CN116729362A - Vehicle control method, device, computer readable storage medium and electronic equipment - Google Patents
Vehicle control method, device, computer readable storage medium and electronic equipment Download PDFInfo
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- CN116729362A CN116729362A CN202210200215.2A CN202210200215A CN116729362A CN 116729362 A CN116729362 A CN 116729362A CN 202210200215 A CN202210200215 A CN 202210200215A CN 116729362 A CN116729362 A CN 116729362A
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000007613 environmental effect Effects 0.000 claims abstract description 39
- 230000004927 fusion Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 9
- 238000007499 fusion processing Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000010295 mobile communication Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 230000005236 sound signal Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
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- 230000004807 localization Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a vehicle control method, a vehicle control device, a computer readable storage medium and an electronic device. The method comprises the following steps: determining a parking area where the vehicle is in wireless charging according to the initial position of the vehicle; acquiring environmental data of a vehicle acquired by at least one environmental sensor; determining a target position in the parking area according to the environment data; determining a first parking route plan for the vehicle based on the initial position of the vehicle and the target position; and controlling the vehicle to move to the target position according to the first parking route planning. According to the embodiment of the application, the vehicle can be automatically parked at the wireless charging position without personnel intervention, and the wireless charging experience of a user is greatly improved.
Description
Technical Field
The present application relates to the field of vehicle control, and in particular, to a vehicle control method, apparatus, computer readable storage medium, and electronic device.
Background
As vehicles become more important in people's lives, the number of vehicles has also increased explosively. With the pollution and energy consumption problems of the traditional fuel vehicles. Electric vehicles use clean energy as an energy source. However, in the present electric vehicle, a battery is used as an on-vehicle energy storage medium, so that charging the battery becomes an important part of the use of the electric vehicle.
Currently, battery charging methods of electric vehicles are generally classified into a wired method and a wireless method, and the wired method may be classified into an ac charging method or a dc charging method according to the type of charging current. But in either an ac or dc charging scenario, a user is required to park the vehicle beside an ac or dc charging stake and manually insert a charging gun into the ac or dc charging interface of the vehicle for charging. This is therefore also referred to as a wired charging mode. In this way, since the user is required to manually insert the charging gun into the charging port of the vehicle to start the charging process, and the wired charging also requires that the charging gun make full electrical contact with the charging port of the vehicle, i.e., that the respective electrical contacts of the charging gun head make electrical contact with the respective electrical contacts in the charging port of the vehicle, and that the state of electrical contact also needs to be maintained throughout the charging process. And thus is very inconvenient for the user. For this reason, a wireless charging method has been proposed in the prior art, in which a user can start wireless charging without user participation by merely parking an electric vehicle mounted with a wireless charging device on the ground mounted with a wireless charging transmitting device. Wireless charging has received widespread attention from users as a charging method for electric vehicles.
Disclosure of Invention
The embodiment of the application provides a vehicle control method, a vehicle control device, a computer readable storage medium and electronic equipment, which are used for solving the defect that an electric vehicle is difficult to accurately position to a wireless charging position in the prior art.
To achieve the above object, an embodiment of the present application provides a vehicle control method, including:
determining that the vehicle is in a wireless charging parking area according to the initial position of the vehicle;
acquiring environmental data of a vehicle acquired by at least one environmental sensor;
determining a target position in the parking area according to the environment data;
determining a first parking route plan for the vehicle based on the initial position of the vehicle and the target position;
and controlling the vehicle to move to the target position according to the first parking route planning.
In an embodiment of the present application, optionally, the vehicle control method further includes:
and detecting whether a receiving end of the wireless charging coil on the vehicle is aligned with a transmitting end of the wireless charging coil at the target position.
In an embodiment of the present application, optionally, when it is determined that the receiving end of the wireless charging coil on the vehicle is not aligned with the transmitting end of the wireless charging coil at the target position, the vehicle control method further includes:
Calculating the distance and the azimuth between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target position;
determining a second parking route plan of the vehicle according to the distance and the azimuth;
and controlling the vehicle to move to a position where the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position according to the second parking route planning.
In an embodiment of the present application, optionally, the determining, according to the environmental data, the target location in the parking area includes:
performing fusion processing on the environmental data acquired by the sensor to acquire sensor fusion data;
and determining the target position according to the sensor fusion data.
