CN116461356A - 道路充电线圈对准和监测 - Google Patents

道路充电线圈对准和监测 Download PDF

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CN116461356A
CN116461356A CN202310037218.3A CN202310037218A CN116461356A CN 116461356 A CN116461356 A CN 116461356A CN 202310037218 A CN202310037218 A CN 202310037218A CN 116461356 A CN116461356 A CN 116461356A
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vehicle
charge
charging
series
roadway
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瑞恩·E·汉森
约翰·R·范维梅尔施
维维卡纳德·埃兰戈维安
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Ford Global Technologies LLC
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
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    • 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
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    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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Abstract

本公开提供“道路充电线圈对准和监测”。一种具有蓄电池的电动车辆包括感应电荷接收器，所述感应电荷接收器被配置为感应耦合到嵌入所述车辆行驶在的道路中的一系列充电线圈，以便将电荷转移至所述蓄电池。探地雷达收发器被配置为询问所述道路，所述道路包括所述车辆前进朝向的所述道路的区域。所述探地雷达收发器生成反射比数据，所述反射比数据包括来自所述充电线圈和来自耦合所述充电线圈的嵌入式电缆的反射。物体分析器响应于所述反射比数据并且被配置为相对于所述车辆映射所述一系列充电线圈。路径控制器被配置为确定所述车辆沿着所述道路的转向操作以优化从所述一系列充电线圈到所述感应电荷接收器的电荷转移。

Description

道路充电线圈对准和监测
相关申请的交叉引用
不适用。
关于联邦政府赞助的研究的声明
不适用。
技术领域
本发明总体上涉及电动车辆充电，并且更具体地，涉及在道路上行驶时维持车辆与嵌入道路中的充电线圈的对准以对车辆电池进行再充电。
背景技术
电动道路运输车辆(例如，全电动和混合动力电动汽车)包括需要常规充电的高容量蓄电池。可以使用无线感应充电来避免在对电池再充电时连接硬连线电缆的需要。例如，车辆所有者可能够使用具有位于车库中的地板顶部的发射器垫和安装在车辆中的感应接收器的设置来对他们在其家庭车库内的车辆进行无线充电。由于充电效率取决于感应线圈的良好对准，因此可以提供一个或多个视觉标记以帮助在充电期间适当定位车辆。为了以适当的对准简化车辆的停放，还可以使用雷达和其他传感器来定位充电垫并且引导车辆进行对准(包括将车辆自主地停放在合适的地点)。
为了减少在充电操作期间要使车辆停放和空闲的需要，可以将感应充电设备嵌入道路的区段中，使得车辆可以在行驶时进行充电。在使用视觉标志或物体来区分嵌入式发射器线圈的位置的情况下，驾驶员可以手动地维持与线圈的对准，或者能够检测到标志的相机或其他传感器可以提供驾驶员辅助动作以改善对准。由于标志可能并不总是可用的，因此还已知要监测用于安装在车辆上的若干横向间隔开的接收器线圈的耦合因子以及要基于耦合因子之间的差值来调整车辆的行驶路径(例如，使得主中心接收器线圈的耦合因子最大化)。然而，这仅对直接充电线圈作出响应，车辆位于所述直接充电线圈的上方，并且在曲线中存在过多的对准误差。嵌入式线圈间隔的不规则性和损坏的或不活动的线圈的存在会进一步降低维持最佳对准的效力。
