CN112550010B - Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology - Google Patents

Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology Download PDF

Info

Publication number
CN112550010B
CN112550010B CN202011417220.6A CN202011417220A CN112550010B CN 112550010 B CN112550010 B CN 112550010B CN 202011417220 A CN202011417220 A CN 202011417220A CN 112550010 B CN112550010 B CN 112550010B
Authority
CN
China
Prior art keywords
vehicle
power transmission
data
ground power
transmission end
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011417220.6A
Other languages
Chinese (zh)
Other versions
CN112550010A (en
Inventor
崔淑梅
王得安
孙瀛
张剑韬
宋凯
李永强
别致
朱春波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology
Original Assignee
Harbin Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Institute of Technology filed Critical Harbin Institute of Technology
Priority to CN202011417220.6A priority Critical patent/CN112550010B/en
Publication of CN112550010A publication Critical patent/CN112550010A/en
Application granted granted Critical
Publication of CN112550010B publication Critical patent/CN112550010B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses an intelligent position sensing technology-based electric vehicle wireless charging visual alignment guiding system and method, and belongs to the field of electric vehicle wireless charging. Counterpoint bootstrap system includes the receiving terminal, and the receiving terminal setting is on electric automobile, including on-vehicle receiving end coil, on-vehicle camera, WIFI communication module, visual liquid crystal display, on-vehicle data processor, on-vehicle controller and high-speed CAN communication module, on-vehicle receiving end coil sets up at the vehicle bottom, and visual liquid crystal display, on-vehicle data processor, on-vehicle controller and high-speed CAN communication module all are connected with on-vehicle camera, and on-vehicle camera is connected with WIFI communication module. According to the invention, an external sensor or an auxiliary coil is not additionally arranged, and the electric automobile is accurately and intelligently sensed only by processing the visual parameters presented by the traditional camera of the automobile and measuring the electromagnetic parameters generated by the wireless charging coupling mechanism.