The embodiment of the application also provides a vehicle control device, which comprises:
the first determining module is used for determining that the vehicle is in a wireless charging parking area according to the initial position of the vehicle;
the acquisition module is used for acquiring the environmental data of the vehicle acquired by the at least one environmental sensor;
the second determining module is used for determining the target position in the parking area according to the environment data;
a third determination module for determining a first parking route plan for the vehicle based on the initial position of the vehicle and the target position;
And the control module is used for controlling the vehicle to move to the target position according to the first parking route planning.
In an embodiment of the present application, optionally, the vehicle control device further includes:
and the detection module is used for detecting whether the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position.
In an embodiment of the present application, optionally, when the detection module determines that the receiving end of the wireless charging coil on the vehicle is not aligned with the transmitting end of the wireless charging coil at the target position, the third determination module is further configured to:
calculating the distance and the azimuth between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target position;
determining a second parking route plan for the vehicle based on the distance and the bearing, and
the control module is further to: and controlling the vehicle to move to a position where the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position according to the second parking route planning.
In an embodiment of the present application, optionally, the first determining module is further configured to:
Performing fusion processing on the environmental data acquired by the sensor to acquire sensor fusion data;
and determining the target position according to the sensor fusion data.
The embodiment of the application also provides a computer readable storage medium, on which a computer program executable by a processor is stored, wherein the program, when executed by the processor, implements the vehicle control method provided by the embodiment of the application.
The embodiment of the application also provides electronic equipment, which comprises:
a memory for storing a program;
and the processor is used for running the program stored in the memory so as to execute the vehicle control method provided by the embodiment of the application.
According to the vehicle control method, the vehicle control device, the computer-readable storage medium and the electronic equipment, the position of the wireless charging transmitting end is obtained through the plurality of sensors installed on the vehicle, the current position of the vehicle is used as the initial position according to the position serving as the final position of the vehicle, the driving path planning of the vehicle is determined, and finally the vehicle is parked at the position of the wireless charging transmitting end according to the planning, so that the position of the wireless charging transmitting end can be automatically identified, and the position, aligned with the wireless charging receiving end of the vehicle, of the wireless charging transmitting end can be ensured through route planning, so that the vehicle can be automatically parked at the wireless charging position without personnel intervention, and the wireless charging experience of a user is greatly improved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic view of a vehicle control scheme according to an embodiment of the present application;
FIG. 2 is a flow chart of one embodiment of a method for controlling a vehicle provided by the present application;
FIG. 3 is a flow chart of another embodiment of a vehicle control method provided by the present application;
FIG. 4 is a schematic view of an embodiment of a vehicle control apparatus according to the present application;
fig. 5 is a schematic structural diagram of an embodiment of an electronic device provided by the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown 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 scheme provided by the embodiment of the application can be applied to any equipment or system with vehicle control capability, such as an electric automobile and the like. Fig. 1 is a schematic view of an application scenario of a vehicle control scheme provided by an embodiment of the present application, and the scenario shown in fig. 1 is only one example of a scenario in which the technical scheme of the present application may be applied.
As vehicles become more important in people's lives, the number of vehicles has also increased explosively. With the pollution and energy consumption problems of the traditional fuel vehicles. Electric vehicles use clean energy as an energy source. However, in the present electric vehicle, a battery is used as an on-vehicle energy storage medium, so that charging the battery becomes an important part of the use of the electric vehicle.
Currently, battery charging methods of electric vehicles are generally classified into a wired method and a wireless method, and the wired method may be classified into an ac charging method or a dc charging method according to the type of charging current. But in either an ac or dc charging scenario, a user is required to park the vehicle beside an ac or dc charging stake and manually insert a charging gun into the ac or dc charging interface of the vehicle for charging. This is therefore also referred to as a wired charging mode. In this way, since the user is required to manually insert the charging gun into the charging port of the vehicle to initiate the charging process, and the wired charging also requires that the charging gun make full electrical contact with the charging port of the vehicle, i.e., that the electrical contacts of the charging gun head make electrical contact with the electrical contacts in the charging port of the vehicle, and that the electrical contact be maintained throughout the charging process. And thus is very inconvenient for the user. For this reason, in the prior art, a wireless charging method has been proposed, for example, in a wireless charging scenario as shown in fig. 1, a user can start wireless charging without user participation by merely parking an electric vehicle mounted with a wireless charging apparatus on the ground mounted with a wireless charging transmitting apparatus. Therefore, the charging experience of the user can be greatly improved.