发明内容
在一些实施例中，超宽带(UWB)雷达收发器形式的探地雷达用于检测道路嵌入式充电线圈并且相对于所述检测到的线圈规划行驶路径以优化感应充电。对即将到来的线圈的位置和状况的表征实现了对充电速率的准确估计以及通知驾驶员可以获得的电池荷电状态和/或续驶里程和/或当不同系列的线圈可以提供更好的充电性能时建议移动到道路的不同车道的装置。雷达数据还可以用于确定嵌入式线圈的完整性，并且在嵌入式部件损坏的情况下通知维护组织。
在本发明的一个方面，一种至少部分地由蓄电池供电的车辆包括感应电荷接收器，所述感应电荷接收器被配置为感应耦合到嵌入所述车辆行驶在的道路中的一系列充电线圈，以便将电荷转移至所述蓄电池。探地雷达收发器被配置为询问(interrogate)所述道路，所述道路包括所述车辆前进朝向的所述道路的区域。所述探地雷达收发器生成反射比数据，所述反射比数据包括来自所述充电线圈和来自耦合所述充电线圈的嵌入式电缆的反射。物体分析器响应于所述反射比数据并且被配置为相对于所述车辆映射所述一系列充电线圈。路径控制器被配置为确定所述车辆沿着所述道路的转向操作以优化从所述一系列充电线圈到所述感应电荷接收器的电荷转移。
附图说明
图1是具有用于对在道路上通行的车辆进行感应充电的嵌入式线圈和电缆的道路的示意图。
图2是示出用于提供充电系统的车辆和基础设施的示意性框图。
图3是示出用于优化感应充电的车辆的部件的框图。
图4是揭示对嵌入式充电电路的损坏的雷达数据的示意图。
具体实施方式
本发明优化了在车载接收线圈与道路嵌入式传输线圈之间的感应耦合，以便在道路上高速行驶时使车辆充电速率最大化。探地雷达(优选地，超宽带或UWB雷达)检测并且映射出嵌入式充电线圈，使得可以以最佳充电容量布置车辆路径。雷达的检测范围延伸超出当前在车辆下方的充电线圈，可能超出在车辆的行驶方向上的接下来的几个线圈。由于UWB雷达可以识别路面下方的充电线圈的相对位置和实际配置(例如，类型)，因此可以调整车辆的转向以便在车辆继续沿着其道路的车道移动时更准确地对准感应线圈，从而提高耦合效率。因为UWB雷达能够检测在车辆下方和前方的实际线圈位置，所以本发明实现了前视能力，这使得车辆能够遵循沿着道路路径的一系列线圈，而不管线圈的曲线或不均匀的间隔如何。此外，当遇到由于不活动或损坏而未输出充电场的一个或多个线圈时，车辆能够以很高的准确性维持最佳路径。
可以通过以引导指令的形式提供驾驶员辅助来手动地获得转向调整。例如，用户界面(人机界面或HMI)可以显示视觉提示或指令(例如，抬头显示器上的左箭头或右箭头)，播放可听提示或指令，或者生成触觉反馈(例如，轻推方向盘，如在车道保持辅助系统中所使用的)。替代地，可以激活免提和/或半自动化驾驶模式以保持车辆与嵌入式充电系统对准。
使用UWB雷达还提供了确定嵌入式充电线圈或电缆的完整性以及确定充电线圈是不活动的还是可能损坏的能力。本发明还可以利用UWB雷达来将要穿越的充电线圈的大小和数量以及其彼此之间的距离制成表格，从而使得能够计算预测的充电速率。在多于一条路径(例如，道路的不同车道)提供来自嵌入式充电线圈的充电的情况下，可以比较相对充电速率，并且推荐的转向操作可以包括例如车道变换以获取更好的充电速率。
在一些实施例中，UWB雷达可能够通过道路表面检测构成充电线圈的组成材料，而不管充电线圈是活动的、损坏的还是不工作的。UWB雷达可以瞄准车辆的下方和前方，以便检测充电线圈和/或其他系统部件，诸如电缆、连接器、车辆传感器、控制器、功率调节器或位于路面下方的通信节点。可以相继地调整雷达操作以检测车辆下方的当前线圈、下一个充电线圈(即，在当前车辆位置的正前方的线圈)以及沿着行驶路径在更远处的更多线圈，以便允许更好地对准车辆的路径以遵循充电线圈的布局。如果使用足够高带宽的UWB雷达，则可以检测充电系统的充电线圈或其他嵌入式部件的异常(例如，损坏)。
在一些实施例中，嵌入式充电线圈具有UWB芯片组，所述UWB芯片组可以支持对从雷达脉冲导出的飞行时间数据和到达角数据的附加使用，以实现对发射线圈的更好的检测/定位。添加的UWB功能还可以支持在车辆与充电系统之间的改进的通信，以共享消耗的电力量并且进行支付交易。