Description

Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology
Technical Field
The invention relates to an electric vehicle wireless charging visual alignment guiding system and method based on an intelligent position sensing technology, and belongs to the field of electric vehicle wireless charging.
Background
The national energy agency publishes an electric vehicle charging infrastructure development guideline (2015-2020) in 2015, and according to a demand prediction result and a moderate advance principle, the overall target of the charging infrastructure construction in China is determined. In 2020, more than 1.2 million newly-added centralized charging and replacing stations and more than 480 thousands of distributed charging stations are added in China, and the charging requirements of electric automobiles in China are basically met. The rapid and vigorous development of the electric automobile industry has brought about the achievement of drawing attention, and becomes an important force for leading the transformation of the automobile industry in the world.
Compared with the traditional plug-in charging, the wireless charging method has the advantages of being safer, more convenient, more intelligent and more adaptive, better accelerates the fusion of the automobile and the fields of energy, traffic, information communication and the like, and promotes the new state of the automobile and the charging products, the new mode of traffic travel, the new structure of energy consumption and the new social operation mode. In the new development planning of new energy automobile industry (2021-2035), new charging technical researches such as accelerating the construction of charging and replacing infrastructure, strengthening wireless charging and the like are proposed again, and a wireless charging system with high efficiency and low cost is developed.
The electromagnetic resonance type wireless charging technology which is widely applied at present can seriously affect the efficiency of electric energy transmission when the ground end and the vehicle-mounted end deviate under the inherent frequency, solves the problems of wireless charging accurate alignment and guidance, and can help the electric automobile to charge quickly, safely, efficiently and flexibly. Meanwhile, the method has important significance for unifying the technical scheme of the wireless charging system and realizing standardization,
although most of the conventional vehicle position sensing methods at home and abroad have higher detection precision, the detection function is realized by adding an external sensor or an auxiliary coil in a wireless charging system, so that the design cost and the complexity of the system are undoubtedly greatly improved, and the industrial popularization difficulty of the wireless transmission system of the electric vehicle is increased.
Disclosure of Invention
The invention aims to provide an electric vehicle wireless charging visual alignment guiding system and method based on an intelligent position sensing technology, and aims to solve the problems in the prior art.
The utility model provides a visual bootstrap system that counterpoints that electric automobile is wireless to charge based on intelligence position perception technique, counterpoint bootstrap system includes ground power transmission end, ground power transmission end includes power frequency rectification and contravariant unit, ground section controller, resonant capacitor and parking area transmitting end coil, power frequency rectification and contravariant unit, ground section controller, resonant capacitor and parking area transmitting end coil connect gradually, parking area transmitting end coil sets up on the parking stall, counterpoint bootstrap system still includes the receiving terminal, the receiving terminal sets up on electric automobile, includes on-vehicle receiving end coil, on-vehicle camera, WIFI communication module, visual liquid crystal display, on-vehicle data processor, on-vehicle controller and high-speed CAN communication module, on-vehicle receiving end coil sets up at the vehicle bottom, visual liquid crystal display, on-vehicle data processor, The vehicle-mounted controller and the high-speed CAN communication module are connected with the vehicle-mounted camera, and the vehicle-mounted camera is connected with the WIFI communication module.
Further, the vehicle-mounted receiving end coil is used for being in butt joint with the parking lot transmitting end coil so as to realize wireless power transmission;
the vehicle-mounted camera is used for providing panoramic vision for the electric automobile by acquiring images around the automobile body;
the WIFI communication module is used for enabling the vehicle-mounted data processor to wirelessly communicate with a ground end controller in the ground power transmission end;
the visual liquid crystal display screen is used for displaying the panoramic image provided by the vehicle-mounted camera, the current coordinate position of the vehicle and the coordinate position of the recommended parking point;
the vehicle-mounted data processor is provided with a management system and is used for calculating the state information of a magnetic coupling mechanism consisting of the vehicle-mounted receiving end coil and the parking lot transmitting end coil and the position information of the electric vehicle relative to a parking spot in real time and transmitting the state information to the vehicle-mounted controller through the high-speed CAN communication module, the state information of the magnetic coupling mechanism comprises a coupling coefficient and mutual inductance, and the position information of the electric vehicle relative to the parking spot comprises the relative coordinates of the parking lot transmitting end coil and the vehicle-mounted receiving end coil, the vehicle speed and the direction vector information;
the high-speed CAN communication module is used as an information transmission center to be respectively connected with the vehicle-mounted camera, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the vehicle-mounted receiving end coil, so that the vehicle-mounted camera, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the vehicle-mounted receiving end coil CAN realize data intercommunication;
the vehicle-mounted controller is used for calculating the fused parameters, then measuring and calculating the relation between the current position of the electric vehicle and the optimal parking space, and embodying the relation to the visual liquid crystal display screen to prompt a driver to perform corresponding operation and display data in a summary mode.
An electric vehicle wireless charging visual alignment guiding method based on an intelligent location awareness technology is based on the electric vehicle wireless charging visual alignment guiding system based on the intelligent location awareness technology, and the guiding method comprises the following steps:
s100, acquiring the relative position of the electric automobile and a ground power transmission end, and guiding a driver to drive to the matched ground power transmission end;
s200, after the electric automobile is located near the ground power transmission end, identifying an effective charging area of the ground power transmission end;
and S300, carrying out visual alignment guidance of wireless charging on the electric automobile according to the identification result.
Further, in S100, the method includes the following steps:
