mounted device main control module 24, where the vehicle-mounted device main control module 24 is communicatively connected to the receiving antenna control module 23, and communicates information related to interaction.
In one embodiment, the vehicle-mounted device VA further includes a vehicle-mounted side power supply 25, and the vehicle-mounted side power supply 25 is connected to the receiving antenna control module 23 for supplying power to the receiving antenna control module 23.
In one embodiment, the at least one transmitting antenna 12 transmits a beacon signal under the driving of the transmitting antenna control module 13, including:
The at least one transmitting antenna 12 is driven by the transmitting antenna control module 13 to transmit a set of beacon signals at intervals of a preset time (for example, 50-100ms, smaller and more accurate), wherein the set of beacon signals comprises a wake-up pairing code and pulse signals continuously transmitted by the at least one transmitting antenna in turn; wherein the wake-up pairing code is used to mark the transmitting antenna 12 of a paired set of ground devices 100 and the receiving antenna 22 of the corresponding vehicle-mounted device 200; the at least one transmitting antenna 12 alternately transmits continuously pulse signals for the vehicle-mounted device 200 to receive and measure the signal strength RSSI of the beacon signals. As shown in fig. 5.
In this embodiment, the at least one transmitting antenna 12 transmits a set of beacon signals at intervals of a preset period, and the pairing between the transmitting antenna 12 of the ground device 100 and the receiving antenna 22 of the corresponding vehicle-mounted device 200 is achieved through the wake-up pairing code in the set of beacon signals; the pulse signals continuously transmitted through the at least one transmitting antenna 12 in the set of beacon signals are used for the vehicle-mounted device 200 to receive and measure the signal strength RSSI of the beacon signals.
In one embodiment, the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal; comprising the following steps:
The reception antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal, and transmits the signal strength of the beacon signal to the in-vehicle device main control module 24 of the in-vehicle device 200.
Optionally, the determining, by the vehicle-mounted device, the first location information of the vehicle-mounted device according to variances between the signal strengths of the beacon signals and standard signal strengths of a plurality of preset calibration points, includes:
the vehicle-mounted equipment calculates variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
and determining the first position information of the vehicle-mounted equipment according to the coordinates of a preset calibration point with the minimum variance of the signal intensity of the beacon signal.
Optionally, the location information includes coordinates, and the determining the first location information of the vehicle-mounted device according to the coordinates of a preset calibration point with the smallest variance of the signal intensity of the beacon signal includes:
determining the coordinates of at least one preset calibration point with minimum variance of the signal intensity of the beacon signal as the coordinates of the at least one receiving antenna relative to a ground coordinate system;
and determining a first coordinate of the central point of the vehicle-mounted equipment relative to the ground coordinate system according to the coordinate of the at least one receiving antenna relative to the ground coordinate system.
Optionally, the filtering the average value of the first location information of the vehicle-mounted device to obtain second location information of the vehicle-mounted device includes:
calculating average coordinates of N first coordinates of the vehicle-mounted equipment, wherein the N first coordinates are first coordinates of N times before the current time of the vehicle-mounted equipment respectively, and N is a positive integer;
calculating comparison values of the average coordinates of the N first coordinates and the first coordinates of the vehicle-mounted equipment;
and if the comparison value of the first coordinates is not greater than a preset threshold, taking the first coordinates of the vehicle-mounted equipment as second coordinates of the vehicle-mounted equipment, and if the comparison value of the first coordinates is greater than the preset threshold, carrying out coordinate prediction according to the N first coordinates to obtain the second coordinates of the vehicle-mounted equipment.
When the coordinate point of the vehicle is obtained through a variance algorithm and is far away from the track curve, the coordinate value calculated by 0.1s is considered to be unrealistic, the coordinate point is not adopted, the next 0.1s is continued to be a new coordinate point, if the coordinate point falls near the track curve and the deviation is not great, the coordinate value is considered to be true and effective.
The comparison value may be an absolute value of the difference value, or may be a square difference or a variance, which is not particularly limited in the embodiment of the present invention. Because the running track of the vehicle is unlikely to be suddenly changed, the coordinates are filtered by adopting the method, stable coordinates can be obtained, and the coordinate precision is improved. Referring to fig. 6 and 7, fig. 6 is a schematic diagram of a coordinate curve before average filtering, and fig. 7 is a schematic diagram of a coordinate curve after average filtering, it can be seen that average filtering of coordinates can effectively reduce probability of abrupt change of the coordinate position, ensure stability of coordinates, and improve positioning accuracy.
