CN113071478A - Automatic parking control method, automatic parking system and vehicle - Google Patents
Automatic parking control method, automatic parking system and vehicle Download PDFInfo
- Publication number
- CN113071478A CN113071478A CN202110466275.4A CN202110466275A CN113071478A CN 113071478 A CN113071478 A CN 113071478A CN 202110466275 A CN202110466275 A CN 202110466275A CN 113071478 A CN113071478 A CN 113071478A
- Authority
- CN
- China
- Prior art keywords
- information
- vehicle
- automatic parking
- wireless charging
- parking
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic parking control method, an automatic parking system and a vehicle, and belongs to the technical field of automobiles. According to the automatic parking control method, the coordinates of the vehicle body of the vehicle relative to the target parking space and the inclined angle of the vehicle body relative to the target parking space are used as wireless charging alignment information, the parking path is adjusted by using the information, so that wireless charging alignment is completed during automatic parking, and the alignment accuracy is high. According to the automatic parking system, the wireless charging alignment is completed during automatic parking by adopting the automatic parking control method, and the alignment precision is high. According to the vehicle, the automatic parking system is applied, so that the vehicle can finish wireless charging alignment during automatic parking, and the alignment precision is high.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automatic parking control method, an automatic parking system and an automobile.
Background
With the development of automatic driving technology, automatic parking becomes the standard allocation of a plurality of intelligent automobiles; on the other hand, with the development of the electric vehicle charging technology, wireless charging also becomes a development trend, the requirement for wireless charging alignment of the electric vehicle is higher, and the traditional manual operation is very difficult to realize. Therefore, the automatic parking and wireless charging positioning technology is combined, the automatic parking endpoint alignment is completed by using the wireless charging alignment information as a guide, and the automatic wireless charging at the automatic parking alignment is realized.
The existing wireless charging position guiding method is based on that a ground RF base station sends position information (x, y) to an automatic parking system for guiding automatic parking and wireless charging alignment, the method is low in alignment accuracy, alignment angle information cannot be sent to the automatic parking system, only x and y coordinates are sent, the wireless charging alignment is only aligned to a central position, and if the angle has deviation, the charging efficiency is reduced.
Disclosure of Invention
The first object of the present invention is to provide an automatic parking control method, which can complete wireless charging alignment during automatic parking, and has high alignment accuracy.
The second object of the present invention is to provide an automatic parking system, which completes wireless charging alignment during automatic parking and has high alignment accuracy by using the above automatic parking control method.
The third object of the present invention is to provide a vehicle, which can complete wireless charging alignment during automatic parking by applying the automatic parking system, and the alignment accuracy is high.
In order to realize the purpose, the following technical scheme is provided:
in a first aspect, there is provided an automatic parking control method including, when an automatic parking function of a vehicle is turned on:
s1: searching a target parking space and acquiring position information of the target parking space;
s2: the driver confirms the target parking space;
s3: planning a parking path;
s4: controlling the vehicle to be parked in a corresponding gear;
s5: acquiring wireless charging alignment information and adjusting a parking path according to the information; the wireless charging alignment information comprises coordinates of a vehicle body of the vehicle relative to the target parking space and an inclined angle of the vehicle body relative to the target parking space;
s6: judging whether the vehicle reaches the target position, if so, ending the parking; if not, the process proceeds to S5.
As a preferable mode of the automatic parking control method, a planar rectangular coordinate system is established with two center lines of the ground transmitting coil as an X axis and a Y axis, respectively, and in step S5, the method includes the following steps:
s51: acquiring plane coordinates (X1, Y1) of a first information source and plane coordinates (X2, Y2) of a second information source which are positioned on a vehicle-mounted receiving coil;
s52: calculating an included angle theta between a connecting line between the first information source and the second information source and the X axis or the Y axis;
s53: and adjusting a parking route according to the plane coordinates (X2, Y2) of the second information source and the included angle theta.
As a preferable aspect of the automatic parking control method, in step S6, when the vehicle reaches the target position, the ground-based transmission coil is aligned with the vehicle-mounted reception coil.