s110, when the relative distance between the electric automobile and the ground power transmission end is larger than 5m, the management system guides the electric automobile to reach the position near the ground power transmission end: acquiring images around a vehicle body through a vehicle-mounted camera by using a panoramic vision-based position sensing technology, inputting the images into a vehicle-mounted data processor, carrying out distortion correction on fisheye images, converting the corrected images into a bird's-eye view image through overlook conversion, splicing the obtained four fisheye images, and generating a panoramic image by using a cutting-splicing idea after acquiring a splicing line equation; the vehicle-mounted controller eliminates gaps of spliced pictures by using a weighted average method and a simple average method, adopts an image fusion algorithm, finally obtains a panoramic all-round-view image schematic diagram, performs histogram equalization on gray level images, then adopts an image processing algorithm to identify ground power transmission end patterns, realizes the conversion relation between the pixel coordinate of the ground power transmission end and a world coordinate system according to the actual distance priori knowledge of the angular point of the ground power transmission end, finally outputs structured coordinate data of the ground power transmission end to a visual liquid crystal display screen, the visual liquid crystal display screen displays the path from the current position to the optimal parking space, and guides a driver to drive an electric vehicle to be close to the ground power transmission end;
s120, when the electric automobile runs to the range that the distance between the electric automobile and the ground power transmission end is less than or equal to 5m, the management system guides the electric automobile to be aligned with the ground power transmission end, and the method specifically comprises the following steps:
s121, recognizing a pattern corner point of a ground power transmission end and a parking space identification line corner point by a visual PNP distance measuring method, establishing a relative relation between a ground power transmission end corner point pixel coordinate and a world coordinate system according to prior knowledge of the actual size of a ground power transmission end pattern when the electric automobile does not press the ground power transmission end, and calculating the position of the ground power transmission end;
s122, when the automobile presses the ground power transmission end but the coil of the transmitting end of the parking lot is not overlapped with the coil of the vehicle-mounted receiving end, identifying the two sides and the bottom identification line of the parking space through the vehicle-mounted camera, and predicting the position of the ground power transmission end according to the position relation between the calibrated ground power transmission end and the parking space identification line;
s123, the automobile further moves, the ground power transmission end and a vehicle-mounted receiving end coil coincide, axial displacement measurement of the ground power transmission end in the electric automobile is achieved through calculation of electromagnetic parameters of a magnetic coupling mechanism by a vehicle-mounted controller, the position parameters of the ground power transmission end are determined by combining the transverse displacement of the ground power transmission end measured by visual parameters, after the longitudinal offset value exceeds a set threshold value or the automobile body exceeds the boundary line of an overcharge area, the longitudinal offset value is further calculated according to the position calculation result of the electromagnetic parameters of the magnetic coupling mechanism, and a driver is prompted to conduct vehicle guiding and deviation correction through a visual liquid crystal display screen according to the result;
and S124, establishing a one-to-one mapping relation between the mutual inductance or the coupling coefficient and the relative position coordinate according to the primary measurement coordinate result and the slope change of the function curve of the mutual inductance or the coupling coefficient and the relative position coordinate, and eliminating the influence of the symmetric position on the relative position sensing calculation result of the magnetic coupling mechanism.
Further, in S200, specifically:
firstly, establishing a functional relation between system efficiency and power and a position set when the magnetic coupling mechanism is positioned at different positions, and setting the lowest power meeting the wireless charging requirement of the electric automobile as P*In which P is*The value depends on the vehicle model parameter condition conforming to the wireless charging standard of the electric vehicle, and the charging efficiency must meet eta>η*Having the formula:
Figure BDA0002820524280000041
wherein, PoFor the current wireless charging power, η*In order to achieve the lowest charging efficiency,
defining offset as d (x, y, z, theta), and coil L of different electric vehiclesnWherein n represents different receiving terminals, then, the mutual inductance value for the system may be defined as:
Mn＝f[d(x,y,z,θ),Ln] (2)
for a known defined coupling mechanism LnAnd according to the vehicle model, determining the height z of the coupling mechanism at the receiving end, and obtaining:
Mm≤f(x,y,θ) (3)
wherein M ismTo meet the boundary mutual inductance value of the minimum power efficiency requirement,
when theta is constant, a set of continuous (x, y) solutions is obtained, namely an effective charging area satisfying the system charging power and the charging efficiency when all points are the same, S (x, y) is set as the area of the effective charging area, and when S reaches the maximum, the obtained angle theta is the optimal warehousing direction, namely:
θopt＝θ[maxS(x,y)] (4)，
wherein theta is the inclination angle of the vehicle body and thetaoptThe best warehousing direction.
Further, in S300, the method specifically includes the following steps:
s310, coil data information is obtained according to center coordinates and coil radiuses of a parking lot transmitting end coil and a vehicle-mounted receiving end coil, position data information of an effective charging area is obtained according to identification of the effective charging area, vehicle data information is obtained according to known vehicle contour information and vehicle direction vectors, data information of an optimal path is obtained according to an optimal path deviation rectification control and re-planning method, and a vehicle-mounted controller collects data in real time and organizes and sends the data to a vehicle-mounted data processor according to an agreed protocol;
s320, real-time WIFI communication is carried out between the vehicle and a ground controller, the ground controller feeds back parameter data of the vehicle, the parking space and the wireless charging system to a management system, the management system carries out remote real-time planning on a vehicle operation scheme, the remote real-time planning comprises automatic task setting and specified area charging, the vehicle controller collects various required data information and transmits the data information back to the management system for storage and processing, system data are transmitted to a display interface of a visual liquid crystal display screen through the display interface, and the system communication comprises communication between a vehicle-mounted receiving end coil and a parking lot transmitting end coil and communication between a vehicle-mounted data processor and the vehicle-mounted receiving end coil directly through a high-speed CAN communication module;