The basic condition of the kalman filtering is that the sampling values must conform to a normal distribution, as shown in fig. 8, sampling is continuously performed at a certain point, the value closest to the true value is the value with the largest occurrence number, and other values are uniformly distributed on both sides of the value with the largest occurrence number in a trapezoid. The kalman filtering includes static filtering and dynamic filtering, when the vehicle is in a static state, that is, when the coordinate information of the vehicle is not changed, the kalman static filtering is performed, and the offset state of the vehicle is detected, so that a user can know the offset condition of the vehicle, as shown in fig. 9, and fig. 9 is a coordinate curve after the kalman static filtering is performed. And when the vehicle is in a moving state, namely when the coordinate information of the vehicle changes, performing Kalman dynamic filtering, and positioning and guiding the vehicle according to the coordinates of the vehicle.
When dynamic and static states exist alternately, for example, the vehicle is suddenly braked in a moving state or is accelerated after the sudden braking, trend judgment can be performed according to the coordinate information, and the system increment in Kalman filtering is determined according to the trend increment. Referring to fig. 10 and 11, fig. 10 is a coordinate curve before performing the kalman filtering, and fig. 11 is a coordinate curve after performing the kalman filtering. The specific process of trend determination may include: adding a coordinates in the time M1 to (M1+a) to obtain A1, adding a coordinates in the time M2 to (M2+a) to obtain A2, calculating the absolute value difference value of A1 and A2, comparing the absolute value difference value with a preset absolute value difference value, and judging that the vehicle is in a stationary state if the absolute value difference value of A1 and A2 is smaller than the preset absolute value difference value; if the absolute value difference value of A1 and A2 is not smaller than the preset absolute value difference value, judging that the vehicle is in a motion state, wherein the average value of the absolute value difference values of A1 and A2 is the system increment of the vehicle coordinates in the motion process.
Optionally, the guiding the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the third position information of the vehicle-mounted device includes:
determining a third coordinate of a central point of the vehicle-mounted equipment relative to a ground coordinate system at intervals of preset time;
And drawing a guide line according to a plurality of coordinates of the center point of the vehicle-mounted equipment, which is continuously determined, and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment.
Optionally, the working frequency band of the wireless charging guiding positioning system can be set to 104KHz, 114KHz or 145 KHz.
Optionally, the system further comprises:
selecting a plurality of preset calibration points on the ground equipment and the periphery thereof, and respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points respectively, and the first position information comprises:
and the vehicle-mounted equipment determines the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the standard signal intensities of each group in the standard signal intensity set corresponding to the receiving antenna.
Optionally, the detecting the signal strength received by each receiving antenna at each preset calibration point to obtain a standard signal strength set of each receiving antenna includes:
under different detection parameters, respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna under different detection parameters;
the vehicle-mounted device determines bit first position information of the vehicle-mounted device according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensity in the standard signal intensity set corresponding to the receiving antenna, and the method comprises the following steps:
determining target detection parameters, and acquiring a standard signal strength set of each receiving antenna under the target detection parameters;
and the vehicle-mounted equipment determines the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signals in the standard signal intensity set of the receiving antenna under the target detection parameters.
Optionally, the detection parameter includes a height and/or a rotation angle of the receiving antenna;
the determining the target detection parameter includes:
And determining a target detection parameter according to the ground clearance of the vehicle-mounted equipment and/or the rotation angle of the vehicle coordinate system of the vehicle-mounted equipment relative to the ground coordinate system.
Specifically, the rotation angle α of the vehicle coordinate system of the in-vehicle apparatus with respect to the ground coordinate system of the ground apparatus may be acquired. Wherein the rotation angle alpha is (-180 DEG to +180 DEG). As shown in fig. 12. The ground device 100 comprises 4 transmitting antennas LF1, LF2, LF3 and LF4, the vehicle-mounted device 200 comprises two receiving antennas X1 and X2, and coordinates of the two receiving antennas are X1 and X2, wherein relative positions of the coordinates X1 and X2 and a point coordinate O based on a ground coordinate system are determined when the vehicle-mounted device is designed and installed, and after the coordinates X1 and X2 are determined, the relative position of the coordinate O can be obtained according to the relative positions, and a rotation angle α of a vehicle coordinate system of the vehicle-mounted device relative to the ground coordinate system of the ground device can be obtained according to the relative positions of the coordinate O.