Such a wireless charging scheme requires that when the electric vehicle is parked in a wireless charging area, the wireless receiving end on the electric vehicle is aligned with the wireless charging transmitting end installed below the floor of the area. For example, if a wireless charging receiving coil on a vehicle is not aligned with a ground-mounted wireless charging transmitting coil, the vehicle cannot be wirelessly charged. In particular, such wireless charging transmitting terminals and corresponding receiving terminals on an electric vehicle are typically located in the middle of the vehicle, and it is difficult for a driver to park the vehicle while parking the vehicle such that the receiving terminals on the electric vehicle and the transmitting terminals mounted at the ground are strictly aligned, so that multiple adjustments may be required to achieve alignment and begin charging. This greatly affects the convenience of the wireless charging mode itself by eliminating the need to plug and unplug the charging gun and maintaining electrical contact between the charging gun and the charging interface.
For this reason, according to the embodiment of the present application, a vehicle control scheme is provided that can solve the drawbacks of the prior art that it is difficult to park the vehicle in a wireless charging position.
For example, in a scenario as shown in fig. 1, the driver may drive an electric vehicle mounted with a wireless charging receiver to travel near a wireless charging area. The wireless charging area can be a parking area where the wireless charging transmitting end is installed on the ground, and can be a parking area where wired charging equipment is installed at the same time. When the vehicle travels near the wireless charging area, it is possible to determine whether the vicinity of the wireless charging area has been reached by scanning the surroundings of the vehicle, particularly the environment in front of the vehicle, by various sensors of the vehicle, such as a radar sensor and/or a visual sensor.
For example, the millimeter wave radar sensor is used for acquiring front data of the vehicle, and then the data is analyzed through a digital signal processing algorithm such as a beam forming algorithm, a measuring algorithm and the like, so that the distribution condition of the obstacle in front of the vehicle, the parking space information, the position information of the charging pile and the like are obtained, and the situation that the vehicle has driven to the vicinity of the charging area can be judged. The distance and azimuth information of the obstacle in front of the vehicle, particularly the charging pile, can also be obtained through the echo positioning principle after the ultrasonic radar sensor collects the data of the periphery or the front of the vehicle. In addition, the wireless charging equipment in front of the vehicle can be determined through an image recognition algorithm and an image positioning algorithm after the vision sensor collects data, and the position of the wireless charging equipment can be determined.
The parking area and the target position in the parking area, such as the coil position of the wireless charging transmitting terminal, or the charging position of the wired charging pile, are determined as above based on the environmental data sensed by various sensors mounted on the vehicle, particularly the environmental data in front of the vehicle. The route planning of the vehicle may then be performed with the current position of the vehicle as an initial position and the target position determined as above as an end position. As shown in fig. 1, for example, an electric vehicle may travel from the left side to the right side of the page, and there may be a parking area extending in a direction perpendicular to the travel direction of the vehicle in front of the vehicle, and the parking area is detected by sensors on the vehicle, such as the above-mentioned millimeter wave radar sensor, ultrasonic radar sensor, visual sensor, and the like, and a coil of a wireless charging transmitting terminal is present in the center of the parking area. Accordingly, the electric vehicle can set the position of the coil as the target position for parking. In other words, it is common for an electric vehicle to have only a parking area as its target area after the parking area is identified, and to actually have only the electric vehicle placed in the parking area as a final result when planning a route, it is common that the specific location of its parking is not defined. While in the context of wirelessly charging an electric vehicle, the electric vehicle needs to precisely align a wireless charging receiving coil mounted therein with a ground-mounted wireless charging transmitting coil in order to perform wireless charging.
Therefore, in the embodiment of the application, after the parking area and the target position in the parking area are determined according to the environmental data acquired by the sensor, the target position can be further used as an end point for parking route planning, so that the electric vehicle can be automatically parked to the target position from the current position.
Further, after the vehicle is parked to the target position, the positional relationship between the wireless charging transmitting coil and the wireless charging receiving coil on the vehicle may be further acquired by a sensor. For example, a distance and a position between a receiving end of a wireless charging coil on the vehicle and a transmitting end of the wireless charging coil at the target location may be calculated, and a second parking route plan for the vehicle may be determined based on the distance and the position. In other words, in the embodiment of the present application, the target position moved from the current position of the vehicle to the parking area may be regarded as parking in the first stage, and after parking in the target position, since the signal transmitted by the wireless charging transmitting terminal has been received, the position of the wireless charging transmitting coil may be determined more accurately, and then accurate parking in the second stage, that is, fine pose adjustment of the vehicle, may be performed again, so that the vehicle may be accurately parked in the wireless charging position.