使用映射的充电线圈的位置和类型以及与已经穿越的一系列线圈中的充电线圈的性能相关联的充电参数，可以预测针对车辆的当前路线的某个部分的可用电荷密度，这产生预期的电池充电速率。使用当前电池荷电状态以及从每个充电线圈接收到的预期充电速率和检测到的在充电线圈之间的距离，可以确定未来电池荷电状态。因此，可以向驾驶员呈现各种预测或充电场景。例如，可以向驾驶员通知车辆可能需要以当前速率在充电车道内行驶以便达到80％、100％或某个其他选定的充电水平的车辆电池充电水平的时间。另外地，如果已经识别路线和目的地(例如，通过输入到导航系统中)，则本发明可以检查预编程的导航路线以确定a)完成行程可能需要多少电量，以及b)可以通过使用沿着路线的所识别的道路充电区段获得和/或维持多少电量。所述结果允许用户了解他们是否可能需要在路线中停在充电站处以便完成行程。此外，在给定车辆电池再充电的能力的情况下，确定何时停在充电站处可能是有利的成为可能，例如，基于电池在给定其充电水平和温度的情况下以不同速率接受充电的能力，其中具有足够的储备以确保用户和/或车辆不会由于意外的充电站关闭而滞留。还可以检查相邻车道之间不同的可用充电速率和/或充电密度，从而允许由车辆控制器选择最佳车道。此外，本发明可以利用众包信息，使得可以考虑损坏和/或不起作用的充电线圈。
可以跨一组各种车辆执行充电的优化。例如，车辆可以经由蜂窝V2X系统或通过UWB通信(节点对节点)或任何其他无线通信方法向其他车辆提供它们的充电速率和它们的电池电量。当两个车辆通信时，它们可以协商车道的使用(使得如果车辆A具有较低的电量并且在具有较低充电速率的车道中，而车辆B具有较高的电量并且在具有较高充电速率的车道中，则车辆可以交换车道，使得充电在车辆之间将更加优化)。
参考图1，道路10已在其上表面下方嵌入了一系列充电线圈11、互连电缆12和支持电路13(诸如功率调节器、服务控制器等)。道路10的表面可以提供或可以不提供识别充电线圈11的位置的任何标志或标记。经由电缆12输送到充电线圈11的电力被配置为通过线圈11将电荷感应地转移至在道路10上行驶的电动化车辆的接收线圈。
图2示出了具有蓄电池21的电动车辆20，所述蓄电池可以经由感应电荷接收器22进行感应充电。车辆20在包含一系列嵌入式充电线圈(包括线圈24A、24B、24C和24D)的道路23上行驶。一系列充电线圈通常可以沿着行驶车道的中心部署并且延伸足够的距离以向从顶上通过的车辆提供有用的电荷量。为了远程感测充电线圈的位置和结构，车辆20上的探地雷达收发器25被配置为用道路23的区域(例如，车辆20正朝向的区域)中的雷达脉冲26询问道路23。响应于雷达脉冲26，探地雷达收发器25生成反射比数据，其包括来自充电线圈24A至24D和来自嵌入式电缆28的反射。电缆28将充电线圈24A至24D耦合到充电系统的功率调节器/控制器30，所述充电系统还可以包括车辆检测器/接口31和通信/支付网络32。
检测器/接口31和/或充电线圈24A至24D可以包括提供增强功能(诸如数据传输或定位信号)的UWB部件。定位信号可以适于提供如本领域中已知的飞行时间(TOF)数据和/或入射角数据。雷达收发器25充当定位接收器，其被配置为利用定位信号来增强线圈24A至24D的基于雷达的检测到位置的准确性。例如，UWB通信信号可以提供远程链路或链路的部分以与车辆20与充电系统、服务中心37和/或道路23上的其他电动车辆之间的消息传递结合使用。
由雷达25收集的反射比数据被提供给控制电路27(例如，由根据下文描述的实施例配置的可编程微控制器组成的控制器模块)。使用反射比数据，控制电路27执行物体/图案识别以找到描绘充电线圈24和/或电缆28的特征，以便A)映射一系列充电线圈24相对于车辆20的位置，B)识别充电线圈24的配置、类型或容量，和/或C)识别对充电线圈和嵌入式电缆的损坏。然后，基于充电线圈24的映射位置，控制电路27确定车辆20沿着道路23的转向操作，以优化从充电线圈24A至24D至感应电荷接收器22的电荷转移。
优选地，探地雷达收发器25可以包括UWB雷达，其具有足够的分辨率以揭示充电线圈24或电缆28的状况中的异常，其中异常识别影响充电性能的损坏。例如，当检测到损坏时，控制电路27可以利用无线数据链路35(例如，蜂窝单元)来经由蜂窝网络36向服务中心37传输维护消息。当车辆20能够进行UWB消息传递或者存在至嵌入式充电系统的另一个无线链路时，可以经由接口31和网络32交替地传输维护消息。基于检测到的充电线圈24A至24D或嵌入式充电系统的其他元件的方面，控制电路27还可以生成状态消息以通过链路35发送给其他车辆的用户以辅助他们使用充电系统。