In this embodiment, the in-vehicle apparatus may draw a guide line according to a plurality of third coordinates of a center point of the in-vehicle apparatus that is continuously determined, such as a guide line 1301 shown in fig. 13, for guiding the center point of the in-vehicle apparatus to coincide with the center point of the ground apparatus. It can be appreciated that different types of transmitting antennas may be sensed at different distances, i.e., may be directed at different distances. In this embodiment, the distance that the transmitting antenna can sense is 1.5 meters.
When a vehicle enters a parking space at a certain speed, the wireless charging guiding and positioning system can calculate coordinate points of the vehicle every preset time (for example, 0.1 s) in the mode, and the calculated coordinate points of the vehicle in storage are subjected to curve simulation by software, so that a running guiding curve of the vehicle can be obtained.
In the embodiment of the invention, an ideal parking area without electromagnetic interference can be selected, and the ground equipment and the surrounding areas thereof are drawn, as shown in fig. 14, the size of the square can be selected according to the actual precision requirement, and the smaller the size of the square is, the higher the detection precision is. For example, the size of the square may be 1cm×1cm, 2cm×2cm, 5cm×5cm, or the like, and when the size of the square is 2cm×2cm, the calculation accuracy of the guiding and positioning system of the present invention can reach 2cm.
And respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point.
For example, 100 preset calibration points may be selected, for example, coordinates 0, -7, -14, -21 in the X-axis direction, and coordinates 24, 22, 20..0, -2, -4, -6..20, -22, 124 in the y-axis direction corresponding to four coordinates of the X-axis direction, respectively, for a total of 25X 4 = 100 coordinate points.
And taking X1 as a reference receiving antenna, respectively corresponding to transmitting antennas LF1, LF2, LF3 and LF4 on 100 calibrated coordinate points, and measuring to obtain standard signal intensities RSSI11, RSSI12, RSSI13 and RSSI14 corresponding to the 100 calibrated coordinate points. Similarly, the receiving antennas with X2 as the reference correspond to the transmitting antennas LF1, LF2, LF3, LF4 at 100 calibrated coordinate points, and the standard signal intensities RSSI21, RSSI22, RSSI23, RSSI24 corresponding to the 100 calibrated coordinate points are measured.
Calculating a first coordinate of the vehicle-mounted equipment by adopting a least square method, specifically, when the vehicle-mounted equipment is actually applied, taking X1 as a reference receiving antenna, when the coordinates of a central point of the vehicle-mounted equipment are (X, y), respectively measuring the X1 corresponding to LF1, LF2, LF3 and LF4 to obtain signal strength RSSI1, RSSI2, RSSI3 and RSSI4, and respectively calculating variances of the group of signal strength values and RSSIs 11, RSSIs 12, RSSIs 13 and RSSIs 14 of 100 calibration coordinate points which are ideally calibrated, wherein the calculation formula is as follows:
d＝(RSSI11-RSSI1) 2 +(RSSI12-RSSI2) 2 +(RSSI13-RSSI3) 2 +(RSSI14-RSSI4) 2 。
the set of coordinates of the preset calibration point with the smallest calculation result value is determined as the coordinates (X1, y 1) of the transmitting antenna X1 relative to the ground coordinate system, and similarly, the coordinates (X2, y 2) of the transmitting antenna X2 relative to the ground coordinate system are determined according to the above manner, and then the accurate positioning coordinates (X, y) of the center point of the vehicle-mounted device are obtained according to the coordinates of the X1 and the X2 relative to the ground coordinate system. Specifically, the midpoint coordinates of X1 and X2 may be calculated from the coordinates of X1 and X2 with respect to the ground coordinate system, and the calculated midpoint coordinates are taken as the first coordinates of the center point of the vehicle-mounted device, that is, x= (x1+x2)/2, y= (y1+y2)/2.