In a second aspect, an automatic parking system is provided, which includes a ground transmitting coil disposed in a target parking space and an on-board receiving coil disposed on a vehicle and matched with the ground transmitting coil, and based on the automatic parking control method as described in any one of the above, the automatic parking system further includes:
a vehicle control module;
a path planning module;
the parking space sensing module is used for acquiring position information of a target parking space and transmitting the information to the path planning module;
the position information receiving module is used for acquiring first wireless charging alignment information and second wireless charging alignment information and transmitting the information to the path planning module; a first information source and a second information source are arranged on the vehicle-mounted receiving coil, the first wireless charging alignment information is a plane coordinate of the first information source, and the second wireless charging alignment information is a plane coordinate of the second information source;
the path planning module plans a parking path according to the target parking space position information, the first wireless charging alignment information and the second wireless charging alignment information;
and the vehicle control module automatically parks according to the parking path.
Preferably, the second signal source is located at the very center of the vehicle-mounted receiving coil.
As a preferable scheme of the automatic parking system, the first signal source is located on a center line of the vehicle-mounted receiving coil.
As a preferred scheme of the automatic parking system, when the first information source and the second information source are both located within the range of the ground transmitting coil, the position information receiving module may collect the first wireless charging alignment information and the second wireless charging alignment information.
As a preferred scheme of the automatic parking system, parking space lines which can be identified by the parking space sensing modules are arranged around the target parking spaces.
As a preferable scheme of the automatic parking system, the ground transmitting coil is located at the center of the target parking space in the width direction.
In a third aspect, a vehicle is provided, comprising an automatic parking system as described in any of the above.
Compared with the prior art, the invention has the beneficial effects that:
in the automatic parking control method of the present invention, when the automatic parking function of the vehicle is turned on, the automatic parking control method includes the steps of: s1: searching a target parking space and acquiring position information of the target parking space; s2: the driver confirms whether the target parking space is correct or not, if so, the process goes to S3; if not, go to S1; s3: planning a parking path; s4: controlling the vehicle to be parked in a corresponding gear; s5: acquiring wireless charging alignment information and adjusting a parking path according to the information; the wireless charging alignment information comprises coordinates of a vehicle body of the vehicle relative to the target parking space and an inclined angle of the vehicle body relative to the target parking space; s6: judging whether the vehicle reaches the target position, if so, ending the parking; if not, the process proceeds to S5. The coordinate of the vehicle body relative to the target parking space and the inclined angle of the vehicle body relative to the target parking space are used as wireless charging alignment information, and the information is used for adjusting the parking path, so that wireless charging alignment is completed during automatic parking, and the alignment accuracy is high.
According to the automatic parking system, the wireless charging alignment is completed during automatic parking by adopting the automatic parking control method, and the alignment precision is high.
According to the vehicle, the automatic parking system is applied, so that the vehicle can finish wireless charging alignment during automatic parking, and the alignment precision is high.
Drawings
Fig. 1 is a flowchart of an automatic parking control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating alignment between an automatic parking system and a wireless charging system according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating alignment between the vehicle-mounted receiving coil and the ground transmitting coil according to the embodiment of the present invention.
Reference numerals:
100. a vehicle; 200. a target parking space; 201. a vehicle line; 1. a vehicle-mounted receiving coil; 11. a first information source; 12. a second source; 2. and a ground transmitting coil.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1-2, the present embodiment is directed to providing an automatic parking control method, when an automatic parking function of a vehicle 100 is turned on, including the steps of:
s1: searching a target parking space 200 and acquiring position information of the target parking space 200;
s2: the driver confirms the target parking space 200;
s3: planning a parking path;
s4: controlling the vehicle 100 to be parked in a corresponding gear;
s5: acquiring wireless charging alignment information and adjusting a parking path according to the information; the wireless charging alignment information includes coordinates of the vehicle body of the vehicle 100 with respect to the target parking space 200 and an inclination angle of the vehicle body with respect to the target parking space 200;
s6: judging whether the vehicle 100 reaches the target position, if so, ending the parking; if not, the process proceeds to S5.
In addition to wireless charging, the automatic parking control method of the present embodiment uses the coordinates of the body of the vehicle 100 with respect to the target parking space 200 and the inclination angle of the body with respect to the target parking space 200 as wireless charging alignment information, and uses the information to implement automatic parking alignment guidance to adjust the parking path, thereby completing wireless charging alignment during automatic parking and achieving high alignment accuracy.
