CN115354938B - Vehicle charging port opening and closing control method, device and computer readable storage medium - Google Patents

Vehicle charging port opening and closing control method, device and computer readable storage medium Download PDF

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Publication number
CN115354938B
CN115354938B CN202210988825.3A CN202210988825A CN115354938B CN 115354938 B CN115354938 B CN 115354938B CN 202210988825 A CN202210988825 A CN 202210988825A CN 115354938 B CN115354938 B CN 115354938B
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point
target vehicle
charging
charging facility
information
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CN115354938A (en
Inventor
徐现昭
曹杰葳
郝俊杰
赖健明
刘伟
郭宇健
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • 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
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • 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

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The application relates to a vehicle charging port opening and closing control method, a vehicle charging port opening and closing control device and a computer readable storage medium. The method comprises the following steps: positioning a target vehicle and acquiring position information of the target vehicle; searching charging facility point information and/or wading point information in a preset range of the target vehicle based on the interest point information and the position information of the target vehicle; if wading points exist in the preset range of the target vehicle and no charging facility points exist, disabling a visual opening function of the charging port; if the charging facility point exists in the preset range of the target vehicle, the charging port visual opening function is used according to the attribute of the charging facility point. The scheme provided by the application can reduce the risk of the wrong opening of the charging port.

Description

Vehicle charging port opening and closing control method, device and computer readable storage medium
Technical Field
The present application relates to the field of autopilot, and more particularly, to a vehicle charging port opening and closing control method, apparatus, and computer-readable storage medium.
Background
The vehicle charging port is an interface for receiving an electric energy supply end such as a charging station and charging the vehicle, and is generally opened only when charging is needed, and the vehicle is in a closed state after charging is finished. In the existing vehicle charging port opening and closing control method, an image of a related tool is collected mainly through a vision device (for example, a camera) of a vision algorithm system, then the collected tool is identified, for example, if the tool is identified as a charging gun, the vehicle charging port is automatically opened.
However, the above-described identification of the charging gun by visual means alone, to determine whether to open the charging port of the vehicle, is often inaccurate because some tools, such as a car wash gun, are more similar to the charging gun. Once the vision algorithm system erroneously identifies the car washing water gun collected by the vision equipment as a charging gun, after a charging port of a vehicle is opened, liquid used for washing the car easily enters the charging port, and related parts of the vehicle are damaged.
Disclosure of Invention
To solve or partially solve the problems in the related art, the present application provides a method, an apparatus, and a computer-readable storage medium for controlling opening and closing of a charging port of a vehicle, which can reduce the risk of incorrect opening of the charging port.
The first aspect of the present application provides a vehicle charging port opening and closing control method, comprising:
positioning a target vehicle and acquiring position information of the target vehicle;
searching charging facility point information and/or wading point information in a preset range of the target vehicle based on the interest point information and the position information of the target vehicle;
If wading points exist in the preset range of the target vehicle and no charging facility point exists, disabling a visual opening function of a charging port;
and if the charging facility point exists in the preset range of the target vehicle, using a charging port visual opening function according to the attribute of the charging facility point.
A second aspect of the present application provides a vehicle charging port opening/closing control device including:
the acquisition module is used for positioning a target vehicle and acquiring the position information of the target vehicle;
the searching module is used for searching charging facility point information and/or wading point information in a preset range of the target vehicle based on the interest point information and the position information of the target vehicle;
The first control module is used for disabling the visual opening function of the charging port if the wading point exists in the preset range of the target vehicle and the charging facility point does not exist;
and the second control module is used for using a charging port visual opening function according to the attribute of the charging facility point if the charging facility point exists in the preset range of the target vehicle.
A third aspect of the present application provides an electronic apparatus, comprising:
a processor; and
A memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the application provides a computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
According to the technical scheme provided by the application, the charging port visual opening function is directly disabled when the wading point exists in the preset range of the target vehicle and the charging facility point does not exist, and the charging port visual opening function is used according to the attribute of the charging facility point when the charging facility point exists in the preset range of the target vehicle based on the interest point information and the position information of the target vehicle. Compared with the prior art which simply relies on the misoperation possibly caused by the image acquired by the visual equipment, the technical scheme of the application fuses the information of the electric facility points and the geographic information of the wading points, thereby avoiding the misoperation of opening the charging port caused by inaccurate visual identification and reducing the risk of damaging vehicle devices caused by liquid entering the charging port.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flow chart of a method for controlling opening and closing of a charging port of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a charging facility operation property of a charging facility point and a limitation degree of using a charging port visual opening function according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a vehicle charging port opening and closing control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The vehicle charging port is an interface for receiving an electric energy supply end such as a charging station and charging the vehicle, and is generally opened only when charging is needed, and the vehicle is in a closed state after charging is finished. In the existing vehicle charging port opening and closing control method, an image of a related tool is collected mainly through a vision device (for example, a camera) of a vision algorithm system, then the collected tool is identified, for example, if the tool is identified as a charging gun, the vehicle charging port is automatically opened. However, the above-described identification of the charging gun by visual means alone, to determine whether to open the charging port of the vehicle, is often inaccurate because some tools, such as a car wash gun, are more similar to the charging gun. Once the vision algorithm system erroneously identifies the car washing water gun collected by the vision equipment as a charging gun, after a charging port of a vehicle is opened, liquid used for washing the car easily enters the charging port, and related parts of the vehicle are damaged.