In addition, in the embodiment of the application, the parking process can also be displayed through an In-vehicle infotainment system (In-Vehicle Infotainment, abbreviated as IVI). For example, a first phase of parking and a second phase may be displayed. In this process, pictures around the vehicle collected by the respective cameras mounted on the vehicle may be displayed on the display screen of the in-vehicle infotainment system for the driver to refer to, or radar data sensed by the sensors may be displayed in real time, or the parking progress of the vehicle may be displayed on the display screen of the in-vehicle infotainment system in real time according to the running of the vehicle along the planned route.
According to the vehicle control scheme provided by the embodiment of the application, the position of the wireless charging transmitting end is obtained by utilizing the plurality of sensors arranged on the vehicle, the current position of the vehicle is used as the initial position according to the position as the final position of the vehicle, the driving path planning of the vehicle is determined, and finally the vehicle is parked at the position of the wireless charging transmitting end according to the planning, so that the position of the wireless charging transmitting end can be automatically identified, and the position of the vehicle aligned with the wireless charging receiving end of the vehicle can be ensured by route planning, so that the vehicle can be automatically parked at the wireless charging position without personnel interference, and the wireless charging experience of a user is greatly improved.
Fig. 2 is a flowchart of an embodiment of a vehicle control method provided by the present application. As shown in fig. 2, the vehicle control method may include the steps of:
s201, determining that the vehicle is in a wireless charging parking area according to the initial position of the vehicle.
In step S201, it may be determined whether the parking area has been reached according to the position of the vehicle currently being driven by the user. For example, in step S201, it may be determined whether it is already within the parking area in accordance with the position information of the parking area that has been stored in combination with the current position of the user' S vehicle, or it may be determined whether the user is currently within the parking area in accordance with the navigation route of the user driving the vehicle.
In the embodiment of the present application, the parking area determined in step S201 may be a parking area where a wireless charging transmitting terminal is installed on the ground, or may be a parking area where a wired charging device is also installed at the same time.
S202, acquiring environmental data of the vehicle acquired by at least one environmental sensor.
S203, determining the target position in the parking area according to the environment data.
When it is determined in step S201 that the vehicle is traveling near the parking area with wireless charging, the position of the wireless charging device in the parking area may be determined as the target position of parking of the vehicle from the environmental data obtained in step S202 by scanning the surroundings of the vehicle, particularly the environment in front of the vehicle, and obtaining the environmental data in step S202 by various sensors of the vehicle, such as a radar sensor and/or a vision sensor.
For example, the millimeter wave radar sensor is used for acquiring front data of the vehicle, and then the data is analyzed through a digital signal processing algorithm such as a beam forming algorithm, a measuring algorithm and the like, so that the distribution condition of the obstacle in front of the vehicle, the parking space information, the position information of the charging pile and the like are obtained, and the situation that the vehicle has driven to the vicinity of the charging area can be judged. The distance and azimuth information of the obstacle in front of the vehicle, particularly the charging pile, can also be obtained through the echo positioning principle after the ultrasonic radar sensor collects the data of the periphery or the front of the vehicle. In addition, the wireless charging equipment in front of the vehicle can be determined through an image recognition algorithm and an image positioning algorithm after the vision sensor collects data, and the position of the wireless charging equipment can be determined.
S204, determining a first parking route plan of the vehicle based on the initial position and the target position of the vehicle.
S205, controlling the vehicle to move to the target position according to the first parking route planning.
In step S203, the parking area and the target position in the parking area, for example, the coil position of the wireless charging transmitting terminal or the charging position of the wired charging pile, are determined according to the environmental data sensed by various sensors mounted on the vehicle, in particular, the environmental data in front of the vehicle. In step S204, the route planning of the vehicle may be performed with the current position of the vehicle as an initial position and the target position determined as above as an end position. As shown in fig. 1, for example, an electric vehicle may travel from the left side to the right side of the page, and there may be a parking area extending in a direction perpendicular to the travel direction of the vehicle in front of the vehicle, and the parking area is detected by sensors on the vehicle, such as the above-mentioned millimeter wave radar sensor, ultrasonic radar sensor, visual sensor, and the like, and a coil of a wireless charging transmitting terminal is present in the center of the parking area. Accordingly, the electric vehicle can set the position of the coil as the target position for parking, and conduct parking route planning.