Alternatively, as shown in fig. 3, a planar rectangular coordinate system is established with the two center lines of the ground transmitting coil 2 as the X axis and the Y axis, respectively, and in step S5, the following steps are included:
s51: acquiring the plane coordinates (X1, Y1) of the first source 11 and the plane coordinates (X2, Y2) of the second source 12 on the vehicle-mounted receiving coil 1;
s52: calculating an included angle theta between a connecting line between the first information source 11 and the second information source 12 and an X axis or a Y axis;
s53: and adjusting the parking route according to the plane coordinates (X2, Y2) of the second information source 12 and the included angle theta.
It should be noted that, when the vehicle 100 approaches the target parking space 200, the vehicle-mounted receiving coil 1 mounted on the vehicle body approaches the ground transmitting coil 2, and when both the first signal source 11 and the second signal source 12 located on the vehicle-mounted receiving coil 1 enter the range of the ground transmitting coil 2, the wireless charging system may sense the positions of the first signal source 11 and the second signal source 12.
Optionally, when the included angle θ is calculated, in order to simplify the calculation step, the first signal source 11 is disposed on a center line of the vehicle-mounted receiving coil 1 along the length direction of the target parking space 200, and the second signal source 12 is disposed at the center of the vehicle-mounted receiving coil 1 (i.e., an intersection point of two center lines of the vehicle-mounted receiving coil 1). Illustratively, when the center line of the ground transmitter coil 2 along the length direction of the target vehicle space 200 is denoted as the X axis and the center line of the ground transmitter coil 2 along the width direction of the target vehicle space 200 is denoted as the Y axis, when the second source 12 is aligned with the center of the ground transmitter coil 2 (i.e., the intersection of the two center lines of the ground transmitter coil 2), and the first source 11 is deflected toward the positive direction of the Y axis with the second source 12 as the rotation center, θ ═ arctan ((Y2-Y1)/(X2-X1)).
Alternatively, in step S6, when the vehicle 100 reaches the target position, the ground-based transmission coil 2 is aligned with the vehicle-mounted reception coil 1. It can also be understood that there is no angular deviation between the ground transmitting coil 2 and the vehicle-mounted receiving coil 1, and the wireless charging efficiency is the highest.
The embodiment also provides an automatic parking system, which comprises a ground transmitting coil 2 arranged in the target parking space 200 and a vehicle-mounted receiving coil 1 arranged on the vehicle 100 and matched with the ground transmitting coil 2, and based on the automatic parking control method, the automatic parking system further comprises a vehicle control module, a path planning module, a parking space sensing module and a position information receiving module, wherein the parking space sensing module is used for acquiring the position information of the target parking space 200 and transmitting the information to the path planning module; the position information receiving module is used for acquiring first wireless charging alignment information and second wireless charging alignment information and transmitting the information to the path planning module; the vehicle-mounted receiving coil 1 is provided with a first information source 11 and a second information source 12, the first wireless charging alignment information is a plane coordinate of the first information source 11, and the second wireless charging alignment information is a plane coordinate of the second information source 12; the path planning module plans a parking path according to the position information of the target parking space 200, the first wireless charging alignment information and the second wireless charging alignment information; the vehicle control module automatically parks according to the parking path.
Optionally, the second source 12 is located in the very center of the vehicle-mounted receiving coil 1. Optionally, the first source 11 is located on the centerline of the vehicle-mounted receiving coil 1. And then the second information source 12 can be used as an alignment center, the second information source 12 is aligned with the center of the ground transmitting coil 2, and the alignment accuracy of the ground transmitting coil 2 and the vehicle-mounted receiving coil 1 is improved by adjusting the included angle theta.
Optionally, when the first signal source 11 and the second signal source 12 are both located within the range of the ground transmitting coil 2, the position information receiving module can collect the first wireless charging alignment information and the second wireless charging alignment information.
Optionally, a parking space line 201 capable of being identified by the parking space sensing module is arranged around the target parking space 200, so that the parking space line 201 is identified by the parking space sensing module to realize preliminary automatic parking.
Optionally, the ground transmitting coil 2 is located at the center of the target parking space 200 in the width direction, so that the ground transmitting coil 2 is aligned with the vehicle-mounted receiving coil 1.