In view of the above problems, embodiments of the present application provide a vehicle charging port opening and closing control method, which can reduce the risk of incorrect opening of a charging port.
The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a vehicle charging port opening and closing control method according to an embodiment of the present application mainly includes steps S101 to S104, and is described as follows:
Step S101: and positioning the target vehicle and acquiring the position information of the target vehicle.
In an embodiment of the present application, the target vehicle is a vehicle with a charging port having a visual opening function (i.e., charging port visual opening function). The charging port has a visual opening function, and is automatically opened when a person is identified to hold the charging gun based on images acquired by visual equipment such as a depth camera and a binocular camera of the vehicle when the vehicle is located at a charging facility point. Since the charging facility point information and/or wading point information in the preset range of the target vehicle needs to be searched based on the position information of the target vehicle, the target vehicle needs to be positioned, and the position information of the target vehicle needs to be acquired.
In general, the positioning of the vehicle can be performed based on satellite navigation systems such as a global positioning system (Global Positioning System, GPS) and a beidou system, however, in some cases, the signal quality of the satellite navigation system is poor, so that the positioning of the vehicle is inaccurate, and the positioning method with higher precision is adopted in the embodiment of the application, so that the positioning method with higher precision can be adopted based on the satellite navigation system or signals, motion sensors such as an Inertial Measurement Unit (IMU) and the like carried by the target vehicle, vision sensors such as various cameras and laser sensors such as a laser radar and the like. Specifically, as one embodiment of the present application, locating the target vehicle, acquiring the position information of the target vehicle may be achieved through steps S1011 to S1014, which are described in detail below:
Step S1011: the method comprises the steps of obtaining the current approximate position of a target vehicle, and determining first map semantic information and first geographic information corresponding to a first preset range of the approximate position according to the current approximate position of the target vehicle.
In the embodiment of the present application, the current approximate position of the target vehicle may be a position obtained by a satellite navigation system such as GPS, a positioning device such as an inertial measurement unit (Inertial Measurement Unit, IMU) mounted on the vehicle, or a position directly input by a user. For a variety of reasons, the current location of the target vehicle acquired by these devices or systems is not accurate and is therefore referred to as the approximate location.
As for the first map semantic information and the first geographic information corresponding to the first preset range of the approximate position according to the approximate position where the target vehicle is currently located, the following may be specifically: determining an initial search space according to the current approximate position of the target vehicle and an error range corresponding to the type of the current approximate position of the target vehicle; and setting an optional position in the initial search space at each set distance, extracting map information of each optional position from a map, and constructing a local semantic information map corresponding to the final search space based on the extracted map information, wherein the local semantic information map comprises map semantic information and geographic information near the optional position, and the map semantic information and the geographic information can be respectively used as first map semantic information and first geographic information corresponding to a first preset range of the current approximate position of the target vehicle.
Step S1012: and acquiring second map semantic information and second geographic information corresponding to a second preset range of the current approximate position of the target vehicle.
In the embodiment of the application, the target vehicle can be provided with the visual sensor such as the depth camera and the binocular camera and the laser sensor such as the laser radar and the millimeter wave radar, so that the implementation of the step S1012 can be realized by acquiring the sensing data acquired by the sensor carried by the target vehicle, extracting the semantic information of the sensing data, and obtaining the semantic information map actually observed in a second preset range of the current approximate position of the target vehicle, wherein the semantic information map comprises second map semantic information and second geographic information.
Step S1013: and matching the first map semantic information and the first geographic information with the second map semantic information and the second geographic information respectively to obtain selectable positions in a first preset range, and third map semantic information and third geographic information adjacent to the selectable positions.
