CN113415195A - Alignment guiding and visualization method for wireless charging system of electric vehicle - Google Patents
Alignment guiding and visualization method for wireless charging system of electric vehicle Download PDFInfo
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- CN113415195A CN113415195A CN202110918839.3A CN202110918839A CN113415195A CN 113415195 A CN113415195 A CN 113415195A CN 202110918839 A CN202110918839 A CN 202110918839A CN 113415195 A CN113415195 A CN 113415195A
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- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
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- 238000013507 mapping Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
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- 230000000007 visual effect Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 8
- 238000011160 research Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 206010063385 Intellectualisation Diseases 0.000 description 3
- 230000001953 sensory effect Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to an alignment guiding and visualizing method for an electric vehicle wireless charging system, which comprises an alignment guiding sub-method and a visualizing sub-method; the alignment guide method comprises the following steps: sensing the position of the electric automobile in real time, planning to obtain an alignment guide path, judging whether the deviation of the real-time path of the electric automobile and the alignment guide path is larger than a set range, judging whether the electric automobile drives into an effective charging area, and prompting to finish parking if the deviation is larger than the set range; the visualization sub-method comprises the following steps: the ground equipment and the effective charging area of the wireless charging system of the visual electric automobile judge whether the position of the electric automobile is sensed or not, judge whether the alignment guide path is planned or not and judge whether the electric automobile drives into the effective charging area or not according to the position of the visual electric automobile and the position of the vehicle-mounted end of the visual electric automobile, and if so, prompt the parking to be finished. The intelligent level and the comfort level of the wireless charging system of the electric automobile can be improved, the user experience is improved, and the user requirements are met.
Description
Technical Field
The invention relates to the technical field of electric vehicle charging, in particular to an alignment guiding and visualizing method adopted in a wireless charging system of an electric vehicle.
Background
When a user of the wireless charging system of the electric automobile drives the vehicle to move or moves the vehicle by using the autonomous parking technology and enters an effective charging area of the system magnetic coupling mechanism, the user pays attention to the intellectualization and comfort degree of the system.
At present, research focuses on the optimization design, the high-reliability communication method, the interoperability test and the like of the magnetic coupling mechanism of the system by domestic and foreign scientific research institutions and related enterprises, and research on the alignment guide technology of the magnetic coupling mechanism is still less. For example, Audi developed an Audi Wireless Charging (AWC) system with a liftable transmitting end, which can adjust the position of different vehicle chassis. The Oakland university in New Zealand adopts a three-coil structure when applying an auxiliary electromagnetic induction coil, and senses the position of a vehicle through the voltage phase change of a signal detection coil. The first automobile company limited in China proposes to adopt four detection coils to judge the relative positions of the transmitting end and the receiving end. The university of Chongqing adopts a single signal coil detection scheme, and realizes vehicle positioning detection through frequency selection and logic judgment. In the enterprise research, a laser positioning laser and ultrasonic positioning are adopted to realize accurate positioning of the transmitting end and the receiving end. The above domestic and foreign researches mainly solve the problems of high-precision position sensing and terminal position alignment, however, the researches on the alignment guide strategy and visualization thereof in the advancing process of the whole vehicle, especially on the aspects of system use intellectualization and comfort degree of which users of the wireless charging system pay great attention to, are very lacking.
Disclosure of Invention
The invention aims to provide an electric vehicle wireless charging system alignment guiding and visualization method which can perform alignment guiding and visualization so as to improve intellectualization and comfort degree of an electric vehicle in a parking process.
In order to achieve the purpose, the invention adopts the technical scheme that:
an alignment guiding and visualization method for an electric vehicle wireless charging system is applied to the electric vehicle wireless charging system, and comprises an alignment guiding sub-method and a visualization sub-method;
the alignment guide method comprises the following steps:
step a: after the electric automobile enters a position sensing area of the electric automobile wireless charging system, sensing the position of the electric automobile in real time, and then executing the step b;
step b: b, planning according to the position of the electric automobile sensed in real time and the target position to obtain a contraposition guide path, and then executing the step c;
step c: in the process that the electric automobile carries out alignment according to the alignment guide path, judging whether the deviation of the real-time path of the electric automobile and the alignment guide path is larger than a set range, if so, returning to the step b, otherwise, executing the step d;
step d: judging whether the electric automobile drives into an effective charging area of the electric automobile wireless charging system, if so, prompting to finish parking, and if not, returning to the step c;
the visualization sub-method comprises the steps of:
step A: visualizing the ground equipment and the effective charging area of the wireless charging system of the electric automobile, and then executing the step B;
and B: judging whether the position of the electric automobile is sensed or not, and executing the step C if the position of the electric automobile is sensed;
and C: visualizing the positions of the electric automobile and the vehicle-mounted end thereof, and then executing the step D:
step D: judging whether the alignment guide path is planned or not, if so, executing the step E, and otherwise, returning to the step C;
step E: visualizing the alignment guide path, and then executing step F;
step F: and D, judging whether the electric automobile drives into an effective charging area of the electric automobile wireless charging system, if so, prompting to finish parking, and if not, returning to the step C.
In the step a, the position of the electric automobile is sensed in real time by using a magnetic coupling mechanism of the wireless charging system of the electric automobile.
In the step b, global search is performed to plan the alignment guide path.
In the step b, the alignment guide path satisfies the following constraint conditions:
constraint conditions of: the alignment guide path is in the boundary of the charging parking space;
constraint conditions (c): no obstacle is arranged on the alignment guide path;
constraint conditions (c): the alignment guide path is matched with the real-time motion parameter value of the electric automobile;
constraint conditions (iv): the alignment guide path minimizes the probability of replanning the alignment guide path;
constraint condition (v): and the planning time of the alignment guide path is less than a set time threshold.
And c, performing similarity measurement and calculation on the real-time path of the electric automobile and the alignment guide path to judge whether the deviation of the real-time path of the electric automobile and the alignment guide path is larger than a set range.
In the visualization submethod, visualization is realized based on the image processing technique of texture mapping and the user interface technique of Unity3 d.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the intelligent level and the comfort level of the wireless charging system of the electric automobile can be improved, the user experience is improved, and the user requirements are met.
Drawings
Fig. 1 is a flowchart of an alignment guidance and visualization method for a wireless charging system of an electric vehicle according to the present invention.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings to which the invention is attached.
The first embodiment is as follows: the wireless charging system for the electric automobile is used for providing wireless charging service for the electric automobile, and comprises ground equipment (a wireless charging pile and the like for wireless charging), a magnetic coupling mechanism (for sensing the position of the electric automobile) and the like, wherein the ground equipment is marked with a corresponding effective charging area, and the electric automobile is provided with a corresponding vehicle-mounted terminal. When the electric vehicle needs to be charged, the electric vehicle needs to travel into an effective charging area (i.e., alignment).
As shown in fig. 1, the alignment guidance and visualization method applied to the wireless charging system for an electric vehicle includes an alignment guidance sub-method and a visualization sub-method.
The alignment guide method comprises the following steps:
step a: after the electric automobile enters a position sensing area of the electric automobile wireless charging system, sensing the position of the electric automobile in real time, and then executing the step b;
step b: b, planning according to the position of the electric automobile sensed in real time and the target position to obtain a contraposition guide path, and then executing the step c;
step c: in the process that the electric automobile carries out alignment according to the alignment guide path, judging whether the deviation of the real-time path of the electric automobile and the alignment guide path is larger than a set range, if so, returning to the step b, otherwise, executing the step d;
step d: judging whether the electric automobile drives into an effective charging area of the electric automobile wireless charging system, if so, prompting to finish parking, and if not, returning to the step c;
in the step a, the position of the electric automobile is sensed in real time by using a magnetic coupling mechanism of the wireless charging system of the electric automobile.
In step b, global search is carried out to plan and obtain an alignment guide path. The alignment guide path satisfies the following constraint conditions:
constraint conditions of: the alignment guide path is within the boundary of the charging parking space (namely, the boundary limit of the charging parking space is not exceeded);
constraint conditions (c): no obstacle is arranged on the alignment guide path;
constraint conditions (c): the alignment guide path is matched with the real-time motion parameter value of the electric automobile (the body size, the pose, the running direction and the running speed of the automobile are involved, and the like are fused);
constraint conditions (iv): the current guiding path should comprehensively consider the reaction speed of a driver and the driving habit thereof in the actual driving scene, and align the guiding path to minimize the probability of replanning the guiding path;
constraint condition (v): the planning time for the alignment guidance path is less than the set time threshold (the global search time limit including the current guidance path should be set at not more than 1.5s, and the total alignment guidance response time should be not more than 2 s).
And c, performing similarity measurement and calculation on the real-time path and the alignment guide path of the electric automobile to judge whether the deviation of the real-time path and the alignment guide path of the electric automobile is larger than a set range.
For a real-time path of an electric vehicle, the following constraints should be satisfied:
1. the real-time path of the electric automobile should not exceed the boundary limit of the charging parking space;
2. in the real-time path of the electric automobile, no short-distance real object blocking exists;
3. the real-time path of the electric automobile should be superposed on the current alignment guide path, and similarity measurement of the two paths is involved.
The visualization sub-method comprises the following steps:
step A: b, visualizing ground equipment and an effective charging area of the wireless charging system of the electric automobile, and then executing the step B;
and B: judging whether the position of the electric automobile is sensed or not, and executing the step C if the position of the electric automobile is sensed;
and C: visualizing the position of the electric automobile and the vehicle-mounted end thereof, and then executing the step D:
step D: judging whether the alignment guide path is planned or not, if so, executing the step E, and otherwise, returning to the step C;
step E: visualizing the alignment guide path, and then executing the step F;
step F: and D, judging whether the electric automobile drives into an effective charging area of the electric automobile wireless charging system, if so, prompting to finish parking, and if not, returning to the step C.
In the visualization sub-method, visualization is realized based on an image processing technology of texture mapping and a User Interface technology of Unity3d (User Interface, UI), and prompt is performed through voice. Texture pixels in vehicle-mounted and ground-side texture spaces of the system magnetic coupling mechanism are mapped into pixels in a vehicle-mounted screen display space by the texture mapping technology, and are combined with technologies of Unity3d, such as illumination calculation, image mixing and the like, so that the reality of an alignment guide visual scene is enhanced, and the use sensory experience of a user on the wireless charging system is improved.
According to the scheme, on the premise of giving a planning rule of the alignment guide path, global optimization is carried out on the guide path according to a real-time high-precision position sensing result of a system magnetic coupling mechanism, a real-time dynamic deviation rectification control strategy is formulated, data interaction and abnormal signals of a ground end and a vehicle end are monitored in real time by using a vehicle-mounted terminal, and when the vehicle path is judged to be too large in deviation, re-planning of the alignment guide path is initiated. Meanwhile, the effective charging area and the real-time position of the magnetic coupling mechanism are visualized by using an image processing technology based on texture mapping and a UI (user interface) technology based on Unity3 d. The visual and intelligent parking prompt can be provided for a user, the sensory experience of the user on the use of the wireless charging system is effectively improved, and the secondary coil of the system magnetic coupling mechanism can be enabled to be quickly close to and aligned with the effective charging area of the primary coil. The scheme provides visual and intelligent real-time parking prompts for the user, and meets the real-time sensory experience requirements of the user on the use of the wireless charging system.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (6)
1. An alignment guiding and visualization method for an electric vehicle wireless charging system is applied to the electric vehicle wireless charging system, and is characterized in that: the alignment guiding and visualization method of the electric vehicle wireless charging system comprises an alignment guiding sub-method and a visualization sub-method;
the alignment guide method comprises the following steps:
step a: after the electric automobile enters a position sensing area of the electric automobile wireless charging system, sensing the position of the electric automobile in real time, and then executing the step b;
step b: b, planning according to the position of the electric automobile sensed in real time and the target position to obtain a contraposition guide path, and then executing the step c;
step c: in the process that the electric automobile carries out alignment according to the alignment guide path, judging whether the deviation of the real-time path of the electric automobile and the alignment guide path is larger than a set range, if so, returning to the step b, otherwise, executing the step d;
step d: judging whether the electric automobile drives into an effective charging area of the electric automobile wireless charging system, if so, prompting to finish parking, and if not, returning to the step c;
the visualization sub-method comprises the steps of:
step A: visualizing the ground equipment and the effective charging area of the wireless charging system of the electric automobile, and then executing the step B;
and B: judging whether the position of the electric automobile is sensed or not, and executing the step C if the position of the electric automobile is sensed;
and C: visualizing the positions of the electric automobile and the vehicle-mounted end thereof, and then executing the step D:
step D: judging whether the alignment guide path is planned or not, if so, executing the step E, and otherwise, returning to the step C;
step E: visualizing the alignment guide path, and then executing step F;
step F: and D, judging whether the electric automobile drives into an effective charging area of the electric automobile wireless charging system, if so, prompting to finish parking, and if not, returning to the step C.
2. The alignment guiding and visualization method for the wireless charging system of the electric vehicle according to claim 1, wherein the method comprises the following steps: in the step a, the position of the electric automobile is sensed in real time by using a magnetic coupling mechanism of the wireless charging system of the electric automobile.
3. The alignment guiding and visualization method for the wireless charging system of the electric vehicle according to claim 1, wherein the method comprises the following steps: in the step b, global search is performed to plan the alignment guide path.
4. The alignment guiding and visualization method for the wireless charging system of the electric vehicle according to claim 1, wherein the method comprises the following steps: in the step b, the alignment guide path satisfies the following constraint conditions:
constraint conditions of: the alignment guide path is in the boundary of the charging parking space;
constraint conditions (c): no obstacle is arranged on the alignment guide path;
constraint conditions (c): the alignment guide path is matched with the real-time motion parameter value of the electric automobile;
constraint conditions (iv): the alignment guide path minimizes the probability of replanning the alignment guide path;
constraint condition (v): and the planning time of the alignment guide path is less than a set time threshold.
5. The alignment guiding and visualization method for the wireless charging system of the electric vehicle according to claim 1, wherein the method comprises the following steps: and c, performing similarity measurement and calculation on the real-time path of the electric automobile and the alignment guide path to judge whether the deviation of the real-time path of the electric automobile and the alignment guide path is larger than a set range.
6. The alignment guiding and visualization method for the wireless charging system of the electric vehicle according to claim 1, wherein the method comprises the following steps: in the visualization submethod, visualization is realized based on the image processing technique of texture mapping and the user interface technique of Unity3 d.
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| CN114596714A (en) * | 2022-05-10 | 2022-06-07 | 四川思百特科技有限责任公司 | Battery car guiding system and method |
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| CN109726866A (en) * | 2018-12-27 | 2019-05-07 | 浙江农林大学 | Unmanned boat paths planning method based on Q learning neural network |
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Application publication date: 20210921 |