It can be appreciated that, because the signal strength is affected by many factors, in some embodiments of the present invention, the signal strength received by each receiving antenna may be detected at each preset calibration point under different detection parameters, so as to obtain a standard signal strength set of each receiving antenna under different detection parameters. When the method is specifically applied, the target detection parameters are determined firstly, and then the standard signal intensity set of each receiving antenna under the target detection parameters is obtained; and determining the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signal intensity in the standard signal intensity set of the receiving antenna under the target detection parameters.
The signal strength may be affected by the detection height and thus the detection parameters include the detection height. Specifically, the ground-leaving heights of the vehicle-mounted equipment of different models are different, and when the vehicle-mounted equipment is specifically applied, the ground-leaving heights of the vehicle-mounted equipment can be used as target detection parameters, and corresponding standard signal intensity sets are obtained.
The signal strength may also be affected by the rotation angle of the receiving antenna, and thus the detection parameter may include the rotation angle of the receiving antenna. Specifically, the signal intensities received by the receiving antenna at different rotation angles are different, and when the receiving antenna is applied specifically, the rotation angle of the receiving antenna compared with the rotation angle of the ground equipment can be used as a target detection parameter, so that a corresponding standard signal intensity set is obtained. The rotation angle of the vehicle coordinate system of the in-vehicle apparatus with respect to the ground coordinate system can be regarded as the target detection parameter. As shown in fig. 15, fig. 15 is a schematic view of the different angles.
The embodiment of the invention provides a wireless charging guiding and positioning system, which comprises: ground equipment and vehicle-mounted equipment; wherein: ground equipment installs on charging parking stall, includes: the device comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module; the vehicle-mounted device is mounted on a vehicle, and includes: the secondary side charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and is used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is arranged in the secondary charging coil and is used for receiving the beacon signal and measuring the signal intensity of the beacon signal; the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment. Thus, when approaching the charging position, the vehicle-mounted device executes the accurate positioning guide function, helps the driver to park to conduct guiding or automatically park to conduct guiding, provides guiding accurate positioning for the driver to navigate to the parking space, ensures that the center points of the vehicle-mounted device and the ground device are overlapped and positioned after parking, improves the accuracy of guiding positioning, and ensures the charging efficiency of the wireless charging system. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowable offset range defined by the WPT system, so as to ensure that the distance from the vehicle to the ideal parking point is within the allowable offset range defined by the wireless charging system. In addition, the obtained first position information is subjected to filtering processing to obtain stable vehicle position information, so that the accuracy of vehicle positioning can be effectively improved, and the positioning error is reduced.
In one embodiment, as shown in FIG. 16. The invention provides a wireless charging guiding and positioning method, which is applied to a wireless charging guiding and positioning system, and the system comprises the following steps: ground equipment and vehicle-mounted equipment; this ground equipment installs on charging parking stall, includes: the device comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the at least one transmitting antenna is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna is fixedly arranged on the primary charging coil; the vehicle-mounted device is mounted on a vehicle, and includes: the secondary side charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is installed in the receiving antenna control module; the receiving antenna control module is installed in the secondary charging coil. The method comprises the following steps:
step S1, the at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module;
step S2, the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module;
step S3, the receiving antenna control module receives the beacon signal and measures the signal intensity of the beacon signal;
Step S4, the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
step S5, carrying out average value filtering on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, and carrying out Kalman filtering on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
and step S6, guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment.
In step S6, the center point of the vehicle-mounted device coincides with the center point of the ground device to be in an ideal alignment state. The charging vehicle space where the ground equipment is located is divided into an X axis and a Y axis to form a ground coordinate system, wherein the front-back direction (running direction) of the vehicle is the X axis, and the left-right direction (vertical running direction) of the vehicle is the Y axis.
In one embodiment, in the step S1, the transmitting antenna control module is connected to a plurality of transmitting antennas through a wire harness, and drives the plurality of transmitting antennas to transmit beacon signals.
In one embodiment, the ground device further comprises a ground device master control module, and the ground device master control module is in communication connection with the transmitting antenna control module and communicates the interactive related information.
In one embodiment, the ground device further comprises a ground side power supply connected to the transmit antenna control module for providing power to the transmit antenna control module.
In one embodiment, the vehicle-mounted device further comprises a vehicle-mounted device main control module, and the vehicle-mounted device main control module is in communication connection with the receiving antenna control module and is used for communicating the relevant information.
In one embodiment, the vehicle-mounted device further comprises a vehicle-mounted side power supply connected to the receiving antenna control module for providing power to the receiving antenna control module.