As described above, when determining the first map semantic information and the first geographic information corresponding to the first preset range of the approximate location according to the approximate location where the target vehicle is currently located, in the initial search space, one optional location is set every set distance, and the map information of each optional location is extracted from the map, so the implementation of step S1013 may be: aligning semantic information in the local semantic information map of the optional position with second map semantic information according to the category of the semantic information; judging whether errors of semantic information in the local semantic information map and second map semantic information are within an allowable range or not according to the alignment result; and if the errors of the semantic information in the local semantic information map and the second map semantic information are in the allowable range, taking the corresponding optional position as the position information of the target vehicle, and taking the local map semantic information and the geographic information adjacent to the corresponding optional position as the third map semantic information and the third geographic information adjacent to the optional position. It should be noted that, in the above embodiment, the alignment of semantic information is mainly aimed at establishing an accurate correspondence between images of similar or identical targets, that is, a point-to-point feature matching relationship between similar or identical targets in different images, and the process is called alignment of semantic information of images, which can generally analyze and quantify the similarity between features by using the feature information of images on the premise that the content information of the images is identical or similar, so as to determine the matching relationship of feature points on similar targets in the images.
Step S1014: and matching the third map semantic information and the third geographic information with the second map semantic information and the second geographic information respectively, and determining the position information of the target vehicle.
In the embodiment of the present application, the process or method for matching the third map semantic information and the third geographic information with the second map semantic information and the second geographic information respectively is substantially the same as that of the previous embodiment, and the description of the previous embodiment will be omitted herein.
As another embodiment of the present application, for locating the target vehicle, the acquisition of the position information of the target vehicle may be achieved through steps S '1011 to S'1013, which are described in detail as follows:
Step S'1011: the quality of the current satellite navigation signal of the target vehicle is determined.
Similar to the previous embodiments, the satellite navigation signals herein refer to signals of a GPS, beidou navigation system. The quality of satellite navigation signals can be measured in terms of the number of searches in one or several positioning cycles. If the number of the satellites searched in one or more positioning periods is larger than a preset threshold value and the positioning error is within the preset threshold value error, determining that the quality of the current satellite navigation signal of the target vehicle is not lower than a preset signal quality threshold value, otherwise, determining that the quality of the current satellite navigation signal of the target vehicle is lower than the preset signal quality threshold value.
Step S'1012: and if the quality of the current satellite navigation signal of the target vehicle is not lower than the preset signal quality threshold, determining the vehicle position data positioned based on the current satellite navigation signal as the position information of the target vehicle.
If the quality of the current satellite navigation signal of the target vehicle is not lower than the preset signal quality threshold value, the current satellite navigation signal of the target vehicle is still available, and the vehicle position data positioned based on the current satellite navigation signal can be directly determined as the position information of the target vehicle.
Step S'1013: if the quality of the current satellite navigation signal of the target vehicle is lower than a preset signal quality threshold, selecting a target positioning point from a preset running distance range which is recently run, and determining the position information of the target vehicle based on the target positioning point and each target positioning algorithm in at least one target positioning algorithm.
If the quality of the current satellite navigation signal of the target vehicle is lower than the preset signal quality threshold, the current satellite navigation signal of the target vehicle is not available, and the vehicle position data positioned based on the current satellite navigation signal is used as the position information of the target vehicle, so that a larger positioning error is brought, and other positioning methods should be used. In the embodiment of the application, a target positioning point can be selected from a preset running distance range of the latest running, and target vehicle information is determined based on the target positioning point and each target positioning algorithm in at least one target positioning algorithm, wherein the target positioning algorithm can acquire the position information of the target vehicle based on data acquired by motion sensors such as an IMU (inertial measurement unit) and a wheel type odometer carried by the target vehicle, and can acquire the position information of the target vehicle based on data acquired by visual sensors such as a motion sensor and a binocular camera carried by the target vehicle and fused with the data of the two sensors. For example, the position of the target vehicle may be obtained by each target positioning algorithm, the algorithm positioning error of the position may be determined according to the error curve corresponding to each target positioning algorithm and the target driving distance, and the position with the minimum algorithm positioning error may be used as the position information of the target vehicle, where the error curve corresponding to each target positioning algorithm is a curve corresponding to each target positioning algorithm generated according to the mapping relationship between the positioning error and the driving distance of each target positioning algorithm.
Step S102: and searching charging facility point information and/or wading point information in a preset range of the target vehicle based on the interest point information and the position information of the target vehicle.