图3更详细地示出了车辆20的控制电路27。物体分析和跟踪框40接收雷达反射比数据，以及任选地接收基于UWB的飞行时间和/或入射角数据(例如，当车辆和充电线圈两者具有UWB收发器时)。物体分析和跟踪框40耦合到模板集合41，其优选地包括用于与反射比数据进行比较以识别充电线圈的类型(例如，容量)的多个充电线圈模板，以及用于与反射比数据进行比较以识别充电线圈和嵌入式电缆的异常和损坏的多个异常模板。模板41可以对应于各种类型的充电线圈或其他充电系统部件，如将从各种不同的角度(例如，距离和视角)在雷达反射比数据中看到的。对于特定类型和/或大小的充电线圈而言，数据可以与模板41相关联地进行存储，这有助于表征可以支持的可用充电速率。
物体分析和跟踪框40提供即将到来的充电线圈至路径控制框42的映射。由路径控制框42计算车辆要沿着道路执行的转向操作，使得车辆将遵循嵌入式充电线圈上方的轨迹，所述轨迹将车载感应电荷接收线圈置于与嵌入式电荷发射线圈的优选关系中，以便优化电荷转移。转向操作可以包括要呈现给驾驶员以手动执行转向调整的转向指令。路径控制框42可以耦合到用户界面43以传达转向指令。例如，用户界面43可以包括触摸屏显示面板或仪表板上的指示灯，所述指示灯被点亮以指示转向校正的方向和幅度。用户界面43还可以包括用于传达转向操作的触觉反馈元件，例如，使用方向盘振动来沿着期望路径引导驾驶员。在一些实施例中，路径控制块42耦合到自主驾驶员辅助装置或系统44，其被配置为自主地执行全部或部分转向操作。在一些实施例中，驾驶辅助系统可以包括完全自主车辆控制系统，或者可以包括部分自主车辆的车道保持系统。
物体分析和跟踪框40还耦合到容量计算器和异常评估器框45。可以将雷达数据、模板匹配结果、对充电系统的类型的确定和/或已经由物体分析和跟踪框40确定的检测到的嵌入道路中的充电线圈/电缆的充电参数的对应规格发送到框45。关于任何异常(例如，雷达数据与异常模板的匹配)，框45评估充电功能损坏的可能性和/或重要性。当嵌入式充电线圈或电缆的损坏的可能严重性满足预定阈值时，框45激活无线消息传递单元47以向可以发起维修或其他响应的实体(例如，服务中心)发送维护消息。
框45耦合到车辆充电系统46，以便在车辆与嵌入式充电线圈交互时获得关于当前充电性能的信息。基于各种因素，诸如(i)对系列中的嵌入式线圈的表征，(ii)已经用线圈系列实现的充电速率，以及(iii)车载蓄电池的当前荷电状态，框45预测当车辆继续在检测到的一系列充电线圈的顶上移动时将获得的电荷转移速率。预测的电荷转移速率耦合到充电结果估计器48以用于确定蓄电池的潜在的未来荷电状态。估计器48可以利用与当前车辆行程相关的信息，诸如预期目的地和路线(例如，从GPS导航系统获得或经由用户界面43从驾驶员获得)，以便评估是否将维持足够的电池容量以允许车辆按计划完成行程。估计器48耦合到用户界面43，以便向驾驶员通知电池的未来荷电状态以及可以基于限定行程的可用信息得出的任何结论。例如，充电结果估计器48可以被配置为确定预计行驶里程，其包括由于估计的充电速率和充电线圈将可用的时间/距离而导致的预期里程增加。基于预期行驶目的地，估计器48向用户界面43提供信号，以便通知用户到预期目的地的距离是否在预计行驶里程内。即使尚未确定特定行程，也可以提供有用的信息，诸如向用户通知估计未来荷电状态下降到预定荷电状态时的预计行驶里程。
图4示出了探地雷达反射比数据，其示出了嵌入道路中的一系列充电线圈50。各个线圈由重复图案表示，所述重复图案在增加的距雷达收发器的距离处表现出变化的大小和角度。由于大多数嵌入式结构符合其预定外观，因此可实现对所述系列线圈的识别。线圈51被示出为具有由可能是弯曲或裂缝的不连续性52引起的异常52。用于驱动线圈51的电源电缆53被示为具有可能是扭结或断裂的异常54。除了或代替用于识别此类异常的预定义模板，可以使用机器学习和/或人工智能来检测和/或评估与这些和其他异常相关联的实际损坏(如果有的话)。
根据一个实施例，所述探地雷达收发器包括超宽带(UWB)雷达系统。
根据一个实施例，所述UWB雷达系统包括用于与连接到所述一系列充电线圈的充电基础设施交换消息的消息传递功能。