In one embodiment, in the step S1, the at least one transmitting antenna transmits a beacon signal under the driving of the transmitting antenna control module, including:
the at least one transmitting antenna transmits a group of beacon signals at intervals of a preset time under the drive of the transmitting antenna control module, wherein the group of beacon signals comprise a wake-up pairing code and pulse signals continuously transmitted by the at least one transmitting antenna in turn; the wake-up pairing code is used for marking a group of paired transmitting antennas of the ground equipment and corresponding receiving antennas of the vehicle-mounted equipment; the at least one transmitting antenna is used for alternately and continuously transmitting pulse signals, and the pulse signals are used for receiving and measuring the signal strength RSSI of the beacon signals by the vehicle-mounted equipment terminal.
In one embodiment, in the step S3, the receiving antenna control module receives the beacon signal and measures the signal strength RSSI of the beacon signal; comprising the following steps:
the receiving antenna control module receives the beacon signal, measures the signal intensity of the beacon signal and transmits the signal intensity of the beacon signal to the vehicle-mounted equipment main control module of the vehicle-mounted equipment.
The vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; the specific manner of guiding the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the third position information of the vehicle-mounted device is described in detail above, and will not be described in detail here.
The wireless charging guiding and positioning method provided by the embodiment of the invention comprises the following steps: the at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module; the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module; the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal; the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment. Thus, when approaching the charging position, the vehicle-mounted device executes the accurate positioning guide function, helps the driver to park to conduct guiding or automatically park to conduct guiding, provides guiding accurate positioning for the driver to navigate to the parking space, ensures that the center points of the vehicle-mounted device and the ground device are overlapped and positioned after parking, improves the accuracy of guiding positioning, and ensures the charging efficiency of the wireless charging system. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowable offset range defined by the WPT system, so as to ensure that the distance from the vehicle to the ideal parking point is within the allowable offset range defined by the wireless charging system. In addition, the obtained first position information is subjected to filtering processing to obtain stable vehicle position information, so that the accuracy of vehicle positioning can be effectively improved, and the positioning error is reduced.
It should be noted that the method embodiment and the system embodiment belong to the same concept, the specific implementation process is detailed in the system embodiment, and technical features in the system embodiment are correspondingly applicable in the method embodiment, which is not repeated herein.
In one embodiment, as shown in fig. 1 and 3, the present invention provides a floor apparatus 100, the floor apparatus 100 being mounted on a charging parking space, comprising: primary charging coil 11, at least one transmitting antenna 12, and transmitting antenna control module 13, wherein:
the at least one transmitting antenna 12 is fixedly arranged on the primary charging coil 11 and is connected with the transmitting antenna control module 13 through a wire harness;
the transmitting antenna control module 13 is configured to drive the at least one transmitting antenna 12 to transmit a beacon signal;
the at least one transmitting antenna 12 transmits a beacon signal under the driving of the transmitting antenna control module 13.
In this embodiment, the at least one transmitting antenna of the ground device transmits the beacon signal under the drive of the transmitting antenna control module, so that the vehicle-mounted device can receive and measure the signal strength RSSI of the beacon signal.
In one embodiment, the transmitting antenna control module 13 is connected to the plurality of transmitting antennas 12 through a wire harness, and drives the plurality of transmitting antennas 12 to transmit beacon signals.
In one embodiment, the ground device 100 further includes a ground device master control module 14, and the ground device master control module 14 is communicatively connected to the transmitting antenna control module 13 to communicate information related to interaction.
In one embodiment, the ground device 100 further comprises a ground side power supply 15, the ground side power supply 15 being connected to the transmit antenna control module 13 for providing power to the transmit antenna control module 13.
In one embodiment, the at least one transmitting antenna 12 transmits a beacon signal under the driving of the transmitting antenna control module 13, including:
the at least one transmitting antenna 12 transmits a set of beacon signals at intervals of a preset time (for example, 50-100ms, smaller and more accurate) under the driving of the transmitting antenna control module 13, wherein the set of beacon signals comprises a wake-up pairing code and pulse signals continuously transmitted by the at least one transmitting antenna in turn; wherein the wake-up pairing code is used to mark the transmitting antenna 12 of a paired set of ground devices 100 and the receiving antenna 22 of the corresponding vehicle-mounted device 200; the at least one transmitting antenna 12 alternately transmits continuously pulse signals for the vehicle-mounted device 200 to receive and measure the signal strength RSSI of the beacon signals. As shown in fig. 5.