The point of interest (Point Of Interesting, POI) information refers to information on any non-geographic points on a map, such as shops, bars, charging stations, hospitals, car washes, villages, and the like, for example, data such as category, name, address, longitude and latitude to which the non-geographic points belong. In other words, a POI information generally includes elements such as category, name, address, longitude and latitude of the POI. As a real world mirror image established by the internet, the information elements of the POI in practical application are much more than the four elements, for example, a restaurant, and the information can include dynamic information such as restaurant types, restaurant names, addresses, longitude and latitude, pictures, videos, business hours, dining products, notices and the like. Although the POI has no meaning in geography, the POI has other meanings, for example, in the case that the user knows inaccurate information about the geographic position and the surrounding, the POI is connected with points with meaning in geography, and the next behavior can be converted. In the embodiment of the application, charging facility point information and/or wading point information in a preset range of a target vehicle can be searched based on a POI information platform provided by a third party and combined with the position information of the target vehicle obtained by positioning the target vehicle, wherein the charging facility point can be a charging station or a charging pile for providing electric energy for a pure electric vehicle or a hybrid electric vehicle, and the wading point can be a place for providing vehicle washing service for a vehicle owner, such as a vehicle washing shop or a vehicle washing place.
Step S103: and if the wading point exists in the preset range of the target vehicle and the charging facility point does not exist, disabling the visual opening function of the charging port.
If the wading points exist in the preset range of the target vehicle but the charging facility points do not exist based on the interest point information and the position information of the target vehicle, the fact that the charging service cannot be provided for the target vehicle is indicated, which means that the charging port does not need to be opened, and therefore the visual opening function of the charging port is directly disabled.
Step S104: if the charging facility point exists in the preset range of the target vehicle, the charging port visual opening function is used according to the attribute of the charging facility point.
If the charging facility point exists in the preset range of the target vehicle, the charging facility point exists in the preset range of the target vehicle but the wading point does not exist in the preset range of the target vehicle, and the charging facility point and the wading point exist in the preset range of the target vehicle in the other case. For the first case, the attribute of the charging facility point relates to the charging facility operation property of the charging facility point, for example, whether it is self-owned or allied, cooperative or other operation property, and for the second case, the attribute of the charging facility point relates to the position of the charging facility point relative to the wading point or the distance between the charging facility point and the wading point, the following describes the technical scheme of using the charging port visual opening function according to the attribute of the charging facility point in the two cases, respectively.
As an embodiment of the present application, if a charging facility point exists in a preset range of the target vehicle, the visual opening function of the charging port may be used according to the attribute of the charging facility point: if the charging facility point exists in the preset range of the target vehicle and the wading point does not exist, acquiring the charging facility operation property of the charging facility point; the charging port vision opening function is used limitedly according to the charging facility operation property of the charging facility point, the number of charging devices and the distance between the charging facility point and the target vehicle. In the above embodiments, the charging facility operational property of the charging facility point includes that the charging facility is self-owned, affiliated, cooperative or otherwise operated. Considering the operational nature, the charging facility is a self-owned charging facility point, the related information such as the charging station number, longitude, latitude, the number of charging piles and the like is the most transparent, and the allied operation mode is closer to self-owned than the cooperative operation mode, so the charging facility is a self-owned charging facility point, the related information is more transparent than the related information of the cooperative charging facility point, and the charging facility is a charging facility point with other properties, and the related information such as the charging station number, longitude, latitude, the number of charging piles and the like is the most opaque relative to the charging facility points with other three operational properties. The transparency of the relevant information of the charging facility point is considered from the viewpoint of the transparency of the relevant information of the charging facility point based on the charging facility point where the charging facility is a self-contained property, and the further the charging facility operation property deviates from the self-contained property, the lower the transparency of the relevant information thereof.
Because the transparency of the related information of the charging facility points with different operation properties is different, after the operation properties of the charging facility points are obtained, the visual opening function of the charging port needs to be used limitedly by adopting different schemes according to the operation properties of the charging facility points, the number of the charging devices and the distance between the charging facility points and the target vehicle. Specifically, the charging port visual opening function can be used according to the principle that the more the operation property of the charging facility deviates from the self-operating property, the more the limiting degree is strict; when the operation property of the charging facility point is determined, the quantity of the charging devices of the charging facility point is inspected; if the number of charging devices at the charging facility point is larger, the charging port visual opening function may be used as the distance between the charging facility point and the target vehicle is longer. As shown in fig. 2, a curve of the charging facility operation property of the charging facility point and the degree of restriction using the charging port visual opening function is shown, wherein the horizontal axis represents the charging facility operation property of the charging facility point, the vertical axis represents the degree of restriction using the charging port visual opening function, the positive direction (arrow direction) of the horizontal axis represents the degree of deviation of the charging facility operation property from the self-operating property, and the positive direction (arrow direction) of the vertical axis represents the degree of restriction. As can be seen from fig. 2, the more the charging facility operation property of the charging facility point deviates from the self-owned property, the more the limitation degree of using the charging port visual opening function is strict, for example, when the number of charging devices is the same, the charging facility point having the charging facility of the allied property is required to be closer to the target vehicle than the charging facility point having the self-owned property is to the target vehicle, so that the charging port visual opening function can be used; or conversely, in the case of the same distance from the target vehicle, the number of charging facility point charging devices requiring the charging facility to be of the allied nature is larger than the number of charging facility point charging devices requiring the charging facility to be of the self-owned nature to use the charging port visual opening function, and so on.