The embodiment also provides a vehicle 100 including the automatic parking system as described above. By applying the automatic parking system, the vehicle 100 can finish wireless charging alignment during automatic parking, and the alignment precision is high.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automatic parking control method characterized by comprising, when an automatic parking function of a vehicle (100) is turned on, the steps of:
s1: searching a target parking space (200) and acquiring position information of the target parking space (200);
s2: the driver confirms the target parking space (200);
s3: planning a parking path;
s4: controlling the vehicle (100) to be parked in a corresponding gear;
s5: acquiring wireless charging alignment information and adjusting a parking path according to the information; the wireless charging alignment information comprises coordinates of a body of the vehicle (100) relative to the target parking space (200) and an inclined angle of the body relative to the target parking space (200);
s6: judging whether the vehicle (100) reaches the target position, if so, ending the parking; if not, the process proceeds to S5.
2. The automatic parking control method according to claim 1, wherein a planar rectangular coordinate system is established with two center lines of the ground transmission coil (2) as an X-axis and a Y-axis, respectively, and in step S5, the method comprises the steps of:
s51: acquiring plane coordinates (X1, Y1) of a first information source (11) and plane coordinates (X2, Y2) of a second information source (12) which are positioned on a vehicle-mounted receiving coil (1);
s52: calculating an included angle theta between a connecting line between the first information source (11) and the second information source (12) and the X axis or the Y axis;
s53: and adjusting a parking route according to the plane coordinates (X2, Y2) of the second information source (12) and the included angle theta.
3. The automatic parking control method according to claim 1, characterized in that, in step S6, when the vehicle (100) reaches the target position, a ground-based transmission coil (2) is aligned with an on-vehicle reception coil (1).
4. An automatic parking system comprising a ground transmitting coil (2) provided in a target parking space (200) and an on-vehicle receiving coil (1) provided on a vehicle (100) and matched with the ground transmitting coil (2), characterized in that, based on the automatic parking control method according to any one of claims 1 to 3, the automatic parking system further comprises:
a vehicle control module;
a path planning module;
the parking space sensing module is used for collecting position information of a target parking space (200) and transmitting the information to the path planning module;
the position information receiving module is used for acquiring first wireless charging alignment information and second wireless charging alignment information and transmitting the information to the path planning module; a first information source (11) and a second information source (12) are arranged on the vehicle-mounted receiving coil (1), the first wireless charging contraposition information is a plane coordinate of the first information source (11), and the second wireless charging contraposition information is a plane coordinate of the second information source (12);
the path planning module plans a parking path according to the position information of the target parking space (200), the first wireless charging alignment information and the second wireless charging alignment information;
and the vehicle control module automatically parks according to the parking path.
5. Automatic parking system according to claim 4, characterized in that the second source (12) is located in the very center of the on-board receiver coil (1).
6. Automatic parking system according to claim 5, wherein the first source (11) is located on the centre line of the on-board receiver coil (1).
7. The automatic parking system according to claim 4, wherein the position information receiving module is capable of collecting the first wireless charging alignment information and the second wireless charging alignment information when the first information source (11) and the second information source (12) are both located within the range of the ground transmitting coil (2).
8. The automatic parking system of claim 4, wherein a parking space line (201) capable of being recognized by the parking space sensing module is arranged around the target parking space (200).
9. The automated parking system according to claim 4, wherein the ground transmitter coil (2) is located at the center in the width direction of the target parking space (200).