In this embodiment, the at least one transmitting antenna 12 transmits a set of beacon signals at intervals of a preset time, and the pairing between the transmitting antenna 12 of the ground device 100 and the receiving antenna 22 of the corresponding vehicle-mounted device 200 is achieved through the wake-up pairing code in the set of beacon signals; the pulse signals continuously transmitted through at least one transmitting antenna 12 in the set of beacon signals are alternately provided for the vehicle-mounted device 200 to receive and measure the signal strength RSSI of the beacon signals.
In one embodiment, as shown in fig. 1 and 4, the present invention provides an in-vehicle apparatus 200, the in-vehicle apparatus 200 being mounted on a vehicle, comprising: secondary charging coil 21, at least one receiving antenna 22, and receiving antenna control module 23; wherein:
the receiving antenna 22 is installed in the receiving antenna control module 23; the receiving antenna control module 23 is installed in the secondary charging coil 21;
the receiving antenna 22 receives the beacon signal transmitted by the transmitting antenna and transmits the beacon signal to the receiving antenna control module 23;
the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal;
the vehicle-mounted device 200 determines first position information of the vehicle-mounted device 200 according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points respectively;
Average filtering is performed on the first position information of the vehicle-mounted equipment 200 to obtain second position information of the vehicle-mounted equipment 200, and Kalman filtering is performed on the second position information of the vehicle-mounted equipment 200 to obtain third position information of the vehicle-mounted equipment 200;
and guiding the center point of the vehicle-mounted device 200 to coincide with the center point of the ground device according to the third position information of the vehicle-mounted device 200.
In this embodiment, a receiving antenna of the vehicle-mounted device receives a beacon signal transmitted by a transmitting antenna, and transmits the beacon signal to the receiving antenna control module, where the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal; the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment. Thus, when approaching the charging position, the vehicle-mounted device executes the accurate positioning guide function, helps the driver to park to conduct guiding or automatically park to conduct guiding, provides guiding accurate positioning for the driver to navigate to the parking space, ensures that the center points of the vehicle-mounted device and the ground device are overlapped and positioned after parking, improves the accuracy of guiding positioning, and ensures the charging efficiency of the wireless charging system. And the offset of the center point of the vehicle-mounted equipment and the ground equipment is within the allowable offset range defined by the WPT system, so as to ensure that the distance from the vehicle to the ideal parking point is within the allowable offset range defined by the wireless charging system. In addition, the obtained first position information is subjected to filtering processing to obtain stable vehicle position information, so that the accuracy of vehicle positioning can be effectively improved, and the positioning error is reduced.
In one embodiment, the vehicle-mounted device 200 further includes a vehicle-mounted device main control module 24, and the vehicle-mounted device main control module 24 is in communication connection with the receiving antenna control module 23 to communicate information related to interaction.
In one embodiment, the vehicle-mounted device 200 further includes a vehicle-mounted side power supply 25, and the vehicle-mounted side power supply 25 is connected to the receiving antenna control module 23 for supplying power to the receiving antenna control module 23.
In one embodiment, the receiving antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal; comprising the following steps:
the reception antenna control module 23 receives the beacon signal and measures the signal strength of the beacon signal, and transmits the signal strength of the beacon signal to the in-vehicle device main control module 24 of the in-vehicle device 200.
The vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively; average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment; the specific manner of guiding the center point of the vehicle-mounted device to coincide with the center point of the ground device according to the third position information of the vehicle-mounted device is described in detail above, and will not be described in detail here.
In any of the above embodiments, the primary charging coil 11, the at least one transmitting antenna 12, and the transmitting antenna control module 13 may also be mounted on the in-vehicle apparatus 200, and the secondary charging coil 21, the at least one receiving antenna 22, and the receiving antenna control module 23 may also be mounted on the ground apparatus 100. I.e., the beacon signal is transmitted by the in-vehicle device 200, and the ground device receives the beacon signal. Other structures and principles are otherwise the same as those of any of the above embodiments, and a description thereof will not be repeated.
The technical scheme of the invention is further described in detail below with reference to more specific embodiments.