On the other hand, when the charging facility operation property of the charging facility point has been determined, the greater the number of charging devices at the charging facility point, the more relaxed the degree of restriction on the use of the charging port visual opening function, and the greater the number of charging devices that are embodied at the charging facility point, the more the charging port visual opening function can be used as the distance between the charging facility point and the target vehicle is greater. For example, when the charging facility operation property of the charging facility point is self-maintenance, if the charging devices (including the ac charging device and the dc charging device) are within 5, the charging facility point is within 50 meters from the target vehicle, and the charging port visual opening function can be used; if the number of the charging devices is between 5 and 10, the charging facility point and the distance between the charging facility point and the target vehicle is within 80 meters, and a charging port visual opening function can be used; if the charging devices are between 10 and 20, the charging facility point is further from the target vehicle, for example, the charging port visual opening function can be used within 100 meters, and the like.
As another embodiment of the present application, if there is a charging facility point in the preset range of the target vehicle, the visual opening function of the charging port may be further used according to the attribute of the charging facility point: if the charging facility point exists in the preset range of the target vehicle and the wading point exists, determining whether the distance between the charging facility point and the wading point exceeds a preset distance; if the distance between the charging facility point and the wading point does not exceed the preset distance, the charging port visual opening function is completely limited. If the distance between the charging facility point and the wading point does not exceed the preset distance, the fact that the distance between the charging facility point and the wading point is too small indicates that the visual opening function of the charging port may be used, when the target vehicle drives to the wading point such as a car wash or a worker at the wading point holds the car wash, the worker is mistakenly considered to hold the car wash, the charging gun is used for opening the charging port, and therefore devices of the target vehicle are damaged due to water inflow. Therefore, in the embodiment of the application, if the distance between the charging facility point and the wading point does not exceed the preset distance, the charging port visual opening function is completely limited to be used, i.e. the charging port visual opening function is directly prohibited to be used.
In the above embodiment, on the premise that a charging facility point exists in a preset range of the target vehicle and a wading point exists, if a preset distance between the charging facility point and the wading point is exceeded, environmental features of an environment in which the target vehicle is currently located are vectorized; determining whether the current position of the target vehicle is a charging facility point according to the vectorized environmental characteristics; and if the current position of the target vehicle is a charging facility point, allowing the charging port visual opening function to be used, otherwise, disabling the charging port visual opening function. Specifically, the application can collect environmental images through a vision sensor carried by a target vehicle, then, an algorithm unit extracts the characteristics of multiple dimensions of the environmental images, including extracting the environmental characteristics of tools (including a car wash gun or a charging gun) operated by a worker, clothes, propaganda banners of the worker, substances in the environment, main equipment in the environment and the like, vectorizing the environmental characteristics, namely, the environmental characteristics are taken as elements in vectors to form characteristic vectors, finally, the characteristic vectors are compared with two template vectors (one template vector is a car wash point template vector obtained through the environmental characteristics extracted from a charging facility point, and the other template vector is a car wash point template vector obtained through the environmental characteristics extracted from a wading point), if the characteristic vectors are more similar to the charging point template vector, the current position of the target vehicle is determined to be the charging facility point, and a charging port vision opening function can be used, otherwise, if the characteristic vectors are more similar to the car wash point template vector, the current position of the target vehicle is determined to be the wading point, and the charging port vision opening function is disabled. Compared with the prior art, the method is different from the prior art that the misidentification is easily caused only by identifying whether a vehicle washing water gun or a charging gun is operated by a worker, and because the method determines whether the current position of the target vehicle is a charging facility point or a wading point by extracting the characteristics of multiple dimensions of the environment image, the method can accurately identify whether the current position of the target vehicle is the charging facility point or the wading point, thereby correspondingly determining whether to use a charging port visual opening function or disable the charging port visual opening function.