s330, the visual LCD screen carries out block processing according to the function of the data, including the data of an optimal path module, the data of a parking space module, the data of a parking lot transmitting end coil and an effective charging area module, the data of a vehicle-mounted receiving end coil and a vehicle information module and the data of a charging state module, converts the data of the position information into binary system volume data, reads the binary system volume data file into a volume cache of a management system memory from a hard disk, converts the data in the volume cache into texture data and stores the texture data in the texture cache, defines the texture data as two-dimensional texture and loads the two-dimensional texture into the texture cache of graphic hardware, defines a series of mutually parallel polygons in the texture drawing process, resamples the volume data through texture mapping, maps the mixed textures of the polygons to generate a result image, and generates real-time image data according to the processing, and updating the UI interface displayed in the visual liquid crystal display screen in real time.
The main advantages of the invention are: according to the electric vehicle wireless charging visual alignment guiding system and method based on the intelligent position sensing technology, an external sensor or an auxiliary coil is not additionally arranged, and accurate intelligent position sensing of an electric vehicle is realized only by processing visual parameters presented by a traditional camera of the vehicle and measuring electromagnetic parameters generated by a wireless charging coupling mechanism.
Drawings
Fig. 1 is a schematic structural diagram of a wireless charging visual alignment guidance system for an electric vehicle based on an intelligent location awareness technology according to the present invention;
FIG. 2 is a flowchart of a method of a visual alignment guidance method for wireless charging of an electric vehicle based on an intelligent location awareness technology according to the present invention;
fig. 3 is a schematic view of a panoramic vision wireless charging parking space identification process;
FIG. 4 is a schematic diagram of ground end position sensing based on panoramic vision;
fig. 5 is a graph showing a change in coupling coefficient when the coupling coefficient of the standard circular coil is shifted in the X, Y direction, wherein fig. 5(a) is a graph showing a change in coupling coefficient when the coupling coefficient of the standard circular coil is shifted in the X direction; FIG. 5(B) is a graph showing the variation of the coupling coefficient when the coupling coefficient of the standard circular coil is shifted in the Y direction;
FIG. 6 is an offset schematic view of the coupling mechanism;
FIG. 7 is a flowchart illustrating an effective charging area identification process;
FIG. 8 is a visualization system workflow diagram;
fig. 9 is a display interface diagram of a visual alignment guidance system.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an electric automobile wireless charging visual alignment guidance system based on intelligent position perception technology, the alignment guidance system includes ground power transmission end, ground power transmission end includes power frequency rectification and inversion unit, ground segment controller, resonant capacitor and parking area transmitting end coil, power frequency rectification and inversion unit, ground segment controller, resonant capacitor and parking area transmitting end coil connect gradually, parking area transmitting end coil sets up on the parking area, the alignment guidance system still includes the receiving terminal, the receiving terminal sets up on electric automobile, including on-vehicle receiving end coil, on-vehicle camera, WIFI communication module, visual liquid crystal display, on-vehicle data processor, on-vehicle controller and high-speed CAN communication module, on-vehicle receiving end coil sets up in the vehicle bottom, visual liquid crystal display, the vehicle-mounted data processor, the vehicle-mounted controller and the high-speed CAN communication module are all connected with the vehicle-mounted camera, and the vehicle-mounted camera is connected with the WIFI communication module.
Specifically, the system can achieve the functions of acquiring the relative position of the electric automobile and a ground power transmission end wireless charging area, identifying a wireless charging effective charging area and visually aligning and guiding the electric automobile wirelessly.
Further, the vehicle-mounted receiving end coil is used for being in butt joint with the parking lot transmitting end coil so as to realize wireless power transmission;
the vehicle-mounted camera is used for providing panoramic vision for the electric automobile by acquiring images around the automobile body;
the WIFI communication module is used for enabling the vehicle-mounted data processor to wirelessly communicate with a ground end controller in the ground power transmission end;
the visual liquid crystal display screen is used for displaying the panoramic image provided by the vehicle-mounted camera, the current coordinate position of the vehicle and the coordinate position of the recommended parking point;
the vehicle-mounted data processor is provided with a management system and is used for calculating the state information of a magnetic coupling mechanism consisting of the vehicle-mounted receiving end coil and the parking lot transmitting end coil and the position information of the electric vehicle relative to a parking spot in real time and transmitting the state information to the vehicle-mounted controller through the high-speed CAN communication module, the state information of the magnetic coupling mechanism comprises a coupling coefficient and mutual inductance, and the position information of the electric vehicle relative to the parking spot comprises the relative coordinates of the parking lot transmitting end coil and the vehicle-mounted receiving end coil, the vehicle speed and the direction vector information;
the high-speed CAN communication module is used as an information transmission center to be respectively connected with the vehicle-mounted camera, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the vehicle-mounted receiving end coil, so that the vehicle-mounted camera, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the vehicle-mounted receiving end coil CAN realize data intercommunication;
the vehicle-mounted controller is used for calculating the fused parameters, then measuring and calculating the relation between the current position of the electric vehicle and the optimal parking space, and embodying the relation to the visual liquid crystal display screen to prompt a driver to perform corresponding operation and display data in a summary mode.
An electric vehicle wireless charging visual alignment guiding method based on an intelligent location awareness technology is based on the electric vehicle wireless charging visual alignment guiding system based on the intelligent location awareness technology, and the guiding method comprises the following steps:
s100, acquiring the relative position of the electric automobile and a ground power transmission end, and guiding a driver to drive to the matched ground power transmission end;
s200, after the electric automobile is located near the ground power transmission end, identifying an effective charging area of the ground power transmission end;
and S300, carrying out visual alignment guidance of wireless charging on the electric automobile according to the identification result.
Specifically, referring to fig. 2, the invention relates to a multi-parameter fusion intelligent position sensing method, which is used for preliminarily acquiring a real-time relative position of a vehicle and a ground-end wireless charging area. The method is based on a magnetic field coupling principle, different compensation network characteristics and machine vision positioning accuracy, mathematical models of magnetic parameters (mutual inductance, coupling coefficient, magnetic field distribution and the like), electric parameters (voltage, current, impedance and the like) and vision parameters (characteristic edges, angular points and the like) and relative positions of a magnetic coupling mechanism are respectively established, and information such as the coupling coefficient, the mutual inductance, the relative coordinates of a ground end and a vehicle end, vehicle speed and direction vectors and the like of the magnetic coupling mechanism is calculated in real time in a vehicle-mounted data processor and transmitted to a vehicle-mounted controller through a high-speed CAN communication module by combining a multi-parameter data fusion edge calculation technology and a high-speed information transmission technology.