In step S205, the vehicle may be controlled to move according to the first parking route plan determined in step S204 to park the target position determined in step S203.
According to the vehicle control method provided by the embodiment of the application, the position of the wireless charging transmitting end is obtained by utilizing the plurality of sensors installed on the vehicle, the current position of the vehicle is used as the initial position according to the position as the final position of the vehicle, the driving path planning of the vehicle is determined, and finally the vehicle is parked at the position of the wireless charging transmitting end according to the planning, so that the position of the wireless charging transmitting end can be automatically identified, and the position of the vehicle aligned with the wireless charging receiving end of the vehicle can be ensured by route planning, so that the vehicle can be automatically parked at the wireless charging position without personnel intervention, and the wireless charging experience of a user is greatly improved.
Fig. 3 is a flowchart of another embodiment of a vehicle control method according to the present application. As shown in fig. 3, the vehicle control method includes the steps of:
s301, determining a parking area where the vehicle is in wireless charging according to the initial position of the vehicle.
In step S301, it may be determined whether the parking area has been reached according to the position of the vehicle currently being driven by the user. For example, in step S301, it may be determined whether it is already within the parking area in accordance with the position information of the parking area that has been stored in combination with the current position of the user' S vehicle, or it may be determined whether the user is currently within the parking area in accordance with the navigation route of the user driving the vehicle.
In the embodiment of the present application, the parking area determined in step S301 may be a parking area where a wireless charging transmitting terminal is installed on the ground, and of course, may also be a parking area where a wired charging device is also installed at the same time.
S302, acquiring environmental data of the vehicle acquired by at least one environmental sensor.
S303, fusion processing is carried out on the environmental data acquired by the sensor so as to acquire sensor fusion data.
S304, determining the target position according to the sensor fusion data.
When it is determined in step S301 that the vehicle is traveling near the parking area with wireless charging, the position of the wireless charging device in the parking area may be determined as the target position of the vehicle parking in step S304 from the fusion data obtained in step S303 by scanning the surroundings of the vehicle, particularly the environment in front of the vehicle, and obtaining environmental data by various sensors of the vehicle, such as a radar sensor and/or a vision sensor, in step S302, whereby the environmental data obtained in step S302 may be processed and data fusion may be performed to obtain fusion data.
S305, determining a first parking route plan of the vehicle based on the initial position and the target position of the vehicle.
S306, controlling the vehicle to move to the target position according to the first parking route planning.
In step S304, the parking area and the target position in the parking area, for example, the coil position of the wireless charging transmitting terminal or the charging position of the wired charging pile, are determined according to the environmental data sensed by various sensors mounted on the vehicle, in particular, the fusion data of the environmental data in front of the vehicle. In step S305, the route planning of the vehicle may be performed with the current position of the vehicle as the initial position and the target position determined as above as the end position. As shown in fig. 1, for example, an electric vehicle may travel from the left side to the right side of the page, and there may be a parking area extending in a direction perpendicular to the travel direction of the vehicle in front of the vehicle, and the parking area is detected by sensors on the vehicle, such as the above-mentioned millimeter wave radar sensor, ultrasonic radar sensor, visual sensor, and the like, and a coil of a wireless charging transmitting terminal is present in the center of the parking area. Accordingly, the electric vehicle can set the position of the coil as the target position for parking, and conduct parking route planning.
In step S306, the vehicle may be controlled to move according to the first parking route plan determined in step S305 to park the target position determined in step S304.
S307, detecting whether the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position.
S308, calculating the distance and the azimuth between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target position.
S309, determining a second parking route plan of the vehicle according to the distance and the direction.
And S310, controlling the vehicle to move to a position where the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil of the target position according to the second parking route planning.
After the vehicle is parked to the target position in the parking area at step S306, it may be further detected whether the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil of the target position at step S307, and when it is judged that the wireless charging coil is not aligned, the positional relationship between the wireless charging transmitting coil and the wireless charging receiving coil on the vehicle may be calculated by the sensor data at step S308. For example, the distance and orientation between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target location may be calculated. In step S309, a second parking route plan for the vehicle may be determined based on the distance and the bearing determined in step S308. In other words, in the embodiment of the present application, the target position moved from the current position of the vehicle to the parking area may be regarded as parking in the first stage, and after parking to the target position, since the signal transmitted from the wireless charging transmitting terminal has been received, the position of the wireless charging transmitting coil may be more accurately determined, and at this time, accurate parking in the second stage, that is, fine pose adjustment of the vehicle may be performed, so that the vehicle may be further controlled in step S310 to accurately reach the position where the receiving terminal of the wireless charging coil parked on the vehicle is aligned with the transmitting terminal of the wireless charging coil in the target position.