As can be seen from the above-mentioned control method for opening and closing a charging port of a vehicle illustrated in fig. 1, the technical solution of the present application is to directly disable the visual opening function of the charging port when there is a wading point in a preset range of a target vehicle and there is no charging facility point, and use the visual opening function of the charging port according to the attribute of the charging facility point when there is the charging facility point in the preset range of the target vehicle, based on the point of interest information and the position information of the target vehicle. Compared with the prior art which simply relies on the misoperation possibly caused by the image acquired by the visual equipment, the technical scheme of the application fuses the charging facility point information and the geographic information of the wading point, thereby avoiding the misoperation of opening the charging port caused by inaccurate visual identification and reducing the risk of damaging vehicle devices caused by liquid entering the charging port.
Referring to fig. 3, a schematic diagram of a vehicle charging port opening/closing control apparatus according to an embodiment of the present application is shown. For convenience of explanation, only portions relevant to the embodiments of the present application are shown. The vehicle charging port opening and closing control apparatus illustrated in fig. 3 mainly includes an acquisition module 301, a search module 302, a first control module 303, and a second control module 304, wherein:
An obtaining module 301, configured to locate a target vehicle, and obtain location information of the target vehicle;
the searching module 302 is configured to search charging facility point information and/or wading point information within a preset range of the target vehicle based on the point of interest information and the position information of the target vehicle;
The first control module 303 is configured to disable a charging port visual opening function if a wading point exists in a preset range of the target vehicle and no charging facility point exists;
The second control module 304 is configured to use the charging port visual opening function according to the attribute of the charging facility point if the charging facility point exists in the preset range of the target vehicle.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
As can be seen from the vehicle charging port opening and closing control device illustrated in fig. 3, the technical solution of the present application is to directly disable the charging port visual opening function when there is a wading point in the preset range of the target vehicle and there is no charging facility point, and use the charging port visual opening function according to the attribute of the charging facility point when there is the charging facility point in the preset range of the target vehicle, based on the point of interest information and the position information of the target vehicle. Compared with the prior art which simply relies on the misoperation possibly caused by the image acquired by the visual equipment, the technical scheme of the application fuses the charging facility point information and the geographic information of the wading point, thereby avoiding the misoperation of opening the charging port caused by inaccurate visual identification and reducing the risk of damaging vehicle devices caused by liquid entering the charging port.
Alternatively, the acquisition module 301 illustrated in fig. 3 may include a first determination unit, an information acquisition unit, a matching unit, and a second determination unit, where:
The first determining unit is used for obtaining the approximate position of the target vehicle at present and determining first map semantic information and first geographic information corresponding to a first preset range of the approximate position according to the approximate position;
The information acquisition unit is used for acquiring second map semantic information and second geographic information corresponding to a second preset range of the current approximate position of the target vehicle;
the matching unit is used for respectively matching the first map semantic information and the first geographic information with the second map semantic information and the second geographic information to obtain selectable positions in a first preset range and third map semantic information and third geographic information adjacent to the selectable positions;
And the second determining unit is used for respectively matching the third map semantic information and the third geographic information with the second map semantic information and the second geographic information to determine the position information of the target vehicle.
Optionally, the matching unit may include an alignment unit, a third determining unit, and a fourth determining unit, where:
The alignment unit is used for aligning the semantic information in the local semantic information map of the optional position in the first preset range with the second map semantic information according to the category of the semantic information;
a third determining unit, configured to determine, according to the alignment result, whether an error between the semantic information in the local semantic information map and the semantic information of the second map is within an allowable range;
And a fourth determining unit, configured to take the corresponding optional position as the position information of the target vehicle, and take the local map semantic information and the geographic information adjacent to the corresponding optional position as the third map semantic information and the third geographic information adjacent to the optional position if the errors of the semantic information in the local semantic information map and the second map semantic information are within the allowable range.
Optionally, the acquisition module 301 illustrated in fig. 3 may include a fifth determination unit, a sixth determination unit, and a seventh determination unit, where:
a fifth determining unit for determining the quality of the current satellite navigation signal of the target vehicle;
A sixth determining unit, configured to determine vehicle position data located based on the current satellite navigation signal as position information of the target vehicle if the quality of the current satellite navigation signal of the target vehicle is not lower than a preset signal quality threshold;
And a seventh determining unit, configured to select a target positioning point from a preset driving distance range that is recently driven if the quality of the current satellite navigation signal of the target vehicle is lower than a preset signal quality threshold, and determine the location information of the target vehicle based on the target positioning point and each of at least one target positioning algorithm.