Further, in S100, the method includes the following steps:
s110, when the relative distance between the electric automobile and the ground power transmission end is larger than 5m, the management system guides the electric automobile to reach the position near the ground power transmission end: acquiring images around a vehicle body through a vehicle-mounted camera by using a panoramic vision-based position sensing technology, inputting the images into a vehicle-mounted data processor, carrying out distortion correction on fisheye images, converting the corrected images into a bird's-eye view image through overlook conversion, splicing the obtained four fisheye images, and generating a panoramic image by using a cutting-splicing idea after acquiring a splicing line equation; the vehicle-mounted controller eliminates gaps of spliced pictures by using a weighted average method and a simple average method, adopts an image fusion algorithm, finally obtains a panoramic all-round-view image schematic diagram, performs histogram equalization on gray level images, then adopts an image processing algorithm to identify ground power transmission end patterns, realizes the conversion relation between the pixel coordinate of the ground power transmission end and a world coordinate system according to the actual distance priori knowledge of the angular point of the ground power transmission end, finally outputs structured coordinate data of the ground power transmission end to a visual liquid crystal display screen, the visual liquid crystal display screen displays the path from the current position to the optimal parking space, and guides a driver to drive an electric vehicle to be close to the ground power transmission end;
s120, when the electric automobile runs to the range that the distance between the electric automobile and the ground power transmission end is less than or equal to 5m, the management system guides the electric automobile to be aligned with the ground power transmission end, and the method specifically comprises the following steps:
s121, recognizing a pattern corner point of a ground power transmission end and a parking space identification line corner point by a visual PNP distance measuring method, establishing a relative relation between a ground power transmission end corner point pixel coordinate and a world coordinate system according to prior knowledge of the actual size of a ground power transmission end pattern when the electric automobile does not press the ground power transmission end, and calculating the position of the ground power transmission end;
s122, when the automobile presses the ground power transmission end but the coil of the transmitting end of the parking lot is not overlapped with the coil of the vehicle-mounted receiving end, identifying the two sides and the bottom identification line of the parking space through the vehicle-mounted camera, and predicting the position of the ground power transmission end according to the position relation between the calibrated ground power transmission end and the parking space identification line;
s123, the automobile further moves, the ground power transmission end and a vehicle-mounted receiving end coil coincide, axial displacement measurement of the ground power transmission end in the electric automobile is achieved through calculation of electromagnetic parameters of a magnetic coupling mechanism by a vehicle-mounted controller, the position parameters of the ground power transmission end are determined by combining the transverse displacement of the ground power transmission end measured by visual parameters, after the longitudinal offset value exceeds a set threshold value or the automobile body exceeds the boundary line of an overcharge area, the longitudinal offset value is further calculated according to the position calculation result of the electromagnetic parameters of the magnetic coupling mechanism, and a driver is prompted to conduct vehicle guiding and deviation correction through a visual liquid crystal display screen according to the result;
and S124, establishing a one-to-one mapping relation between the mutual inductance or the coupling coefficient and the relative position coordinate according to the primary measurement coordinate result and the slope change of the function curve of the mutual inductance or the coupling coefficient and the relative position coordinate, and eliminating the influence of the symmetric position on the relative position sensing calculation result of the magnetic coupling mechanism.
Specifically, parking charging can be roughly divided into two steps of medium-long distance and medium-short distance according to the relative distance between the electric automobile and the wireless charging ground charging area. The medium-long distance refers to the distance which is more than 5m away from a charging area, and the system in the area mainly has the function of guiding a driver to reach the vicinity of a parking space; the middle-short distance refers to a distance less than 5m from a charging area, and the system in the area mainly has the function of guiding a driver to adopt an optimal route to park and enter a garage and reach an optimal charging position. The main specific implementation method is as follows:
1. and adopting a position perception technology based on panoramic vision at medium and long distances. The magnetic coupling mechanism position sensing based on the panoramic vision comprises the steps of image acquisition, distortion correction, image splicing, feature identification, fitting and the like, the specific flow is shown in figures 3-4,
the position perception technology based on panoramic vision collects images around a vehicle body through a vehicle-mounted camera, the images are input into a vehicle-mounted processor to compare the advantages and disadvantages of distortion correction algorithms such as a Zhangingfriend calibration method and a spherical perspective projection method in real time, a proper algorithm is selected to perform distortion correction on fisheye images, and corrected images are converted into aerial views through overlooking transformation. And comparing the splicing algorithm based on the region with the splicing algorithm based on the characteristic points, selecting a proper image splicing technology to splice the obtained four fisheye images, and generating a panoramic image by utilizing a cutting-splicing idea after acquiring a splicing line equation. And eliminating gaps of the spliced pictures by using a weighted average method and a simple average method, and finally obtaining a panoramic all-around image schematic diagram by adopting an image fusion algorithm. Because the panoramic image is easily affected by uneven illumination and the like to cause uneven gray distribution, histogram equalization needs to be carried out on the gray image, then an image processing algorithm is adopted to identify a ground end pattern, the conversion relation between the pixel coordinate and a world coordinate system is realized according to the prior knowledge of the actual distance of the ground end angular point, and finally ground end position structured coordinate data is output.
2. And at a middle and near distance, the position measurement of the ground end is realized by combining the visual parameters and the electromagnetic parameters. The special situation to be considered is that when the automobile chassis presses the ground end and the ground end is not coupled with the vehicle-mounted end, the real-time measurement of the ground end position needs to be realized by combining the position relation of the ground end and the parking space identification line without direct visual parameters and electromagnetic parameters of the ground end.
