JP2013208049A - Vehicle guidance device, vehicle guidance information providing device and vehicle guidance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform guidance of alignment between a power receiving part and a power feeding part with a simple structure, and also to reduce a burden on a driver in performing alignment between the power receiving part and the power feeding part.SOLUTION: A movement distance acquisition part 102 acquires a movement distance of a vehicle 150 from a time when one of the left wheel and the right wheel of the front wheels or rear wheels of the vehicle 150 tramples a sensor 172 to a time when the other of the left wheel and the right wheel tramples the sensor 172. A vehicle side communication part 103 transmits vehicle information of the vehicle 150 and a vehicle distance information indicating the movement distance to a vehicle guidance information providing device 170, and acquires angle information from the vehicle guidance information providing device 170, the angle information being generated by performing a computation using the vehicle information and the vehicle distance information in the vehicle guidance information providing device 170 and indicating a gradient with respect to a straight moving direction of the vehicle 150. A display 107 provides notification for guiding the vehicle 150 to a position where a power receiving part 151 and a power feeding part 180 faces.

Description

  The present invention relates to a vehicle guidance device, a vehicle guidance information providing device, and a vehicle guidance method for guiding a vehicle having a power reception unit to a position where a power reception unit and a power supply unit face each other.

  In a vehicle that travels using electric power stored in a storage battery such as an electric vehicle as a power source, it is necessary to charge the storage battery using a power supply device while the vehicle is stopped, such as when the vehicle is parked in a parking lot. As a conventional electromagnetic induction type non-contact power supply device, a power supply unit installed on the ground supplies power to a power reception unit mounted on a vehicle is known. The power feeding unit is provided, for example, on the road surface side where a vehicle such as a parking space stops. On the other hand, the power reception unit is provided on the bottom surface of the vehicle at a position facing the power supply unit installed on the ground.

  In the non-contact charging system described above, if the positions of the power receiving unit and the power feeding unit are not accurately matched, the charging efficiency is reduced, or the leakage magnetic field or unnecessary radiation is increased. Conventionally, the following methods are known as methods for improving the accuracy of alignment between the power receiving unit and the power feeding unit.

  That is, conventionally, a method for aligning the power receiving unit and the power feeding unit by moving the position of the power feeding coil of the power feeding unit is known (for example, Patent Document 1).

  Moreover, although it is not the alignment in a charging system, in order to correct the advancing direction of the thing which guides a vehicle to a fixed position with a U-shaped metal main body (for example, patent document 2) and the wheel which got up, toward an entrance There is also known one that performs alignment by providing an inclined portion (for example, Patent Document 3).

  In addition, conventionally, a wheel interval detection sensor that detects a pressure stepped on a wheel detects a wheel interval in the width direction of the vehicle, and a part of the vehicle corresponding to a target stop position of the wheel determined according to the detection result of the wheel interval. A device that controls a light emitting unit and other light emitting units so as to be in different light emission states is known (for example, Patent Document 4).

Japanese Patent Laid-Open No. 9-215211 Japanese Utility Model Publication No.2-149066 JP-A-6-341245 JP 2011-106216 A

  However, in Patent Document 1, since it is necessary to provide a movable part for moving the feeding coil, there is a problem that the structure becomes complicated and the manufacturing cost increases.

  In addition, when Patent Document 2 and Patent Document 3 are applied to the charging system, in order to stop the vehicle at the target stop position, it is necessary to move the vehicle straight to the target stop position. Therefore, it is necessary to move the vehicle back and forth many times to turn the wheels in the straight direction, and there is a problem that the burden on the driver accompanying the alignment increases.

  Moreover, in patent document 4, since only the locus | trajectory at the time of a wheel space | interval detection sensor detecting a wheel is displayed, and the change of the locus | trajectory after a detection is not displayed, the driving | operation accompanying alignment with a power receiving part and an electric power feeding part is displayed. There is a problem that the burden on the person cannot be reduced.

  An object of the present invention is to eliminate the necessity of providing a movable part, thereby enabling guidance of alignment between the power receiving unit and the power feeding unit with a simple structure and at the time of positioning between the power receiving unit and the power feeding unit. To provide a vehicle guidance device, a vehicle guidance information provision device, and a vehicle guidance method that can reduce the burden on the driver when aligning the power receiving unit and the power feeding unit. It is.

  A vehicle guide device according to the present invention is a vehicle guide device that guides a vehicle having a power receiving unit that receives power in a non-contact manner from a power feeding unit to a position where the power receiving unit and the power feeding unit are opposed to each other. Movement for determining the moving distance of the vehicle from the time when the pressure sensor is stepped on one of the left wheel and the right wheel of the rear wheel to the time when the pressure sensor is stepped on either the left wheel or the right wheel The distance acquisition unit, vehicle information including at least information on the tread width of the vehicle, and vehicle distance information indicating the travel distance are transmitted to an external device, and the vehicle information and the vehicle distance information are used in the external device. A communication unit that obtains angle information indicating the inclination of the vehicle with respect to the straight traveling direction from the facing position, generated by calculation, and a change in the direction of the vehicle. The vehicle direction acquisition unit, the angle information acquired by the communication unit, and the change of the direction acquired by the vehicle direction acquisition unit, guide the vehicle to a position where the power reception unit and the power supply unit face each other. The structure provided with the alerting | reporting part which alert | reports for this.