In addition, in the embodiment of the application, the parking process can also be displayed through the vehicle-mounted infotainment system. For example, a first phase of parking and a second phase may be displayed. In this process, pictures around the vehicle collected by the respective cameras mounted on the vehicle may be displayed on the display screen of the in-vehicle infotainment system for the driver to refer to, or radar data sensed by the sensors may be displayed in real time, or the parking progress of the vehicle may be displayed on the display screen of the in-vehicle infotainment system in real time according to the running of the vehicle along the planned route.
According to the vehicle control method provided by the embodiment of the application, the position of the wireless charging transmitting end is obtained by utilizing the plurality of sensors installed on the vehicle, the current position of the vehicle is used as the initial position according to the position as the final position of the vehicle, the driving path planning of the vehicle is determined, and finally the vehicle is parked at the position of the wireless charging transmitting end according to the planning, so that the position of the wireless charging transmitting end can be automatically identified, and the position of the vehicle aligned with the wireless charging receiving end of the vehicle can be ensured by route planning, so that the vehicle can be automatically parked at the wireless charging position without personnel intervention, and the wireless charging experience of a user is greatly improved.
Fig. 4 is a schematic structural diagram of an embodiment of a vehicle control apparatus according to the present application, which may be used to perform the method steps shown in fig. 2 and 3. As shown in fig. 4, the vehicle control apparatus may include: a first determination module 41, an acquisition module 42, a second determination module 43, a third determination module 44 and a control module 45.
The first determination module 41 may be configured to determine that the vehicle is in a parking area that is wirelessly charged based on an initial position of the vehicle.
The first determination module 41 may determine whether the parking area has been reached based on the current location of the vehicle driven by the user. For example, whether the vehicle is already within the parking area may be determined in accordance with the position information of the parking area that has been stored in conjunction with the current position of the user's vehicle, or whether the user is currently within the parking area may be determined in accordance with the navigation route of the user driving the vehicle.
In the embodiment of the present application, the parking area determined by the first determining module 41 may be a parking area where a wireless charging transmitting terminal is installed on the ground, and of course, may also be a parking area where a wired charging device is also installed.
The acquisition module 42 may be configured to acquire environmental data of the vehicle acquired by the at least one environmental sensor.
When the first determination module 41 determines that the vehicle is traveling near a parking area with wireless charging, the acquisition module 42 may obtain environmental data by scanning the environment around the vehicle, particularly in front of the vehicle, through various sensors of the vehicle, such as radar sensors and/or vision sensors.
The second determination module 43 may be configured to determine a target location in the parking area based on the environmental data.
The second determination module 43 may determine a location of the wireless charging device in the parking area as a target location for parking the vehicle based on the environmental data obtained by the acquisition module 42.
For example, the acquiring module 42 may acquire the front data of the vehicle through the millimeter wave radar sensor and then analyze the data through a digital signal processing algorithm such as a beam forming algorithm, a measuring algorithm, etc., so as to obtain the distribution situation of the obstacle in front of the vehicle, the parking space information, the position information of the charging pile, etc., so that the second determining module 43 may determine that the vehicle has traveled near the charging area. In addition, the second determining module 43 may process the environmental data obtained by the obtaining module 42, and perform data fusion to obtain fusion data, so as to determine, according to the obtained fusion data, a location of the wireless charging device in the parking area as a target location for parking the vehicle.
The acquisition module 42 can also acquire distance and azimuth information of obstacles in front of the vehicle, particularly the charging pile, through an echo positioning principle after acquiring data of the periphery or the front of the vehicle through an ultrasonic radar sensor. In addition, the acquisition module 42 may also collect data through a vision sensor, after which the second determination module 43 may determine that a wireless charging device is present in front of the vehicle and may determine its location through an image recognition algorithm and an image localization algorithm.
The third determination module 44 may be configured to determine a first parking route plan for the vehicle based on the initial location and the target location of the vehicle.
The control module 45 may be configured to control movement of the vehicle to the target location in accordance with the first parking route plan.