The method comprises the steps of recording the change condition of a coupling coefficient k or mutual inductance M in the vehicle alignment process in real time in the position sensing process, preliminarily judging the transverse or left-right offset condition of the magnetic coupling mechanism by combining the visual means of the coupling coefficient k or the mutual inductance M, and calculating the change trend of the function relation of the mutual inductance M relative to the longitudinal coordinate at the moment, namely the slope KM of the mutual inductance M relative to the function curve of the longitudinal coordinate. As shown in FIG. 5, the coupling coefficient change of the standard circular coil is shown when the coupling coefficient is shifted in the direction X, Y, but the invention is not limited to the circular-to-circular standard coil, and the system is designed to have interoperationAnd the application object shall contain all standard coils or non-standard wireless charging coils. If K is presentM>0, indicating that the center position of the secondary side coil does not reach the maximum coupling position under the transverse deviation at the moment; if K is presentM<0, indicating that the center position of the secondary side coil passes through the maximum coupling position under the transverse deviation at the moment; meanwhile, according to the curve family under the transverse deviation, the mutual inductance M value calculated by the system at the moment is corresponded, and the relative positions of the secondary side coils can be corresponded one by one. The lateral deviation result of the magnetic coupling mechanism is given by an image processing method, the longitudinal deviation result is given by an electromagnetic parameter calculation result and is uniformly gathered into a vehicle-mounted controller, and finally the real-time position information of the vehicle, namely the three-dimensional world coordinate, can be obtained.
After the electric automobile obtains the real-time relative position of the ground-end wireless charging area, an optimal position needs to be selected in the area and a driver needs to be guided to perform parking and warehousing operation. In order to measure the performance of real-time charging, the concept of "effective charging area" is introduced here. The effective charging area of the electric automobile needs to meet the requirement of charging power and guarantee high charging efficiency.
Further, in S200, specifically: firstly, establishing a functional relation between system efficiency and power and a position set when the magnetic coupling mechanism is positioned at different positions, and setting the lowest power meeting the wireless charging requirement of the electric automobile as P*And charging efficiency must satisfy η>η*In which P isoThe value depends on the vehicle model parameter condition according with the wireless charging standard of the electric vehicle, and has the following formula:
Figure BDA0002820524280000101
wherein, PoFor the current wireless charging power, η*In order to achieve the lowest charging efficiency,
defining offset as d (x, y, z, theta), and coil L of different electric vehiclesnWherein n represents different receiving terminals, then, the mutual inductance value for the system may be defined as:
Mn＝f[d(x,y,z,θ),Ln] (2)
for a known defined coupling mechanism LnAnd according to the vehicle model, determining the height z of the coupling mechanism at the receiving end, and obtaining:
Mm≤f(x,y,θ) (3)
wherein M ismTo meet the boundary mutual inductance value of the minimum power efficiency requirement,
when theta is constant, a set of continuous (x, y) solutions is obtained, namely an effective charging area satisfying the system charging power and the charging efficiency when all points are the same, S (x, y) is set as the area of the effective charging area, and when S reaches the maximum, the obtained angle theta is the optimal warehousing direction, namely:
θopt＝θ[maxS(x,y)] (4)，
wherein theta is the inclination angle of the vehicle body and thetaoptThe best warehousing direction.
Specifically, so far, the size and the orientation of the effective charging area for static wireless charging of the electric vehicle have been determined, and a block diagram of the effective charging area identification method is shown in fig. 7.
After the operation is finished, the vehicle-mounted data processor processes all the acquired data, fits the optimal warehousing angle into a visual warehousing guide curve and operation information, transmits the visual warehousing guide curve and the operation information to a visual liquid crystal display screen of a cockpit through a high-speed CAN bus to assist a driver in the next parking warehousing operation,
further, as shown in fig. 8 to 9, in S300, the method specifically includes the following steps:
s310, coil data information is obtained according to center coordinates and coil radiuses of a parking lot transmitting end coil and a vehicle-mounted receiving end coil, position data information of an effective charging area is obtained according to identification of the effective charging area, vehicle data information is obtained according to known vehicle contour information and vehicle direction vectors, data information of an optimal path is obtained according to an optimal path deviation rectification control and re-planning method, and a vehicle-mounted controller collects data in real time and organizes and sends the data to a vehicle-mounted data processor according to an agreed protocol;
s320, real-time WIFI communication is carried out between the vehicle and a ground controller, the ground controller feeds back parameter data of the vehicle, the parking space and the wireless charging system to a management system, the management system carries out remote real-time planning on a vehicle operation scheme, the remote real-time planning comprises automatic task setting and specified area charging, the vehicle controller collects various required data information and transmits the data information back to the management system for storage and processing, system data are transmitted to a display interface of a visual liquid crystal display screen through the display interface, and the system communication comprises communication between a vehicle-mounted receiving end coil and a parking lot transmitting end coil and communication between a vehicle-mounted data processor and the vehicle-mounted receiving end coil directly through a high-speed CAN communication module;
s330, the visual LCD screen carries out block processing according to the function of the data, including the data of an optimal path module, the data of a parking space module, the data of a parking lot transmitting end coil and an effective charging area module, the data of a vehicle-mounted receiving end coil and a vehicle information module and the data of a charging state module, converts the data of the position information into binary system volume data, reads the binary system volume data file into a volume cache of a management system memory from a hard disk, converts the data in the volume cache into texture data and stores the texture data in the texture cache, defines the texture data as two-dimensional texture and loads the two-dimensional texture into the texture cache of graphic hardware, defines a series of mutually parallel polygons in the texture drawing process, resamples the volume data through texture mapping, maps the mixed textures of the polygons to generate a result image, and generates real-time image data according to the processing, and updating the UI interface displayed in the visual liquid crystal display screen in real time.