10. A vehicle comprising an automatic parking system according to any one of claims 4 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466275.4A CN113071478A (en) | 2021-04-28 | 2021-04-28 | Automatic parking control method, automatic parking system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466275.4A CN113071478A (en) | 2021-04-28 | 2021-04-28 | Automatic parking control method, automatic parking system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113071478A true CN113071478A (en) | 2021-07-06 |
Family
ID=76619118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110466275.4A Pending CN113071478A (en) | 2021-04-28 | 2021-04-28 | Automatic parking control method, automatic parking system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113071478A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113734200A (en) * | 2021-09-14 | 2021-12-03 | 北京超星未来科技有限公司 | Method and system for wireless charging hybrid path planning of automatic driving vehicle |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150222129A1 (en) * | 2014-02-03 | 2015-08-06 | Witricity Corporation | Wirelessly Charged Battery System |
| JP2016141161A (en) * | 2015-01-29 | 2016-08-08 | 株式会社デンソー | Non-contact charging parking support system |
| CN107284270A (en) * | 2017-07-05 | 2017-10-24 | 天津工业大学 | A kind of wireless electric vehicle charging device Automatic Alignment System and method |
| CN107749677A (en) * | 2017-10-27 | 2018-03-02 | 珠海格力电器股份有限公司 | Primary and secondary coil panel alignment method, alignment equipment and wireless power transmission system |
| CN107757609A (en) * | 2016-08-22 | 2018-03-06 | 奥迪股份公司 | Vehicle drive assist system and method |
| CN108454420A (en) * | 2017-12-07 | 2018-08-28 | 中惠创智无线供电技术有限公司 | A kind of self-positioning alignment system and method for wireless charging for electric vehicle |
| US20180246515A1 (en) * | 2017-02-28 | 2018-08-30 | Mitsubishi Electric Research Laboratories, Inc. | Vehicle Automated Parking System and Method |
| WO2019039633A1 (en) * | 2017-08-23 | 2019-02-28 | (주)그린파워 | Self-alignment guide system for wireless charging |
| CN109733216A (en) * | 2018-11-29 | 2019-05-10 | 中海阳能源集团股份有限公司 | A kind of Wireless charging coil alignment system based on automatic parking technology |
| US20190164427A1 (en) * | 2017-11-28 | 2019-05-30 | Jaguar Land Rover Limited | Docking apparatus |
| CN111098742A (en) * | 2018-10-26 | 2020-05-05 | 华为技术有限公司 | Alignment method, device, system and medium based on wireless charging system |
| US20200192362A1 (en) * | 2018-12-12 | 2020-06-18 | GM Global Technology Operations LLC | System and method for assisting a vehicle to park in alignment with a wireless battery charging pad |
| CN111694352A (en) * | 2020-05-12 | 2020-09-22 | 宁波吉利汽车研究开发有限公司 | Wireless charging method, system, terminal and medium based on remote control parking |
| CN111754809A (en) * | 2020-06-22 | 2020-10-09 | 重庆长安汽车股份有限公司 | Mobile phone APP remote control parking dynamic display method and system, vehicle and storage medium |
| CN111762038A (en) * | 2020-06-30 | 2020-10-13 | 中国第一汽车股份有限公司 | Adjusting system and terminal equipment |
| CN112297927A (en) * | 2020-10-22 | 2021-02-02 | 重庆理工大学 | Electric automobile wireless charging system and method capable of achieving accurate positioning |
| CN112590575A (en) * | 2020-12-24 | 2021-04-02 | 无锡市沃乐思科技有限公司 | Electric vehicle wireless charging alignment system and method based on Bluetooth beacon |
-
2021
- 2021-04-28 CN CN202110466275.4A patent/CN113071478A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150222129A1 (en) * | 2014-02-03 | 2015-08-06 | Witricity Corporation | Wirelessly Charged Battery System |
| JP2016141161A (en) * | 2015-01-29 | 2016-08-08 | 株式会社デンソー | Non-contact charging parking support system |
| CN107757609A (en) * | 2016-08-22 | 2018-03-06 | 奥迪股份公司 | Vehicle drive assist system and method |
| US20180246515A1 (en) * | 2017-02-28 | 2018-08-30 | Mitsubishi Electric Research Laboratories, Inc. | Vehicle Automated Parking System and Method |
| CN107284270A (en) * | 2017-07-05 | 2017-10-24 | 天津工业大学 | A kind of wireless electric vehicle charging device Automatic Alignment System and method |
| WO2019039633A1 (en) * | 2017-08-23 | 2019-02-28 | (주)그린파워 | Self-alignment guide system for wireless charging |
| CN107749677A (en) * | 2017-10-27 | 2018-03-02 | 珠海格力电器股份有限公司 | Primary and secondary coil panel alignment method, alignment equipment and wireless power transmission system |
| US20190164427A1 (en) * | 2017-11-28 | 2019-05-30 | Jaguar Land Rover Limited | Docking apparatus |