In one embodiment, the number of transmit antennas 12 is 4, as shown in fig. 17. The number of the receiving antennas 22 is 4, as shown in fig. 18.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims (7)

1. A wireless charging guidance positioning system, the system comprising: ground equipment and vehicle-mounted equipment; wherein:
ground equipment installs on charging parking stall, includes: the device comprises a primary charging coil, at least one transmitting antenna and a transmitting antenna control module, wherein the transmitting antenna is fixedly arranged on the primary charging coil and is connected with the transmitting antenna control module through a wire harness; the at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module;
the vehicle-mounted device is mounted on a vehicle, and includes: the secondary side charging coil, at least one receiving antenna and a receiving antenna control module; the at least one receiving antenna is arranged in the receiving antenna control module and is used for receiving the beacon signal and transmitting the beacon signal to the receiving antenna control module; the receiving antenna control module is arranged in the secondary charging coil and is used for receiving the beacon signal and measuring the signal intensity of the beacon signal;
the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
Average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points, and the method comprises the following steps:
the vehicle-mounted equipment calculates variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
determining first position information of the vehicle-mounted equipment according to coordinates of a preset calibration point with minimum variance of signal intensity of the beacon signal;
the location information includes coordinates;
the filtering the average value of the first position information of the vehicle-mounted device to obtain second position information of the vehicle-mounted device includes:
calculating average coordinates of N first coordinates of the vehicle-mounted equipment, wherein the N first coordinates are first coordinates of N times before the current time of the vehicle-mounted equipment respectively, and N is a positive integer;
Calculating comparison values of the average coordinates of the N first coordinates and the first coordinates of the vehicle-mounted equipment;
and if the comparison value of the first coordinates is not greater than a preset threshold, taking the first coordinates of the vehicle-mounted equipment as second coordinates of the vehicle-mounted equipment, and if the comparison value of the first coordinates is greater than the preset threshold, carrying out coordinate prediction according to the N first coordinates to obtain the second coordinates of the vehicle-mounted equipment.
2. The system according to claim 1, wherein the determining the first location information of the in-vehicle device according to the coordinates of a preset calibration point having the smallest variance from the signal strength of the beacon signal includes:
determining the coordinates of at least one preset calibration point with minimum variance of the signal intensity of the beacon signal as the coordinates of the at least one receiving antenna relative to a ground coordinate system;
and determining a first coordinate of the central point of the vehicle-mounted equipment relative to the ground coordinate system according to the coordinate of the at least one receiving antenna relative to the ground coordinate system.
3. The system of claim 2, wherein the directing the center point of the in-vehicle device to coincide with the center point of the ground device based on the third location information of the in-vehicle device comprises:
Determining a third coordinate of a central point of the vehicle-mounted equipment relative to a ground coordinate system at intervals of preset time;
and drawing a guide line according to a plurality of third coordinates of the center point of the vehicle-mounted equipment, which are continuously determined, and guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment.
4. A system according to any one of claims 1 to 3, further comprising:
selecting a plurality of preset calibration points on the ground equipment and the periphery thereof, and respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna, wherein the standard signal intensity set comprises a group of standard signal intensities received by the receiving antenna at each preset calibration point;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points respectively, and the first position information comprises:
and the vehicle-mounted equipment determines the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the standard signal intensities of each group in the standard signal intensity set corresponding to the receiving antenna.
5. The system of claim 4, wherein the detecting the signal strength received by each receiving antenna at each preset calibration point to obtain the standard signal strength set of each receiving antenna comprises:
under different detection parameters, respectively detecting the signal intensity received by each receiving antenna at each preset calibration point to obtain a standard signal intensity set of each receiving antenna under different detection parameters;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to the signal intensity of the beacon signal received by each receiving antenna and the variance between each group of standard signal intensity in the standard signal intensity set corresponding to the receiving antenna, and the first position information comprises:
determining target detection parameters, and acquiring a standard signal strength set of each receiving antenna under the target detection parameters;
and the vehicle-mounted equipment determines the first position information of the vehicle-mounted equipment according to the signal intensity of the beacon signal received by each receiving antenna and the variance between the signal intensity of each group of standard signals in the standard signal intensity set of the receiving antenna under the target detection parameters.