Claims (3)

1. An electric vehicle wireless charging visual alignment guiding method based on an intelligent position sensing technology is based on an electric vehicle wireless charging visual alignment guiding system based on the intelligent position sensing technology, the alignment guiding system comprises a ground power transmission end, the ground power transmission end comprises a power frequency rectifying and inverting unit, a ground section controller, a resonant capacitor and a parking lot transmitting end coil, the power frequency rectifying and inverting unit, the ground section controller, the resonant capacitor and the parking lot transmitting end coil are sequentially connected, the parking lot transmitting end coil is arranged on a parking lot, the alignment guiding system further comprises a receiving end, the receiving end is arranged on an electric vehicle and comprises a vehicle-mounted receiving end coil, a vehicle-mounted camera, a WIFI communication module, a visual liquid crystal display screen, a vehicle-mounted data processor, a vehicle-mounted controller and a high-speed CAN communication module, the vehicle-mounted receiving end coil is arranged at the bottom of the vehicle, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the high-speed CAN communication module are all connected with the vehicle-mounted camera, the vehicle-mounted camera is connected with the WIFI communication module,
the vehicle-mounted receiving end coil is used for being in butt joint with the parking lot transmitting end coil so as to realize wireless power transmission; the vehicle-mounted camera is used for providing panoramic vision for the electric automobile by acquiring images around the automobile body; the WIFI communication module is used for enabling the vehicle-mounted data processor to wirelessly communicate with a ground end controller in the ground power transmission end; the visual liquid crystal display screen is used for displaying the panoramic image provided by the vehicle-mounted camera, the current coordinate position of the vehicle and the coordinate position of the recommended parking point; the vehicle-mounted data processor is provided with a management system and is used for calculating the state information of a magnetic coupling mechanism consisting of the vehicle-mounted receiving end coil and the parking lot transmitting end coil and the position information of the electric vehicle relative to a parking spot in real time and transmitting the state information to the vehicle-mounted controller through the high-speed CAN communication module, the state information of the magnetic coupling mechanism comprises a coupling coefficient and mutual inductance, and the position information of the electric vehicle relative to the parking spot comprises the relative coordinates of the parking lot transmitting end coil and the vehicle-mounted receiving end coil, the vehicle speed and the direction vector information; the high-speed CAN communication module is used as an information transmission center to be respectively connected with the vehicle-mounted camera, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the vehicle-mounted receiving end coil, so that the vehicle-mounted camera, the visual liquid crystal display screen, the vehicle-mounted data processor, the vehicle-mounted controller and the vehicle-mounted receiving end coil CAN realize data intercommunication; the vehicle-mounted controller is used for calculating the fused parameters, then measuring and calculating the relation between the current position of the electric vehicle and the optimal parking space, and embodying the relation to the visual liquid crystal display screen to prompt a driver to carry out corresponding operation and data summarizing and displaying,
characterized in that the guiding method comprises the following steps:
s100, acquiring the relative position of the electric automobile and a ground power transmission end, and guiding a driver to drive to the matched ground power transmission end;
s200, after the electric automobile is located near the ground power transmission end, identifying an effective charging area of the ground power transmission end;
s300, according to the identification result, the electric automobile carries out visual alignment guidance of wireless charging,
in S100, the method includes the steps of:
s110, when the relative distance between the electric automobile and the ground power transmission end is larger than 5m, the management system guides the electric automobile to reach the position near the ground power transmission end: acquiring images around a vehicle body through a vehicle-mounted camera by using a panoramic vision-based position sensing technology, inputting the images into a vehicle-mounted data processor, carrying out distortion correction on fisheye images, converting the corrected images into a bird's-eye view image through overlook conversion, splicing the obtained four fisheye images, and generating a panoramic image by using a cutting-splicing idea after acquiring a splicing line equation; the vehicle-mounted controller eliminates gaps of spliced pictures by using a weighted average method and a simple average method, adopts an image fusion algorithm, finally obtains a panoramic all-round-view image schematic diagram, performs histogram equalization on gray level images, then adopts an image processing algorithm to identify ground power transmission end patterns, realizes the conversion relation between the pixel coordinate of the ground power transmission end and a world coordinate system according to the actual distance priori knowledge of the angular point of the ground power transmission end, finally outputs structured coordinate data of the ground power transmission end to a visual liquid crystal display screen, the visual liquid crystal display screen displays the path from the current position to the optimal parking space, and guides a driver to drive an electric vehicle to be close to the ground power transmission end;
s120, when the electric automobile runs to the range that the distance between the electric automobile and the ground power transmission end is less than or equal to 5m, the management system guides the electric automobile to be aligned with the ground power transmission end, and the method specifically comprises the following steps:
s121, recognizing a pattern corner point of a ground power transmission end and a parking space identification line corner point by a visual PNP distance measuring method, establishing a relative relation between a ground power transmission end corner point pixel coordinate and a world coordinate system according to prior knowledge of the actual size of a ground power transmission end pattern when the electric automobile does not press the ground power transmission end, and calculating the position of the ground power transmission end;
s122, when the automobile presses the ground power transmission end but the coil of the transmitting end of the parking lot is not overlapped with the coil of the vehicle-mounted receiving end, identifying the two sides and the bottom identification line of the parking space through the vehicle-mounted camera, and predicting the position of the ground power transmission end according to the position relation between the calibrated ground power transmission end and the parking space identification line;
s123, the automobile further moves, the ground power transmission end and a vehicle-mounted receiving end coil coincide, axial displacement measurement of the ground power transmission end in the electric automobile is achieved through calculation of electromagnetic parameters of a magnetic coupling mechanism by a vehicle-mounted controller, the position parameters of the ground power transmission end are determined by combining the transverse displacement of the ground power transmission end measured by visual parameters, after the longitudinal offset value exceeds a set threshold value or the automobile body exceeds the boundary line of an overcharge area, the longitudinal offset value is further calculated according to the position calculation result of the electromagnetic parameters of the magnetic coupling mechanism, and vehicle guiding and deviation correction are conducted through a visual liquid crystal display screen according to the result;
and S124, establishing a one-to-one mapping relation between the mutual inductance or the coupling coefficient and the relative position coordinate according to the primary measurement coordinate result and the slope change of the function curve of the mutual inductance or the coupling coefficient and the relative position coordinate, and eliminating the influence of the symmetric position on the relative position sensing calculation result of the magnetic coupling mechanism.
2. The intelligent location-aware-technology-based visual alignment guidance method for wireless charging of electric vehicles according to claim 1, wherein in S200, specifically:
firstly, establishing a functional relation between system efficiency and power and a position set when the magnetic coupling mechanism is positioned at different positions, and setting the lowest power meeting the wireless charging requirement of the electric automobile as P*In which P is*The value depends on the vehicle model parameter condition conforming to the wireless charging standard of the electric vehicle, and the charging efficiency must meet eta>η*Having the formula:
Figure FDA0003429788480000031
wherein, PoFor the current wireless charging power, η*In order to achieve the lowest charging efficiency,
defining offset as d (x, y, z, theta), and coil L of different electric vehiclesnWherein n represents different receiving terminals, then, the mutual inductance value for the system may be defined as:
Mn＝f[d(x,y,z,θ),Ln] (2)
for a known defined coupling mechanism LnAnd according to the vehicle model, determining the height z of the coupling mechanism at the receiving end, and obtaining:
Mm≤f(x,y,θ) (3)
wherein M ismTo meet the boundary mutual inductance value of the minimum power efficiency requirement,
when theta is constant, a set of continuous (x, y) solutions is obtained, namely an effective charging area satisfying the system charging power and the charging efficiency when all points are the same, S (x, y) is set as the area of the effective charging area, and when S reaches the maximum, the obtained angle theta is the optimal warehousing direction, namely:
θopt＝θ[maxS(x,y)] (4)，
wherein theta is the inclination angle of the vehicle body, thetaoptThe best warehousing direction.
3. The intelligent location awareness technology-based electric vehicle wireless charging visual alignment guidance method according to claim 1, wherein in S300, the method specifically includes the following steps:
s310, coil data information is obtained according to center coordinates and coil radiuses of a parking lot transmitting end coil and a vehicle-mounted receiving end coil, position data information of an effective charging area is obtained according to identification of the effective charging area, vehicle data information is obtained according to known vehicle contour information and vehicle direction vectors, data information of an optimal path is obtained according to an optimal path deviation rectification control and re-planning method, a vehicle-mounted controller collects data in real time and sends the coil data information, the position data information of the effective charging area, the vehicle data information and the data information of the optimal path to a vehicle-mounted data processor according to an agreed protocol;
s320, real-time WIFI communication is carried out between the vehicle and a ground controller, the ground controller feeds back parameter data of the vehicle, the parking space and the wireless charging system to a management system, the management system carries out remote real-time planning on a vehicle operation scheme, the remote real-time planning comprises automatic task setting and specified area charging, the vehicle controller collects various required data information and transmits the data information back to the management system for storage and processing, system data are transmitted to a display interface of a visual liquid crystal display screen through the display interface, and the system communication comprises communication between a vehicle-mounted receiving end coil and a parking lot transmitting end coil and communication between a vehicle-mounted data processor and the vehicle-mounted receiving end coil directly through a high-speed CAN communication module;
s330, the visual LCD screen carries out block processing according to the function of the data, including the data of an optimal path module, the data of a parking space module, the data of a parking lot transmitting end coil and an effective charging area module, the data of a vehicle-mounted receiving end coil and a vehicle information module and the data of a charging state module, converts the data of the position information into binary system volume data, reads the binary system volume data file into a volume cache of a management system memory from a hard disk, converts the data in the volume cache into texture data and stores the texture data in the texture cache, defines the texture data as two-dimensional texture and loads the two-dimensional texture into the texture cache of graphic hardware, defines a series of mutually parallel polygons in the texture drawing process, resamples the volume data through texture mapping, maps the mixed textures of the polygons to generate a result image, and generates real-time image data according to the processing, and updating the UI interface displayed in the visual liquid crystal display screen in real time.
CN202011417220.6A 2020-12-07 2020-12-07 Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology Active CN112550010B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011417220.6A CN112550010B (en) 2020-12-07 2020-12-07 Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011417220.6A CN112550010B (en) 2020-12-07 2020-12-07 Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology

Publications (2)

Publication Number Publication Date
CN112550010A CN112550010A (en) 2021-03-26
CN112550010B true CN112550010B (en) 2022-02-11

Family

ID=75059126

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011417220.6A Active CN112550010B (en) 2020-12-07 2020-12-07 Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology

Country Status (1)

Country Link
CN (1) CN112550010B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112810488B (en) * 2021-04-21 2021-07-02 北京有感科技有限责任公司 Wireless charging system alignment method and wireless charging system alignment device
CN113589784B (en) * 2021-07-19 2022-11-15 国网江苏省电力有限公司苏州供电分公司 Position sensing and alignment guiding test system of wireless charging system of electric automobile
CN113415195A (en) * 2021-08-11 2021-09-21 国网江苏省电力有限公司苏州供电分公司 Alignment guiding and visualization method for wireless charging system of electric vehicle
CN113787924B (en) * 2021-10-26 2023-03-31 国网江苏省电力有限公司苏州供电分公司 Magnetic coupling mechanism position sensing method and system for wireless charging system of electric vehicle
CN114179669B (en) * 2021-12-21 2023-10-10 北京理工大学 Electric automobile charging port pose determining system and method
CN114801795B (en) * 2022-05-19 2024-09-13 中国第一汽车股份有限公司 Wireless charging alignment guiding method and system for electric vehicle, vehicle and medium
CN118124408A (en) * 2022-12-01 2024-06-04 中兴通讯股份有限公司 Wireless charging alignment detection method, device and storage medium
CN117183776B (en) * 2023-09-15 2024-08-23 广西电网有限责任公司电力科学研究院 Electric vehicle alignment guiding method and system integrating machine vision and magnetic field induction
CN118358413B (en) * 2024-06-11 2024-10-11 比亚迪股份有限公司 Vehicle wireless charging alignment method and system, electronic equipment, medium and vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014218067A1 (en) * 2014-09-10 2016-03-10 Robert Bosch Gmbh Transmission coil for inductive energy transmission
CN106712313B (en) * 2016-12-12 2019-10-08 深圳中智科创机器人有限公司 A kind of intelligent positioner and method based on wireless charging system
CN107054136B (en) * 2017-04-14 2023-08-01 深圳大学 Wireless charging alignment system and method for electric vehicle
US10814736B2 (en) * 2017-12-18 2020-10-27 Ford Global Technologies, Llc Wireless vehicle charging
SE2050933A1 (en) * 2020-08-04 2020-08-04 Abb Schweiz Ag Wireless power transfer to a moving object using improved strongly coupled magnetic resonance
CN112026549A (en) * 2020-08-12 2020-12-04 上海万暨电子科技有限公司 Vehicle alignment guiding system and method for wireless charging system

Also Published As

Publication number Publication date
CN112550010A (en) 2021-03-26

Similar Documents

Publication Publication Date Title
CN112550010B (en) Electric vehicle wireless charging visual alignment guiding system and method based on intelligent position sensing technology
CN103386975B (en) A kind of vehicle obstacle-avoidance method and system based on machine vision
CN113657224B (en) Method, device and equipment for determining object state in vehicle-road coordination
CN110597249B (en) Robot and recharging positioning method and device thereof
CN102608998A (en) Vision guiding AGV (Automatic Guided Vehicle) system and method of embedded system
CN107054136B (en) Wireless charging alignment system and method for electric vehicle
CN111681283B (en) Monocular stereoscopic vision-based relative pose calculation method applied to wireless charging alignment
CN112598750A (en) Calibration method and device for road side camera, electronic equipment and storage medium
CN113985405A (en) Obstacle detection method and obstacle detection equipment applied to vehicle
US20220414917A1 (en) Method and apparatus for obtaining 3d information of vehicle
CN114565510A (en) Lane line distance detection method, device, equipment and medium
CN112946609A (en) Calibration method, device and equipment for laser radar and camera and readable storage medium
Tian et al. Vision-based rapid power control for a dynamic wireless power transfer system of electric vehicles
CN112598756B (en) Roadside sensor calibration method and device and electronic equipment
CN116416457B (en) Safety situation sensing and danger early warning method for electric power maintenance vehicle
CN115871660B (en) Unmanned road roller obstacle avoidance method and system with bimodal feature fusion
Shahbaz Nejad et al. A driver guidance system to support the stationary wireless charging of electric vehicles
CN116503819A (en) Vehicle-road collaborative end-to-end 3D target detection method, system, equipment and storage medium
CN116091567A (en) Registration method and device of automatic driving vehicle, electronic equipment and vehicle
CN115848402A (en) Lane line real-time distance measurement system and method based on camera
CN206038015U (en) Intelligent mobile device
CN111854678B (en) Pose measurement method based on semantic segmentation and Kalman filtering under monocular vision
CN117360390A (en) Self-adaptive vehicle-mounted millimeter wave radar system and control method thereof
CN215867088U (en) System for calibrating millimeter wave radar and vehicle
CN209979832U (en) Position guidance system for wireless charging vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant