CN113910930B - Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium - Google Patents

Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium Download PDF

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Publication number
CN113910930B
CN113910930B CN202111261920.5A CN202111261920A CN113910930B CN 113910930 B CN113910930 B CN 113910930B CN 202111261920 A CN202111261920 A CN 202111261920A CN 113910930 B CN113910930 B CN 113910930B
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coordinates
sensor
signal
signal transmitting
wireless charging
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CN113910930A (en
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谢芳
牛段段
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Dongfeng Nissan Passenger Vehicle Co
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Dongfeng Nissan Passenger Vehicle Co
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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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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

Abstract

The invention discloses a wireless charging guiding and positioning method for an electric automobile, electronic equipment and a storage medium, wherein the method comprises the following steps: controlling a signal transmitting sensor on the vehicle to transmit signals, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle; receiving received signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor; according to the distance between the signal transmitting sensor and each signal receiving sensor, determining the coordinates of the signal transmitting sensor in a ground coordinate system as the coordinates of the signal transmitting sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors; acquiring the coordinates of a transmitting coil of a wireless charging transmitting coil positioned on the ground coordinate system; and guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and easy realization.

Description

Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of automobiles, in particular to a wireless charging guiding and positioning method for an electric automobile, electronic equipment and a storage medium.
Background
Along with the continuous development of the charging technology, the wireless charging technology of the electric vehicle is mature, the electric vehicle realizes the high-efficiency charging function on the premise that the vehicle-mounted end coil is aligned with the ground end coil, and the wireless charging guiding and positioning function is one of the main modes for realizing the alignment of the vehicle-mounted end coil and the ground end coil. At present, the technology capable of realizing wireless charging guiding positioning is very few and relatively complex.
The prior main technology is realized by performing RSSI calibration calculation through a transmitting and receiving module of an antenna, and the technology is complex. The technology comprises a primary charging coil, a plurality of transmitting antennas and a transmitting antenna control module, a secondary charging coil, a plurality of receiving antennas and a receiving antenna control module. The transmitting antenna is connected with the transmitting antenna control module through a wire harness; a plurality of transmitting antennas transmit beacon signals under the drive of a transmitting antenna control module, and a receiving antenna control module receives the beacon signals and measures signal strength RSSI; and the vehicle-mounted equipment invokes a preset equal RSSI value function curve according to the signal intensity, and guides the center points of the vehicle-mounted equipment and the ground equipment to be superposed and positioned.
However, the existing guiding method is complex and difficult to realize.
Disclosure of Invention
Based on this, it is necessary to provide a wireless charging guiding positioning method for an electric vehicle, an electronic device and a storage medium for solving the technical problem that the conventional wireless charging guiding technology for the electric vehicle is complex.
The invention provides a wireless charging guiding and positioning method for an electric automobile, which comprises the following steps:
controlling a signal transmitting sensor on the vehicle to transmit signals, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle;
receiving received signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor;
according to the distance between the signal transmitting sensor and each signal receiving sensor, determining the coordinates of the signal transmitting sensor in a ground coordinate system as the coordinates of the signal transmitting sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors;
acquiring the coordinates of a transmitting coil of a wireless charging transmitting coil positioned on the ground coordinate system;
and guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
Further, the plurality of signal receiving sensors are located on the same straight line, the position of one signal receiving sensor is taken as an origin of the ground coordinate system, the straight line where the plurality of signal receiving sensors are located is taken as a first axis of the ground coordinate system, the straight line which is perpendicular to the first axis and passes through the origin is taken as a second axis of the ground coordinate system, and the coordinates of each signal receiving sensor in the ground coordinate system are determined based on the distance between each signal receiving sensor and the origin.
Further, the determining coordinates of the signal transmitting sensor in the ground coordinate system as the coordinates of the signal transmitting sensor according to the distance between the signal transmitting sensor and each signal receiving sensor specifically includes:
and combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, determining a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system every two distances, and determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated.
Still further, the step of combining the distances between the plurality of signal transmitting sensors and the signal receiving sensor in pairs, wherein each two distances determine a coordinate value to be calculated of the signal transmitting sensor in the ground coordinate system, and the step of determining the coordinate of the signal transmitting sensor based on the plurality of coordinate values to be calculated specifically includes:
selecting a minimum distance from the distances between the plurality of signal transmitting sensors and the signal receiving sensor as a reference distance, and selecting other distances except the reference distance as auxiliary distances;
and calculating the reference distance and each auxiliary distance respectively to obtain a plurality of coordinate values to be calculated of the signal transmitting sensor in the ground coordinate system, and calculating the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor.
Still further, the calculating the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor specifically includes:
sorting a plurality of the auxiliary distances;
and determining the percentage weight of each coordinate value to be calculated, wherein the percentage weight of the coordinate values to be calculated, which are calculated by the shorter auxiliary distance, is larger than or equal to the percentage weight of the coordinate values to be calculated, which are calculated by the longer auxiliary distance, for the two coordinate values to be calculated.
Further, the guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically includes:
and displaying a parking prompt according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
Furthermore, the guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically includes:
and automatically parking the vehicle according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
Still further, still include:
when the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil and the two sides of the vehicle are parallel to the two sides of the parking space, calculating the coordinates of the wireless charging receiving coil in the ground coordinate system according to the coordinates of the signal transmitting sensor to serve as the coordinates of the receiving coil;
and carrying out secondary guiding and positioning on the vehicle according to the receiving coil coordinates and the transmitting coil coordinates.
The present invention provides an electronic device including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the electric vehicle wireless charging guidance positioning method as previously described.
The present invention provides a storage medium storing computer instructions for performing all the steps of the wireless charging guidance positioning method of an electric vehicle as described above when the computer executes the computer instructions.
According to the invention, the coordinates of the signal transmitting sensor in the ground coordinate system are determined as the coordinates of the signal transmitting sensor through the distance between the signal transmitting sensor and each signal receiving sensor, and the vehicle is guided and positioned according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and easy realization.
The guiding positioning method adopts the ultrasonic-based multi-point positioning method, has no EMC interference to the whole vehicle, has safe and reliable detection scheme, higher detection precision and lower scheme cost, and has relatively simple detection calculation logic and easy realization.
Drawings
FIG. 1 is a workflow diagram of a wireless charging guidance positioning method for an electric vehicle according to the present invention;
fig. 2 is a schematic diagram of wireless charging guiding positioning of an electric vehicle according to an embodiment of the invention;
FIG. 3 is a system diagram of a guidance and positioning system according to a preferred embodiment of the invention;
FIG. 4 is a schematic diagram of the coordinate positioning of a signal emitting sensor according to a preferred embodiment of the present invention;
FIG. 5 is a flowchart of a wireless charging guidance positioning method for an electric vehicle according to an embodiment of the invention;
FIG. 6 is a schematic diagram illustrating an arrangement of multiple signal receiving sensors according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a multi-signal receiver determining signal emitting sensor coordinates according to an embodiment of the present invention;
FIG. 8 is a flowchart of the operation of the preferred embodiment of the present invention;
FIG. 9 is a timing diagram of a preferred embodiment of the present invention;
fig. 10 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
Example 1
Fig. 1 is a working flow chart of a wireless charging guiding and positioning method for an electric automobile, which comprises the following steps:
step S101, controlling a signal transmitting sensor on a vehicle to transmit signals, wherein the signal transmitting sensor has a fixed distance from a wireless charging receiving coil at the bottom of the vehicle;
step S102, receiving received signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor;
step S103, according to the distance between the signal transmitting sensor and each signal receiving sensor, determining the coordinates of the signal transmitting sensor in a ground coordinate system as the coordinates of the signal transmitting sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors;
step S104, acquiring the coordinates of a transmitting coil of a wireless charging transmitting coil positioned on the ground coordinate system;
and step 105, guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
In particular, the invention may be applied to an electronic controller unit (Electronic Control Unit, ECU) of a vehicle. As shown in fig. 2, a wireless charging receiving coil 11 is provided on the bottom of the vehicle 1, and a signal transmitting sensor 12 is provided in the vicinity of the charging receiving coil 11. For example, if the wireless charging reception coil 11 is provided at the rear of the vehicle, the signal transmission sensor 12 is provided behind the charging reception coil 11, and if the wireless charging reception coil 11 is provided at the front of the vehicle, the signal transmission sensor 12 is provided in front of the charging reception coil 11. A wireless charging generation coil 21 and a plurality of signal receiving sensors 22, 23, 24, 25 are provided on the ground.
Step S101 is performed to control the signal transmitting sensor 12 on the vehicle to transmit a signal, preferably, the transmitted signal is an ultrasonic signal, the signal transmitting sensor 12 is an ultrasonic transmitting sensor, and the signal receiving sensors 22, 23, 24, 25 are ultrasonic receiving sensors. After the signal receiving sensor receives the transmitting signal sent by the signal transmitting sensor, the signal receiving sensor returns a receiving signal to the vehicle, and triggers step S102. The vehicle determines the distance of the signal transmitting sensor from each signal receiving sensor based on the received signals.
Specifically, as shown in fig. 3, a guiding and positioning system according to a preferred embodiment of the present invention is shown. The whole guiding and positioning system comprises a main control module 31, a transmitting module 32 and a receiving module 33, wherein the main control module comprises a USB communication function module 311, a main control circuit function module 312 and a wireless communication function module 313. The USB communication function module 311 is responsible for communicating with an external wireless charging controller through USB, receiving a positioning instruction and uploading positioning information. The main control circuit function block 312 is responsible for controlling the USB communication function block 311 and the wireless communication function block 313, and processing the calculated coordinate position. The wireless communication function module 313 is responsible for wireless communication with the transmitting module 32 and the receiving module 33, transmitting a synchronization instruction, a positioning instruction, and reception time difference information.
The transmission module 32 includes a wireless communication function module 321, a transmission control circuit function module 322, and an ultrasonic wave transmission function module 323. The wireless communication function module 321 performs wireless communication with the main control module 31, and receives a control instruction thereof. The ultrasonic wave emitting function module 323, i.e., a signal emitting sensor, is capable of generating a certain amount of ultrasonic waves of 40 kHz. The emission control circuit functional module 322 is responsible for controlling the wireless communication functional module 321 and the ultrasonic emission functional module 323, and after receiving the emission instruction of the main control module, the ultrasonic emission functional module 323 is controlled to emit ultrasonic waves.
The receiving module 33 includes a wireless communication function module 331, a reception control circuit function module 332, and 4 ultrasonic wave receiving function modules 333, 334, 335, 336. The wireless communication function module 331 performs wireless communication with the main control module 31, and uploads time difference information of the 4 ultrasonic wave receiving function modules 333, 334, 335, 336. The ultrasonic wave receiving function modules 333, 334, 335, 336 are signal receiving sensors capable of detecting ultrasonic signals and generating trigger signals. The reception control circuit function module 332 is responsible for controlling the wireless communication function module 331 and the 4 ultrasonic wave reception function modules 333, 334, 335, 336, and when receiving the trigger signal of the ultrasonic wave reception function module, calculates 4 time differences and uploads. The ultrasonic wave transmitted by the transmitting module 32 carries the transmission time of the ultrasonic wave. The reception control circuit function module 332 calculates the difference between the reception time of the received ultrasonic wave and the transmission time carried by the ultrasonic wave, resulting in a time difference for each of the ultrasonic wave reception function modules 333, 334, 335, 336.
When the time from the signal transmitting sensor to the signal receiving sensor is measured to be t (seconds) and the ultrasonic wave propagation speed is v (meters/second), the distance s=vt between the signal transmitting sensor and the signal receiving sensor. In the case of high accuracy, the ultrasonic propagation speed needs to be corrected in consideration of the influence of temperature on the ultrasonic propagation speed according to the following formula to reduce the error.
v＝331.4+0.607T；
Wherein T is the actual temperature unit of the ultrasonic wave, v is the propagation speed of the ultrasonic wave in the medium, and the unit is m/s.
Then, step S103 is performed, where the distance between the two signal receiving sensors and the signal transmitting sensor is selected to calculate the plane coordinates according to the triangle principle, so as to obtain the position of the signal transmitting sensor relative to the signal receiving sensor. As shown in fig. 4, the distance between the signal receiving sensors 22, 23 and the signal transmitting sensor 12 is selected to calculate the plane coordinates, the distance between the signal receiving sensor 22 and the signal transmitting sensor 12 is L1, and the distance between the signal receiving sensor 23 and the signal transmitting sensor 12 is L2, with the signal receiving sensor 22 as the coordinate reference point (0, 0). The coordinates (X, Y) of the signal transmitting sensor 12 satisfy the condition that the distance between the signal receiving sensor 22 and the signal receiving sensor 23 is aSolving the equation set results in coordinates (X1, Y1) of the signal emitting sensor 12.
In particular, since the signal receiving sensor is matched with the signal transmitting sensor, the position of the signal receiving sensor on the ground is fixed, so the signal receiving sensors are arranged betweenThe distance a is fixed. Meanwhile, the received signal returned by the signal receiving sensor also comprises the identification of the signal receiving sensor, so that the signal receiving sensor corresponding to each distance can be determined, and the coordinates of the signal transmitting sensor 12 can be calculated by adopting a corresponding formula. The ground coordinate system may be preset. As shown in fig. 2 and 7, when the signal receiving sensors 22, 23, 24, 25 are disposed near the bottom 201 of the parking space 2, the signal receiving sensor 22 is selected as the origin, the positive X-axis direction is selected to be directed from the signal receiving sensor 22 to the signal receiving sensor 25, and the positive Y-axis direction is selected to be directed from the bottom 201 of the parking space to the entrance 202 of the parking space, then the coordinates (X, Y) of the signal transmitting sensor 12 satisfy L1 2 ＝X 2 +Y 2 ，L2 2 ＝Y 2 +(A-X) 2 ，L3 2 ＝Y 2 +(2A-X) 2 ，L4 2 ＝Y 2 +(3A-X) 2 . Where L1 is the position distance between the signal receiving sensor 22 and the signal transmitting sensor 12, L2 is the position distance between the signal receiving sensor 23 and the signal transmitting sensor 12, L3 is the position distance between the signal receiving sensor 24 and the signal transmitting sensor 12, and L4 is the position distance between the signal receiving sensor 25 and the signal transmitting sensor 12. For the case where the vehicle 1 can only enter the parking space 2 from the entrance 202 of the parking space 2, Y may be defined to take a positive value.
And the relative positions of the wireless charging transmitting coil and the signal receiving sensor are fixed and known, so step S104 is performed to obtain the coordinates of the wireless charging transmitting coil on the ground coordinate system, i.e., the transmitting coil coordinates. And the signal emitting sensor is fixed to the vehicle body. Thus, step S105 may guide the vehicle to position such that the wireless charging transmitting coil is aligned with the wireless charging receiving coil based on the signal transmitting sensor coordinates and the transmitting coil coordinates.
According to the invention, the coordinates of the signal transmitting sensor in the ground coordinate system are determined as the coordinates of the signal transmitting sensor through the distance between the signal transmitting sensor and each signal receiving sensor, and the vehicle is guided and positioned according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and easy realization.
Example two
Fig. 5 is a workflow diagram of a wireless charging guiding and positioning method for an electric vehicle according to an embodiment of the invention, including:
step S501, controlling a signal transmitting sensor on the vehicle to transmit a signal, wherein the signal transmitting sensor has a fixed distance from a wireless charging receiving coil at the bottom of the vehicle.
Step S502, receiving the received signals returned by the plurality of signal receiving sensors located on the ground, and determining the distance between the signal transmitting sensor and each signal receiving sensor.
In step S503, the plurality of signal receiving sensors are located on the same straight line, the position of one of the signal receiving sensors is taken as the origin of the ground coordinate system, the straight line of the plurality of signal receiving sensors is taken as the first axis of the ground coordinate system, the straight line perpendicular to the first axis and passing through the origin is taken as the second axis of the ground coordinate system, the coordinates of each signal receiving sensor in the ground coordinate system are determined based on the distance between each signal receiving sensor and the origin, the distances between the plurality of signal transmitting sensors and the signal receiving sensors are combined two by two, the coordinate value to be calculated of each signal transmitting sensor in the ground coordinate system is determined based on the coordinate values to be calculated, and the coordinates of the signal transmitting sensor are determined based on the coordinate values to be calculated.
In one embodiment, the combining the distances between the plurality of signal emitting sensors and the signal receiving sensor in pairs, wherein each two distances determine a coordinate value to be calculated of the signal emitting sensor in the ground coordinate system, and the determining the coordinate of the signal emitting sensor based on the plurality of coordinate values to be calculated specifically includes:
selecting a minimum distance from the distances between the plurality of signal transmitting sensors and the signal receiving sensor as a reference distance, and selecting other distances except the reference distance as auxiliary distances;
and calculating the reference distance and each auxiliary distance respectively to obtain a plurality of coordinate values to be calculated of the signal transmitting sensor in the ground coordinate system, and calculating the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor.
In one embodiment, the calculating the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor specifically includes:
sorting a plurality of the auxiliary distances;
and determining the percentage weight of each coordinate value to be calculated, wherein the percentage weight of the coordinate values to be calculated, which are calculated by the shorter auxiliary distance, is larger than or equal to the percentage weight of the coordinate values to be calculated, which are calculated by the longer auxiliary distance, for the two coordinate values to be calculated.
Step S504, acquiring the coordinates of the transmitting coil of the wireless charging transmitting coil on the ground coordinate system.
And step S505, displaying a parking prompt according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
Specifically, steps S501 to S503 are performed to determine the signal transmission sensor coordinates. Wherein, a signal transmitting sensor and a signal receiving sensor can measure distance, but only one-dimensional space distance. Because the coordinates required for positioning are two-dimensional, the two-dimensional coordinates of the transmitting module can be calculated according to the triangle principle through the distance between one signal transmitting sensor and two signal receiving sensors. However, since the angle of the receiving probe is only 60 degrees, a plurality of signal receiving sensors are selected to reduce the blind area range. As shown in fig. 6, according to the whole vehicle width dimension: 1.6-1.8m, and a guiding positioning distance requirement (guiding distance >2 m), preferably 4 signal receiving sensors 22, 23, 24, 25 are selected for positioning guidance.
And combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, determining a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system every two distances, and determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated.
Specifically, the minimum distance is selected as a reference distance from among the distances between the plurality of signal transmitting sensors and the signal receiving sensor, and the other distances other than the reference distance are selected as auxiliary distances;
and calculating the reference distance and each auxiliary distance respectively to obtain a plurality of coordinate values to be calculated of the signal transmitting sensor in the ground coordinate system, and calculating the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor.
When the whole vehicle is guided and positioned, a proportional calculation method is adopted to calculate the coil position, for example, the position state of fig. 7, and the corresponding calculation process is as follows:
(1) The control module determines that the shortest distance corresponds to the signal receiving sensor (receiving radar) 22, and the position distance between the signal receiving sensor 22 and the signal transmitting sensor (transmitting radar) 12 is L1, where the L1 distance is the shortest, and L1 is the reference distance. The other signal receiving sensors 23, 24, 25 are located at distances L2, L3, L4 from the signal transmitting sensor 12, respectively, as auxiliary distances.
(2) Calculating the position of the signal emitting sensor by L1, L2, thereby fitting the first coordinate (X0, Y0) to be calculated of the signal emitting sensor 12;
(3) The same method calculates the second coordinate (X1, Y1) to be calculated and the third coordinate (X2, Y2) to be calculated of the signal transmitting sensor through L1, L3 and L1, L4;
(4) Since the shorter the distance is, the higher the module detection accuracy is, and detection errors exist in different radars, the signal transmitting sensor coordinates (X, Y) of the signal transmitting sensor 12 of the vehicle are obtained by adopting a proportional calculation method:
X＝X0*W0+X1*W1+X2*W2；
Y＝Y0*W0+Y1*W1+Y2*W2。
wherein, the shorter the auxiliary distance is, the larger the corresponding percentage weight is, and because the auxiliary distance L2< L3< L4 is, the corresponding weight W0 is more than or equal to W1 is more than or equal to W2. For example, w0=50%, w1=25%, w2=25%.
Then, step S504 acquires the coordinates of the wireless charging transmitting coil on the ground coordinate system as transmitting coil coordinates.
As shown in fig. 2, the wireless charging transmitting coil 21 is fixed on the ground with a fixed H2 distance from the center to the X axis of the ground coordinate system defined by the signal receiving sensor and a fixed W distance from the center to the Y axis. Therefore, the transmission coil coordinates of the wireless charging transmission coil 21 on the ground coordinate system are (W, H2). Since the signal transmitting sensor 12 is matched with the signal receiving sensors 22, 23, 24, 25 and the wireless charging transmitting coil 21 is fixed on the ground, specific values of W and H2 can be fixedly set in the vehicle, that is, the transmitting coil coordinates are held in the vehicle memory, so that the transmitting coil coordinates can be directly obtained.
Then, in step S505, a parking hint may be displayed based on the difference between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
Since the signal transmitting sensor 12 is fixed on the vehicle, the position of the signal transmitting sensor 12 can be set so that the line connecting the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 is parallel to the two side edges of the vehicle body. For example, the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 are both disposed on the center axis of the vehicle. The distance in the vehicle length direction between the signal transmitting sensor 12 and the center of the wireless charging receiving coil 11 is H1, so that the coordinates of the wireless charging receiving coil 11 can be calculated based on the signal transmitting sensor coordinates.
Since H1 is small, the coordinates of the signal transmitting sensor can be used as the coordinates of the wireless charging receiving coil 11 for simplifying the operation.
Specifically, since the distance H1 of the signal transmitting sensor 12 from the center of the receiving coil 11 is small, the coordinates of the signal transmitting sensor 12 can be regarded as the coordinates of the receiving coil 11. And the wireless charging transmitting coil 21 is fixed on the ground, and the transmitting coil coordinates of the wireless charging transmitting coil 21 on the ground coordinate system are (W, H2). When the coordinates of the signal transmitting sensor 12 are consistent with the coordinates of the transmitting coil, it is ensured that the wireless charging receiving coil 11 is aligned with the wireless charging transmitting coil 21, and a good charging effect is achieved.
In the guidance process of step S505, the signal emitting sensor coordinates (X, Y) are known from the detection and calculation results of the foregoing steps.
Meanwhile, the distance from the center point of the wireless charging reception coil 11 to the signal transmission sensor 12 is known to be H1, H1 is small, and therefore the signal transmission sensor coordinates (X, Y) can be adopted as the coordinates of the center of the wireless charging reception coil 11. Since the vertical distance between the center of the wireless charging transmitting coil 21 and the signal receiving sensor 22 is H2 and the horizontal distance is W, the coordinates of the transmitting coil of the center of the wireless charging transmitting coil 21 in the ground coordinate system are (W, H2), and the relative distance vector of the wireless charging receiving coil 21 to the wireless charging transmitting coil 11 is (X3, Y3) by the coordinate calculation.
Accordingly, if:
(1) x3 < 0, and Y3 > 0, the vehicle prompts the customer via DA: reversing and steering the wheel leftwards;
(2) x3 > 0, and Y3 > 0, the vehicle prompts the customer via DA: reversing and steering the wheel to the right;
(2) x3=0, and Y3 > 0, the vehicle prompts the customer via DA: reversing and correcting the steering wheel;
(2) x3=0, and y3=0, the vehicle prompts the customer via DA: the vehicle is positioned successfully, and the vehicle is parked to start charging;
alternatively, if Y3 < 0 is set, the DA prompts the customer to leave the parking space and guide the vehicle again.
In the embodiment, the weight calculation is performed based on the distances between the signal transmitting sensor and the plurality of signal receiving sensors, so that the coordinates of the signal transmitting sensor are determined, and the detection range is improved. Meanwhile, through parking prompts, the vehicle is guided, a driver is helped to align the wireless charging receiving coil with the wireless charging transmitting coil, and charging efficiency is improved.
In addition, the guidance of the vehicle may be achieved by automatic parking.
In one embodiment, the guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically includes:
and automatically parking the vehicle according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
Specifically, the steering of the vehicle is controlled by automatic parking, and the steering of the vehicle is controlled towards the coordinate direction of the transmitting coil, so that the coordinate of the signal transmitting sensor is consistent with the coordinate of the transmitting coil.
The embodiment is more convenient for controlling the vehicle through automatic parking.
In one embodiment, the method further comprises:
when the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil and the two sides of the vehicle are parallel to the two sides of the parking space, calculating the coordinates of the wireless charging receiving coil in the ground coordinate system according to the coordinates of the signal transmitting sensor to serve as the coordinates of the receiving coil;
and carrying out secondary guiding and positioning on the vehicle according to the receiving coil coordinates and the transmitting coil coordinates.
Preferably, the wireless charging transmitting coil 21 is located in the parking space 2. The signal receiving sensors 22, 23, 24, 25 are disposed near the bottom 201 of the parking space 2, and the wiring lines of the plurality of receiving sensors 22, 23, 24, 25 are parallel to the bottom 201 of the parking space 2. The signal receiving sensor 22 is selected as the origin, the positive X-axis direction is selected to be directed from the signal receiving sensor 22 to the signal receiving sensor 25, and the positive Y-axis direction is selected to be directed from the bottom 201 of the parking space to the entrance 202 of the parking space. Therefore, the Y-axis of the ground coordinate system is parallel to both sides of the parking space 2. The connection line between the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 is parallel to the two side edges of the vehicle body. The distance between the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 in the vehicle length direction is H1. Therefore, when the two sides of the vehicle 1 are parallel to the two sides of the parking space 2, the line connecting the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 is perpendicular to the X axis of the ground coordinate system, so that the coordinate of the center of the wireless charging receiving coil 11 on the X axis coincides with the coordinate of the signal transmitting sensor on the X axis, and the coordinate of the center of the wireless charging receiving coil 11 on the Y axis differs from the coordinate of the signal transmitting sensor on the Y axis by H1.
When the signal transmitting sensor coordinates coincide with the transmitting coil coordinates, the vehicle approaches the ground coil, at which time the center of the wireless charging receiving coil 11 and the center of the wireless charging transmitting coil 21 may be further aligned to improve the charging efficiency.
Specifically, the wireless charging transmitting coil 21 and the signal receiving sensor are set according to the position of the wireless charging receiving coil 11 of the vehicle, so as to facilitate calculation of the coordinates of the wireless charging receiving coil 11.
The specific calculation mode of the wireless charging receiving coil 11 is determined according to the predetermined positional relationship between the wireless charging receiving coil 11 and the signal transmitting sensor 12 and the predetermined positional relationship between the wireless charging transmitting coil 21 and the signal receiving sensor in the parking space.
For example, when the wireless charging receiving coil 11 is located at the rear end of the vehicle, the signal receiving sensor and the wireless charging transmitting coil 21 are disposed at the bottom 201 of the parking space 2, and the signal receiving sensor is closer to the bottom 201 of the parking space 2. The vehicle 1 will park into the parking space 2 by reversing. Therefore, if the signal transmitting sensor 12 is closer to the vehicle rear end than the wireless charging receiving coil 11, when both sides of the vehicle 1 are parallel to both sides of the parking space 2, the coordinates of the center of the wireless charging receiving coil 11 are calculated as (X, y+h1) from the coordinates (X, Y) of the signal transmitting sensor 12. If the wireless charging receiving coil 11 is closer to the rear end of the vehicle than the signal transmitting sensor 12, when both sides of the vehicle 1 are parallel to both sides of the parking space 2, the coordinates (X, Y) of the center of the wireless charging receiving coil 11 are calculated as (X, Y-H1) from the coordinates (X, Y) of the signal transmitting sensor 12.
The coordinates of the center of the wireless charging receiving coil 11 are taken as receiving coil coordinates, and then the vehicle is conducted secondary guiding and positioning according to the receiving coil coordinates and the transmitting coil coordinates. The secondary guiding and positioning mode is consistent with the guiding and positioning mode, namely a prompt mode can be adopted, and an automatic parking mode can be adopted, so that the coordinates of the receiving coil are consistent with those of the transmitting coil, and the center of the wireless charging receiving coil 11 is aligned with the center of the wireless charging transmitting coil 21, so that the charging efficiency is improved.
In another embodiment, when the signal transmitting sensor coordinates coincide with the transmitting coil coordinates, the vehicle approaches the ground coil, which can be achieved by small current coil detection through an additional short-range positioning system, and further the center of the wireless charging receiving coil 11 is aligned with the center of the wireless charging transmitting coil 21 through secondary guidance to improve charging efficiency.
As shown in fig. 8, which is a workflow diagram of a preferred embodiment of the present invention, using the system shown in fig. 3, the method comprises:
step S801, power on, initialize, USB initialize "flag=0or1";
step S802, after the initialization is successful, executing a synchronous instruction, and after counting down t0, executing step S803 if the transmitting end, namely the transmitting module, responds within t0 and the receiving end, namely the receiving module, responds within t 0;
step S803, the transmitting terminal is informed to start transmitting, after counting down t0 ms, if the transmitting terminal answers in t0, the time is delayed by t1, and step S804 is executed;
step S804, notifying the receiving end to transmit back time data, and after counting down t0 ms, if the receiving end replies in t0, executing step S805;
step S805, sequentially calculating the distance between a transmitting end and a receiving end, calculating the coordinates of a vehicle, and uploading positioning data;
step S806, if a stop instruction is received, stopping, otherwise executing step S802.
The guiding positioning of the embodiment adopts a multi-point positioning method based on ultrasonic waves, and has higher overall positioning precision and simple structure. The embodiment comprises a plurality of transmitting modules and receiving modules. The transmitting module is an ultrasonic transmitting radar and is positioned at the vehicle-mounted end, the receiving module is an ultrasonic receiving radar and is positioned at the ground end, and the distance between the transmitting module and each receiving module is measured through the transmission and the receiving of ultrasonic waves, so that the relative positions of the transmitting module and the receiving modules are calculated.
A specific timing diagram is shown in fig. 9.
Example III
Fig. 10 is a schematic diagram of a hardware structure of an electronic device according to the present invention, including:
at least one processor 1001; the method comprises the steps of,
a memory 1002 communicatively coupled to at least one of the processors 1001; wherein,
the memory 1002 stores instructions executable by at least one of the processors to enable the at least one processor to perform the electric vehicle wireless charging guidance positioning method as described above.
One processor 1001 is illustrated in fig. 10.
The electronic device may further include: an input device 1003 and a display device 1004.
The processor 1001, memory 1002, input device 1003, and display device 1004 may be connected by a bus or other means, the connection being illustrated as a bus.
The memory 1002 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the wireless charging guidance positioning method of an electric vehicle in the embodiment of the application, for example, a method flow shown in fig. 1. The processor 1001 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 1002, that is, implements the wireless charging guidance positioning method for an electric vehicle in the above-described embodiment.
Memory 1002 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the electric vehicle wireless charging guidance positioning method, and the like. In addition, memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1002 may optionally include memory remotely located with respect to the processor 1001, which may be connected via a network to a device performing the electric vehicle wireless charging guidance positioning method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 1003 may receive input user clicks and generate signal inputs related to user settings and function controls of the electric car wireless charging guidance positioning method. The display 1004 may include a display device such as a display screen.
The wireless charging guidance positioning method of the electric vehicle in any of the above-described method embodiments is performed when the one or more modules are stored in the memory 1002 and executed by the one or more processors 1001.
According to the invention, the coordinates of the signal transmitting sensor in the ground coordinate system are determined as the coordinates of the signal transmitting sensor through the distance between the signal transmitting sensor and each signal receiving sensor, and the vehicle is guided and positioned according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and easy realization.
An embodiment of the present invention provides a storage medium storing computer instructions that, when executed by a computer, perform all the steps of the wireless charging guidance positioning method for an electric vehicle as described above.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (7)

1. The wireless charging guiding and positioning method for the electric automobile is characterized by comprising the following steps of:
controlling a signal transmitting sensor on the vehicle to transmit signals, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle;
receiving received signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor;
according to the distance between the signal transmitting sensor and each signal receiving sensor, determining the coordinates of the signal transmitting sensor in a ground coordinate system as the coordinates of the signal transmitting sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors;
acquiring the coordinates of a transmitting coil of a wireless charging transmitting coil positioned on the ground coordinate system;
guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil;
the signal receiving sensors are positioned on the same straight line, the position of one signal receiving sensor is taken as the origin of the ground coordinate system, the straight line of the signal receiving sensors is taken as a first axis of the ground coordinate system, the straight line which is perpendicular to the first axis and passes through the origin is taken as a second axis of the ground coordinate system, and the coordinates of each signal receiving sensor in the ground coordinate system are determined based on the distance between each signal receiving sensor and the origin;
the method for determining the coordinates of the signal transmitting sensor in the ground coordinate system as the coordinates of the signal transmitting sensor according to the distance between the signal transmitting sensor and each signal receiving sensor specifically comprises the following steps:
the distances between the signal transmitting sensors and the signal receiving sensors are combined in pairs, each two distances determine a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system, and the coordinates of the signal transmitting sensors are determined based on the coordinate values to be calculated;
the method for determining the coordinate value to be calculated of the signal transmitting sensor in the ground coordinate system based on the distance between the signal transmitting sensors and the signal receiving sensors comprises the following steps:
selecting a minimum distance from the distances between the plurality of signal transmitting sensors and the signal receiving sensor as a reference distance, and selecting other distances except the reference distance as auxiliary distances;
and calculating the reference distance and each auxiliary distance respectively to obtain a plurality of coordinate values to be calculated of the signal transmitting sensor in the ground coordinate system, and calculating the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor.
2. The method for wireless charging guiding and positioning of an electric vehicle according to claim 1, wherein the calculating of the weighted values of the coordinate values to be calculated to obtain the coordinates of the signal transmitting sensor specifically comprises:
sorting a plurality of the auxiliary distances;
and determining the percentage weight of each coordinate value to be calculated, wherein the percentage weight of the coordinate values to be calculated, which are calculated by the shorter auxiliary distance, is larger than or equal to the percentage weight of the coordinate values to be calculated, which are calculated by the longer auxiliary distance, for the two coordinate values to be calculated.
3. The method for guiding and positioning the wireless charging of the electric automobile according to claim 1, wherein the guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically comprises:
and displaying a parking prompt according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
4. The method for guiding and positioning the wireless charging of the electric automobile according to claim 1, wherein the guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically comprises:
and automatically parking the vehicle according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
5. The wireless charging guide positioning method of an electric vehicle according to claim 3 or 4, further comprising:
when the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil and the two sides of the vehicle are parallel to the two sides of the parking space, calculating the coordinates of the wireless charging receiving coil in the ground coordinate system according to the coordinates of the signal transmitting sensor to serve as the coordinates of the receiving coil;
and carrying out secondary guiding and positioning on the vehicle according to the receiving coil coordinates and the transmitting coil coordinates.
6. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the electric vehicle wireless charging guidance positioning method of any one of claims 1 to 5.
7. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out all the steps of the method for wireless charging guidance positioning of an electric vehicle according to any one of claims 1 to 5.
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