The second determination module 43 determines a parking area and a target position in the parking area, such as a coil position of a wireless charging transmitting terminal, or a charging position of a wired charging pile, based on environmental data sensed by various sensors mounted on the vehicle, particularly environmental data in front of the vehicle. The route planning of the vehicle may be performed in the third determination module 44 with the current position of the vehicle as the initial position and the target position determined as above as the end position. As shown in fig. 1, for example, an electric vehicle may travel from the left side to the right side of the page, and there may be a parking area extending in a direction perpendicular to the travel direction of the vehicle in front of the vehicle, and the parking area is detected by sensors on the vehicle, such as the above-mentioned millimeter wave radar sensor, ultrasonic radar sensor, visual sensor, and the like, and a coil of a wireless charging transmitting terminal is present in the center of the parking area. Accordingly, the third determination module 44 may set the location of the coil as the target location for parking and conduct parking route planning.
The control module 45 may control the vehicle to move to park at the target location determined by the second determination module 43 according to the parking route plan determined by the third determination module 44.
In addition, the vehicle control device according to the embodiment of the application may further include a detection module 46, and the detection module 46 may be configured to detect whether the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position.
After the control module 45 controls the vehicle to park to the target position in the parking area, the detection module 46 may further detect whether the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil of the target position, and when the detection module 46 determines that there is no alignment, the third determination module 44 may further calculate the positional relationship between the wireless charging transmitting coil and the wireless charging receiving coil on the vehicle from the sensor data. For example, the distance and orientation between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target location may be calculated. And determining a second parking route plan of the vehicle according to the determined distance and the determined azimuth. In other words, in the embodiment of the present application, the target position moved from the current position of the vehicle to the parking area may be regarded as parking in the first stage, and after parking to the target position, since the signal transmitted from the wireless charging transmitting terminal has been received, the position of the wireless charging transmitting terminal may be determined more accurately by the detection module 46, at which time accurate parking in the second stage, that is, fine pose adjustment of the vehicle, may be performed, so that the control module 45 may further control the vehicle to accurately reach the position where the receiving terminal of the wireless charging coil parked on the vehicle is aligned with the transmitting terminal of the wireless charging coil in the target position.
In addition, in the embodiment of the application, the parking process can also be displayed through the vehicle-mounted infotainment system. For example, a first phase of parking and a second phase may be displayed. In this process, pictures around the vehicle collected by the respective cameras mounted on the vehicle may be displayed on the display screen of the in-vehicle infotainment system for the driver to refer to, or radar data sensed by the sensors may be displayed in real time, or the parking progress of the vehicle may be displayed on the display screen of the in-vehicle infotainment system in real time according to the running of the vehicle along the planned route.
According to the vehicle control device provided by the embodiment of the application, the position of the wireless charging transmitting end is obtained by utilizing the plurality of sensors arranged on the vehicle, the current position of the vehicle is used as the initial position according to the position as the final position of the vehicle, the driving path planning of the vehicle is determined, and finally the vehicle is parked at the position of the wireless charging transmitting end according to the planning, so that the position of the wireless charging transmitting end can be automatically identified, and the position of the vehicle aligned with the wireless charging receiving end of the vehicle can be ensured by route planning, so that the vehicle can be automatically parked at the wireless charging position without personnel intervention, and the wireless charging experience of a user is greatly improved.
The internal functions and structures of the vehicle control apparatus, which may be implemented as an electronic device, are described above. Fig. 5 is a schematic structural diagram of an embodiment of an electronic device provided by the present application. As shown in fig. 5, the electronic device includes a memory 51 and a processor 52.
A memory 51 for storing a program. In addition to the programs described above, the memory 51 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and the like.
The memory 51 may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The processor 52 is not limited to a Central Processing Unit (CPU), but may be a Graphics Processor (GPU), a Field Programmable Gate Array (FPGA), an embedded neural Network Processor (NPU), or an Artificial Intelligence (AI) chip. The processor 52 is coupled to the memory 51, and executes a program stored in the memory 51, which executes the vehicle control method of the above-described embodiment.
Further, as shown in fig. 5, the electronic device may further include: communication component 53, power component 54, audio component 55, display 56, and other components. Only some of the components are schematically shown in fig. 5, which does not mean that the electronic device only comprises the components shown in fig. 5.