根据一个实施例，所述UWB雷达系统包括定位接收器，其用于评估从所述一系列充电线圈中的UWB收发器辐射的UWB信号的飞行时间或接收角度。

Claims (15)

1.一种至少部分地由蓄电池供电的车辆，其包括：
感应电荷接收器，所述感应电荷接收器被配置为感应耦合到嵌入所述车辆行驶在的道路中的一系列充电线圈，以便将电荷转移至所述蓄电池；
探地雷达收发器，所述探地雷达收发器被配置为询问所述道路，所述道路包括所述车辆前进朝向的所述道路的区域，其中所述探地雷达收发器生成反射比数据，所述反射比数据包括来自所述充电线圈和来自耦合所述充电线圈的嵌入式电缆的反射；
物体分析器，所述物体分析器响应于所述反射比数据并且被配置为相对于所述车辆映射所述一系列充电线圈；以及
路径控制器，所述路径控制器被配置为确定所述车辆沿着所述道路的转向操作以优化从所述一系列充电线圈到所述感应电荷接收器的电荷转移。
2.如权利要求1所述的车辆，其中所述物体分析器包括用于与所述反射比数据进行比较以识别所述充电线圈的多个线圈模板。
3.如权利要求2所述的车辆，其中所述物体分析器包括用于与所述反射比数据进行比较以识别对所述充电线圈和嵌入式电缆的损坏的多个异常模板。
4.如权利要求3所述的车辆，其还包括无线消息传递系统，所述无线消息传递系统用于响应于识别到对所述充电线圈和嵌入式电缆的所述损坏而将维护消息发送至服务中心。
5.如权利要求3所述的车辆，其还包括无线消息传递系统，所述无线消息传递系统用于发送状态消息以向其他车辆的用户通知所述一系列充电线圈的充电状态。
6.如权利要求1所述的车辆，其还包括：
充电容量计算器，所述充电容量计算器被配置为基于所映射的一系列充电线圈的布置来预测电荷转移速率；
充电结果估计器，所述充电结果估计器被配置为基于所预测的电荷转移速率来确定所述蓄电池的潜在的未来荷电状态；以及
用户界面，所述用户界面被配置为向用户通知所述未来荷电状态。
7.如权利要求6所述的车辆，其中所述用户界面被配置为向所述用户通知估计所述未来荷电状态将下降到预定荷电状态时的预计行驶里程。
8.如权利要求6所述的车辆，其中所述充电结果估计器被配置为确定预计行驶里程和预期行驶目的地，并且其中所述用户界面被配置为通知所述用户到所述预期目的地的距离是否在所述预计行驶里程内。
9.如权利要求1所述的车辆，其还包括：
用户界面，所述用户界面被配置为将所述转向操作传达给所述车辆的驾驶员。
10.如权利要求1所述的车辆，其还包括：
驾驶员辅助装置，所述驾驶员辅助装置被配置为自主地执行所述转向操作。
11.一种操作具有可再充电蓄电池的电动化车辆的方法，其包括以下步骤：
在道路上驾驶所述车辆，使得在所述车辆中的感应电荷接收器感应耦合到嵌入道路中的一系列充电线圈，以便将电荷转移至所述蓄电池；
使用指向所述车辆朝向的所述道路的区域的探地雷达收发器询问所述道路，其中所述探地雷达收发器生成反射比数据，所述反射比数据包括来自所述充电线圈和来自耦合所述充电线圈的嵌入式电缆的反射；
映射所述反射比数据；
将所映射的反射比数据与多个线圈模板进行比较，以相对于所述车辆描绘所述一系列充电线圈；以及
确定所述车辆沿着所述道路的转向操作，以优化从所述一系列充电线圈到所述感应电荷接收器的电荷转移。
12.如权利要求11所述的方法，其还包括以下步骤：
将所述反射比数据与多个异常模板进行比较以识别对所述充电线圈或嵌入式电缆的损坏；以及
响应于识别到对所述充电线圈和嵌入式电缆的所述损坏将维护消息发送至服务中心。
13.如权利要求11所述的方法，其还包括以下步骤：
基于所映射的一系列充电线圈的布置来预测电荷转移速率；
基于所预测的电荷转移速率来确定所述蓄电池的潜在的未来荷电状态；以及
向用户通知所述未来荷电状态。
14.如权利要求13所述的方法，其还包括以下步骤：
向所述用户通知估计所述未来荷电状态将下降到预定荷电状态时的预计行驶里程。
15.如权利要求13所述的方法，其还包括以下步骤：
确定预计行驶里程和预期行驶目的地；以及
通知所述用户到所述预期目的地的距离是否在所述预计行驶里程内。
CN202310037218.3A 2022-01-20 2023-01-10 道路充电线圈对准和监测 Pending CN116461356A (zh)

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