6. A wireless charging guidance positioning method applied to a wireless charging guidance positioning system according to any one of claims 1 to 5, wherein the system comprises: ground equipment and vehicle-mounted equipment; the ground device comprises: at least one transmitting antenna and a transmitting antenna control module; the in-vehicle apparatus includes: at least one receiving antenna and a receiving antenna control module; the method comprises the following steps:
The at least one transmitting antenna transmits a beacon signal under the drive of the transmitting antenna control module;
the at least one receiving antenna receives the beacon signal transmitted by the at least one transmitting antenna and transmits the beacon signal to the receiving antenna control module;
the receiving antenna control module receives the beacon signal and measures the signal strength of the beacon signal;
the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
guiding the center point of the vehicle-mounted equipment to coincide with the center point of the ground equipment according to the third position information of the vehicle-mounted equipment;
the vehicle-mounted device determines first position information of the vehicle-mounted device according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points, and the method comprises the following steps:
The vehicle-mounted equipment calculates variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
determining first position information of the vehicle-mounted equipment according to coordinates of a preset calibration point with minimum variance of signal intensity of the beacon signal;
the location information includes coordinates;
the filtering the average value of the first position information of the vehicle-mounted device to obtain second position information of the vehicle-mounted device includes:
calculating average coordinates of N first coordinates of the vehicle-mounted equipment, wherein the N first coordinates are first coordinates of N times before the current time of the vehicle-mounted equipment respectively, and N is a positive integer;
calculating comparison values of the average coordinates of the N first coordinates and the first coordinates of the vehicle-mounted equipment;
and if the comparison value of the first coordinates is not greater than a preset threshold, taking the first coordinates of the vehicle-mounted equipment as second coordinates of the vehicle-mounted equipment, and if the comparison value of the first coordinates is greater than the preset threshold, carrying out coordinate prediction according to the N first coordinates to obtain the second coordinates of the vehicle-mounted equipment.
7. An in-vehicle apparatus mounted on a vehicle, characterized by comprising: secondary charging coil, at least one receiving antenna, receiving antenna control module, on-vehicle equipment main control module, on-vehicle side power supply, wherein:
The vehicle-mounted side power supply is connected with the receiving antenna control module and used for providing power for the receiving antenna control module;
the receiving antenna is arranged in the receiving antenna control module and is used for receiving a beacon signal and transmitting the beacon signal to the receiving antenna control module;
the receiving antenna control module is arranged in the secondary charging coil, is in communication connection with the vehicle-mounted equipment main control module, and is used for receiving the beacon signal, measuring the signal intensity of the beacon signal and transmitting the signal intensity of the beacon signal to the vehicle-mounted equipment main control module;
the vehicle-mounted equipment determines first position information of the vehicle-mounted equipment according to variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
average value filtering is carried out on the first position information of the vehicle-mounted equipment to obtain second position information of the vehicle-mounted equipment, kalman filtering is carried out on the second position information of the vehicle-mounted equipment to obtain third position information of the vehicle-mounted equipment;
according to the third position information of the vehicle-mounted equipment, the center point of the vehicle-mounted equipment is guided to coincide with the center point of the ground equipment;
The vehicle-mounted device determines first position information of the vehicle-mounted device according to variances between signal intensities of the beacon signals and standard signal intensities of a plurality of preset calibration points, and the method comprises the following steps:
the vehicle-mounted equipment calculates variances between the signal intensity of the beacon signal and standard signal intensities of a plurality of preset calibration points respectively;
determining first position information of the vehicle-mounted equipment according to coordinates of a preset calibration point with minimum variance of signal intensity of the beacon signal;
the location information includes coordinates;
the filtering the average value of the first position information of the vehicle-mounted device to obtain second position information of the vehicle-mounted device includes:
calculating average coordinates of N first coordinates of the vehicle-mounted equipment, wherein the N first coordinates are first coordinates of N times before the current time of the vehicle-mounted equipment respectively, and N is a positive integer;
calculating comparison values of the average coordinates of the N first coordinates and the first coordinates of the vehicle-mounted equipment;
and if the comparison value of the first coordinates is not greater than a preset threshold, taking the first coordinates of the vehicle-mounted equipment as second coordinates of the vehicle-mounted equipment, and if the comparison value of the first coordinates is greater than the preset threshold, carrying out coordinate prediction according to the N first coordinates to obtain the second coordinates of the vehicle-mounted equipment.
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