Optionally, the second control module 304 illustrated in fig. 3 may include an operation property acquisition unit and a limited use unit, wherein:
An operation property obtaining unit, configured to obtain an operation property of a charging facility at a charging facility point if the charging facility point exists in a preset range of the target vehicle and the wading point does not exist;
and the limited use unit is used for limitedly using the visual opening function of the charging port according to the operation property of the charging facility at the charging facility point, the quantity of the charging devices and the distance between the charging facility point and the target vehicle.
Alternatively, the limited-use unit of the above example may include a first limiting unit, a number determining unit, and an eighth determining unit, wherein:
The first limiting unit is used for using a charging port visual opening function according to the principle that the more the operation property of the charging facility deviates from the self-operating property, the more the limiting degree is strict;
a number determination unit for examining the number of charging devices at the charging facility point when the charging facility operation property at the charging facility point has been determined;
And an eighth determination unit for using the charging port visual opening function as the distance between the charging facility point and the target vehicle is longer, if the number of charging devices at the charging facility point is larger.
Optionally, the second control module 304 illustrated in fig. 3 may include a ninth determining unit and a second limiting unit, where:
A ninth determining unit, configured to determine whether a preset distance is exceeded between the charging facility point and the wading point if the charging facility point exists in the preset range of the target vehicle and the wading point exists;
And the second limiting unit is used for completely limiting the use of the visual opening function of the charging port if the distance between the charging facility point and the wading point does not exceed the preset distance.
Optionally, the apparatus illustrated in fig. 3 may further include a vectoring module, a charging facility point determination module, and a third control module, wherein:
The vectorization module is used for vectorizing the environmental characteristics of the current environment of the target vehicle if the distance between the charging facility point and the wading point exceeds a preset distance;
The charging facility point determining module is used for determining whether the current position of the target vehicle is a charging facility point according to the vectorized environmental characteristics;
and the third control module is used for allowing the charging port visual opening function to be used if the current position of the target vehicle is a charging facility point, and otherwise, disabling the charging port visual opening function.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 4, an electronic device 400 includes a memory 410 and a processor 420.
The Processor 420 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 410 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 420 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 410 may include any combination of computer-readable storage media including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some implementations, memory 410 may include readable and/or writable removable storage devices such as Compact Discs (CDs), digital versatile discs (e.g., DVD-ROMs, dual layer DVD-ROMs), blu-ray discs read only, super-density discs, flash memory cards (e.g., SD cards, min SD cards, micro-SD cards, etc.), magnetic floppy disks, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 410 has stored thereon executable code that, when processed by the processor 420, can cause the processor 420 to perform some or all of the methods described above.
Furthermore, the method according to the application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the application.
Or the application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform some or all of the steps of the above-described method according to the application.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (11)

1. A vehicle charging port opening and closing control method, characterized by comprising:
positioning a target vehicle and acquiring position information of the target vehicle;
Searching charging facility point information and/or wading point information in a preset range of the target vehicle based on the interest point information and the position information of the target vehicle, wherein the interest point information comprises category, name, address and longitude and latitude data information of points in a non-geographic sense on a map;
if wading points exist in the preset range of the target vehicle and no charging facility point exists, disabling a visual opening function of a charging port, wherein the wading points are sites for providing vehicle washing services for vehicle owners;
If the charging facility point exists in the target vehicle preset range, using a charging port visual opening function according to the attribute of the charging facility point, wherein if the charging facility point exists in the target vehicle preset range but the wading point does not exist, the attribute of the charging facility point relates to the charging facility operation property of the charging facility point; if both the charging facility point and the wading point exist in the preset range of the target vehicle, the attribute of the charging facility point relates to the position of the charging facility point relative to the wading point or the distance between the charging facility point and the wading point.
2. The vehicle charging port opening and closing control method according to claim 1, characterized in that the positioning of the target vehicle, obtaining the position information of the target vehicle, includes:
Acquiring the current approximate position of the target vehicle, and determining first map semantic information and first geographic information corresponding to a first preset range of the approximate position according to the approximate position;
Acquiring second map semantic information and second geographic information corresponding to a second preset range of the current approximate position of the target vehicle;
Matching the first map semantic information and the first geographic information with the second map semantic information and the second geographic information respectively to obtain selectable positions in the first preset range, and third map semantic information and third geographic information adjacent to the selectable positions;
and respectively matching the third map semantic information and the third geographic information with the second map semantic information and the second geographic information to determine the position information of the target vehicle.