| CN108454420A (en) * | 2017-12-07 | 2018-08-28 | 中惠创智无线供电技术有限公司 | A kind of self-positioning alignment system and method for wireless charging for electric vehicle |
| CN111098742A (en) * | 2018-10-26 | 2020-05-05 | 华为技术有限公司 | Alignment method, device, system and medium based on wireless charging system |
| CN109733216A (en) * | 2018-11-29 | 2019-05-10 | 中海阳能源集团股份有限公司 | A kind of Wireless charging coil alignment system based on automatic parking technology |
| US20200192362A1 (en) * | 2018-12-12 | 2020-06-18 | GM Global Technology Operations LLC | System and method for assisting a vehicle to park in alignment with a wireless battery charging pad |
| CN111694352A (en) * | 2020-05-12 | 2020-09-22 | 宁波吉利汽车研究开发有限公司 | Wireless charging method, system, terminal and medium based on remote control parking |
| CN111754809A (en) * | 2020-06-22 | 2020-10-09 | 重庆长安汽车股份有限公司 | Mobile phone APP remote control parking dynamic display method and system, vehicle and storage medium |
| CN111762038A (en) * | 2020-06-30 | 2020-10-13 | 中国第一汽车股份有限公司 | Adjusting system and terminal equipment |
| CN112297927A (en) * | 2020-10-22 | 2021-02-02 | 重庆理工大学 | Electric automobile wireless charging system and method capable of achieving accurate positioning |
| CN112590575A (en) * | 2020-12-24 | 2021-04-02 | 无锡市沃乐思科技有限公司 | Electric vehicle wireless charging alignment system and method based on Bluetooth beacon |
Non-Patent Citations (2)
| Title |
|---|
| 范祖良: "新能源汽车中基于磁耦合谐振的无线电能传输线圈横向错位影响分析及线圈自动调节设计", 《科技创新与应用》 * |
| 范祖良: "磁耦合谐振式无线充电技术在智能立体停车场中的应用", 《烟台职业学院学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113734200A (en) * | 2021-09-14 | 2021-12-03 | 北京超星未来科技有限公司 | Method and system for wireless charging hybrid path planning of automatic driving vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3044548B1 (en) | Systems, methods, and apparatus related to guidance and alignment for an electric vehicle and charging station | |
| CN105270399A (en) | Apparatus and method for controlling vehicle using vehicle communication | |
| CN104297721A (en) | Apparatus and method for recognizing position of vehicle | |
| CN110562247A (en) | Indoor and outdoor automatic parking/picking system and method thereof | |
| JP2000161973A (en) | Apparatus and navigation system for providing navigation information | |
| CN111094058B (en) | Method for providing a communication link between a stationary charging station and a motor vehicle, control device and charging system | |
| CN109991972A (en) | Control method, apparatus, vehicle and the readable storage medium storing program for executing of vehicle driving | |
| CN110723019B (en) | Wireless charging guiding and positioning system and method and vehicle-mounted equipment | |
| CN111186320A (en) | Wireless charging guiding and positioning system and method and vehicle-mounted equipment | |
| CN104428159B (en) | electric vehicle, inductive charging station and method | |
| CN113071478A (en) | Automatic parking control method, automatic parking system and vehicle | |
| CN110435452B (en) | Wireless charging guiding and positioning system and method, ground equipment and vehicle-mounted equipment | |
| CN105652238A (en) | Robot position posture determination method based on RFID (Radio Frequency Identification) | |
| CN113758482A (en) | Vehicle navigation positioning method, device, base station, system and readable storage medium | |
| JP2006098410A (en) | Mobile unit guiding apparatus | |
| CN111439255B (en) | Car top box, control box and control device for realizing autonomous parking in matched use | |
| CN109624970B (en) | Autonomous parking control device | |
| CN106168802B (en) | Position sensing device for mobile robot | |
| CN110264764A (en) | It is a kind of for finding the accurate air navigation aid of parking position | |
| CN116009038A (en) | Vehicle positioning and tracking method and device based on vehicle key and vehicle | |
| CN108801279A (en) | A kind of Vehicular navigation system based on wireless communication positioning | |
| CN114562997A (en) | Vehicle positioning system and closed area navigation system comprising same | |
| CN215818640U (en) | Vehicle positioning system, vehicle positioning subsystem and vehicle | |
| CN111198564B (en) | Unmanned application system and application method thereof | |
| CN110682819A (en) | Wireless charging device based on electric automobile |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210706 |
|
| RJ01 | Rejection of invention patent application after publication |