The communication component 53 is configured to facilitate communication between the electronic device and other devices, either wired or wireless. The electronic device may access a wireless network based on a communication standard, such as a wireless communication technology (Wi-Fi), a third Generation mobile communication technology (3 rd-Generation, 3G for short), a fourth Generation mobile communication technology (the 4th Generation mobile communication technology, 4G for short), or a fifth Generation mobile communication technology (5 th-Generation Mobile Communication Technology, 5G for short), or a combination thereof. In one exemplary embodiment, the communication component 53 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 53 further includes a near field communication (Near Field Communication, NFC) module to facilitate short range communication. For example, the NFC module may be implemented based on radio frequency identification (Radio Frequency Identification, RFID) technology, infrared data association (Infrared Data Association, irDA) technology, ultra Wide Band (UWB) technology, bluetooth (BT) technology, and other technologies.
A power supply assembly 54 provides power to the various components of the electronic device. The power supply components 54 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic devices.
The audio component 55 is configured to output and/or input audio signals. For example, the audio component 55 includes a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may be further stored in the memory 51 or transmitted via the communication component 53. In some embodiments, the audio assembly 55 further comprises a speaker for outputting audio signals.
The display 56 includes a screen, which may include a liquid crystal display (Liquid Crystal Display, LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (10)
1. A vehicle control method characterized by comprising:
Determining a parking area where the vehicle is in wireless charging according to the initial position of the vehicle;
acquiring environmental data of a vehicle acquired by at least one environmental sensor;
determining a target position in the parking area according to the environment data;
determining a first parking route plan for the vehicle based on the initial position of the vehicle and the target position;
and controlling the vehicle to move to the target position according to the first parking route planning.
2. The vehicle control method according to claim 1, characterized in that the vehicle control method further comprises:
and detecting whether a receiving end of the wireless charging coil on the vehicle is aligned with a transmitting end of the wireless charging coil at the target position.
3. The vehicle control method according to claim 2, characterized in that when it is determined that the receiving end of the wireless charging coil on the vehicle is not aligned with the transmitting end of the wireless charging coil of the target position, the vehicle control method further comprises:
calculating the distance and the azimuth between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target position;
determining a second parking route plan of the vehicle according to the distance and the azimuth;
And controlling the vehicle to move to a position where the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position according to the second parking route planning.
4. The vehicle control method according to claim 1, characterized in that the determining of the target position in the parking area from the environment data includes:
performing fusion processing on the environmental data acquired by the sensor to acquire sensor fusion data;
and determining the target position according to the sensor fusion data.
5. A vehicle control apparatus characterized by comprising:
the first determining module is used for determining that the vehicle is in a wireless charging parking area according to the initial position of the vehicle;
the acquisition module is used for acquiring the environmental data of the vehicle acquired by the at least one environmental sensor;
the second determining module is used for determining the target position in the parking area according to the environment data;
a third determination module for determining a first parking route plan for the vehicle based on the initial position of the vehicle and the target position;
and the control module is used for controlling the vehicle to move to the target position according to the first parking route planning.
6. The vehicle control apparatus according to claim 5, characterized in that the vehicle control apparatus further comprises:
and the detection module is used for detecting whether the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position.
7. The vehicle control apparatus of claim 6, wherein when the detection module determines that the receiving end of the wireless charging coil on the vehicle is not aligned with the transmitting end of the wireless charging coil at the target position, the third determination module is further configured to:
calculating the distance and the azimuth between the receiving end of the wireless charging coil on the vehicle and the transmitting end of the wireless charging coil at the target position;
determining a second parking route plan for the vehicle based on the distance and the bearing, and
the control module is further to: and controlling the vehicle to move to a position where the receiving end of the wireless charging coil on the vehicle is aligned with the transmitting end of the wireless charging coil at the target position according to the second parking route planning.
8. The vehicle control apparatus of claim 5, wherein the first determination module is further configured to:
Performing fusion processing on the environmental data acquired by the sensor to acquire sensor fusion data;
and determining the target position according to the sensor fusion data.
9. A computer-readable storage medium, characterized in that a computer program executable by a processor is stored thereon, wherein the program, when executed by the processor, implements the vehicle control method according to any one of claims 1 to 4.
10. An electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored in the memory to execute the vehicle control method according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210200215.2A CN116729362A (en) | 2022-03-02 | 2022-03-02 | Vehicle control method, device, computer readable storage medium and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210200215.2A CN116729362A (en) | 2022-03-02 | 2022-03-02 | Vehicle control method, device, computer readable storage medium and electronic equipment |
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| CN116729362A true CN116729362A (en) | 2023-09-12 |
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| CN202210200215.2A Pending CN116729362A (en) | 2022-03-02 | 2022-03-02 | Vehicle control method, device, computer readable storage medium and electronic equipment |
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