3. The method for controlling opening and closing of a charging port of a vehicle according to claim 2, wherein the matching the first map semantic information and the first geographic information with the second map semantic information and the second geographic information respectively to obtain the selectable position in the first preset range and the third map semantic information and the third geographic information adjacent to the selectable position includes:
Aligning the semantic information in the local semantic information map of the optional position with the second map semantic information according to the category of the semantic information;
judging whether errors of semantic information in the local semantic information map and the second map semantic information are within an allowable range or not according to the alignment result;
And if the errors of the semantic information in the local semantic information map and the second map semantic information are in the allowable range, taking the corresponding optional position as the position information of the target vehicle, and taking the local map semantic information and the geographic information adjacent to the corresponding optional position as the third map semantic information and the third geographic information adjacent to the optional position.
4. The vehicle charging port opening and closing control method according to claim 1, characterized in that the positioning of the target vehicle, obtaining the position information of the target vehicle, includes:
determining the quality of the current satellite navigation signal of the target vehicle;
If the quality of the current satellite navigation signal of the target vehicle is not lower than a preset signal quality threshold, determining vehicle position data positioned based on the current satellite navigation signal as position information of the target vehicle;
And if the quality of the current satellite navigation signal of the target vehicle is lower than the preset signal quality threshold, selecting a target positioning point from a preset running distance range which runs recently, and determining the position information of the target vehicle based on each target positioning algorithm in the target positioning point and at least one target positioning algorithm.
5. The vehicle charging port opening and closing control method according to claim 1, wherein if a charging facility point exists in the target vehicle preset range, using a charging port visual opening function according to an attribute of the charging facility point, comprises:
if the charging facility point exists in the preset range of the target vehicle and the wading point does not exist, acquiring the charging facility operation property of the charging facility point;
The charging port visual opening function is used limitedly according to the charging facility operation property of the charging facility point, the number of charging devices and the distance between the charging facility point and the target vehicle.
6. The vehicle charging port opening and closing control method according to claim 5, characterized in that the limitedly using the charging port visual opening function according to a charging facility operation property of the charging facility point, the number of charging devices, and the distance of the charging facility point from the target vehicle includes:
the visual opening function of the charging port is used according to the principle that the more the operation property of the charging facility deviates from the self-operating property, the more the limitation degree is strict;
When the operation property of the charging facility point is determined, examining the quantity of the charging devices of the charging facility point;
If the number of charging devices at the charging facility point is larger, the charging port visual opening function can be used when the distance between the charging facility point and the target vehicle is longer.
7. The vehicle charging port opening and closing control method according to claim 1, wherein if a charging facility point exists in the target vehicle preset range, using a charging port visual opening function according to an attribute of the charging facility point, comprises:
If the charging facility point exists in the preset range of the target vehicle and the wading point exists, determining whether a preset distance is exceeded between the charging facility point and the wading point;
And if the distance between the charging facility point and the wading point does not exceed the preset distance, the charging port visual opening function is completely limited.
8. The vehicle charging port opening and closing control method according to claim 7, characterized in that the method further comprises:
If the distance between the charging facility point and the wading point exceeds the preset distance, vectorizing the environmental characteristics of the current environment of the target vehicle;
determining whether the current position of the target vehicle is the charging facility point according to the vectorized environmental characteristics;
and if the current position of the target vehicle is the charging facility point, allowing the charging port visual opening function to be used, otherwise, disabling the charging port visual opening function.
9. A vehicle charging port opening and closing control device, characterized by comprising:
the acquisition module is used for positioning a target vehicle and acquiring the position information of the target vehicle;
the searching module is used for searching charging facility point information and/or wading point information in a preset range of the target vehicle based on the interest point information and the position information of the target vehicle, wherein the interest point information comprises category, name, address and longitude and latitude data information of points in a non-geographic sense on a map;
The first control module is used for disabling the visual opening function of the charging port if a wading point exists in the preset range of the target vehicle and no charging facility point exists, wherein the wading point is a place for providing vehicle washing service for a vehicle owner;
the second control module is used for using a charging port visual opening function according to the attribute of the charging facility point if the charging facility point exists in the target vehicle preset range, wherein the attribute of the charging facility point relates to the charging facility operation property of the charging facility point if the charging facility point exists in the target vehicle preset range but no wading point exists; if both the charging facility point and the wading point exist in the preset range of the target vehicle, the attribute of the charging facility point relates to the position of the charging facility point relative to the wading point or the distance between the charging facility point and the wading point.
10. An electronic device, comprising:
a processor; and
A memory having executable code stored thereon, which when executed by the processor causes the processor to perform the method of any of claims 1 to 8.
11. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1 to 8.
CN202210988825.3A 2022-08-17 2022-08-17 Vehicle charging port opening and closing control method, device and computer readable storage medium Active CN115354938B (en)

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