  The vehicle guidance information providing apparatus of the present invention provides a vehicle that provides information for guiding a vehicle having a power receiving unit that receives power in a non-contact manner from the power feeding unit to a position where the power receiving unit and the power feeding unit face each other. A guidance information providing device, wherein either the left wheel or the right wheel from a time when the pressure sensor unit and the left or right wheel of the front wheel or the rear wheel of the vehicle are stepped on the pressure sensor unit. On the other hand, a calculation is performed using vehicle information including information on the movement distance of the vehicle up to the time when the pressure sensor unit is stepped on and the tread width of the vehicle, and the vehicle travels straight from the opposite position. A control unit for obtaining an inclination, vehicle information indicating the vehicle information and the moving distance are acquired from the vehicle, and angle information indicating the inclination obtained by the control unit is sent to the vehicle. A communication unit that, the structure having a take.

  The vehicle guidance method of the present invention is a vehicle guidance method for guiding a vehicle having a power reception unit that receives power in a non-contact manner from a power supply unit to a position where the power reception unit and the power supply unit are opposed to each other. Movement for determining the moving distance of the vehicle from the time when the pressure sensor is stepped on one of the left wheel and the right wheel of the rear wheel to the time when the pressure sensor is stepped on either the left wheel or the right wheel The distance acquisition step, vehicle information including at least information on the tread width of the vehicle, and vehicle distance information indicating the travel distance are transmitted to an external device, and the vehicle information and the vehicle distance information are used in the external device. A communication step of obtaining from the external device angle information indicating the inclination of the vehicle generated by calculation with respect to the straight traveling direction from the facing position; and the direction of the vehicle Based on the vehicle direction acquisition step for acquiring a change, the angle information acquired in the communication step, and the change in the direction acquired in the vehicle direction acquisition step, the vehicle is moved to a position where the power receiving unit and the power supply unit face each other. And a notification step for performing notification for guiding.

  According to the present invention, by eliminating the need to provide a movable part, it is possible to guide the positioning of the power receiving unit and the power feeding unit with a simple structure, and at the time of positioning the power receiving unit and the power feeding unit. Therefore, it is not necessary to always move the vehicle straight, so that the burden on the driver when the power receiving unit and the power feeding unit are aligned can be reduced.

The block diagram which shows the structure of the charging system in embodiment of this invention The top view of the charging system of the state which has not completed alignment with the power receiving part and electric power feeding part in embodiment of this invention The top view of the charging system of the state which the position alignment with the power receiving part and electric power feeding part in embodiment of this invention was completed The figure which shows the relationship between the wheel and sensor part at the time of a sensor part being stepped on by the wheel in embodiment of this invention The figure which shows the method of calculating the 1st relative distance of the front-back direction in embodiment of this invention. The figure which shows the method of calculating the 1st relative distance of the left-right direction in embodiment of this invention. The flowchart which shows operation | movement of the vehicle guidance apparatus at the time of the inclination of 1st vehicle and relative distance calculation in embodiment of this invention The flowchart which shows operation | movement of the vehicle guidance information provision apparatus at the time of the inclination and relative distance calculation of the 1st vehicle in embodiment of this invention The figure which shows the relationship between the wheel and sensor part at the time of the wheel in embodiment of this invention having left | separated from the sensor part. The figure which shows the method of calculating the relative distance of the 2nd time of the front-back direction in embodiment of this invention. Enlarged view of the vicinity of the power receiving unit when calculating the second relative distance in the front-rear direction in the embodiment of the present invention The figure which shows the method of calculating the relative distance of the 2nd time of the left-right direction in embodiment of this invention. The flowchart which shows operation | movement of the vehicle guidance apparatus at the time of the inclination of the vehicle of 2nd time and relative distance calculation in embodiment of this invention The flowchart which shows operation | movement of the vehicle guidance information provision apparatus at the time of the inclination and relative distance calculation of the 2nd vehicle in embodiment of this invention The top view of a part of charge system in the modification of embodiment of this invention

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment)
In the present embodiment, an example will be described in which the vehicle moves backward to align the power receiving unit and the power feeding unit.

<Configuration of charging system>
A configuration of charging system 10 according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of charging system 10 in the present embodiment.

  The charging system 10 includes a vehicle 150, a vehicle guidance information providing device 170, and a power feeding unit 180.

  The vehicle 150 includes a vehicle guide device 100, a power reception unit 151, and a storage battery 152. The vehicle 150 travels using the storage battery 152 as a power source. The vehicle 150 is a vehicle that travels with the electric power of the storage battery 152 such as a HEV (Hybrid Electric Vehicle), a PEV (Plug-in Electric Vehicle), or an EV (Electric Vehicle). The vehicle 150 has wheels 160a, 160b, 160c, and 160d (the wheels 160b and 160d are omitted in FIG. 1).

  The vehicle guidance device 100 transmits predetermined information to the vehicle guidance information providing device 170 that is an external device, and guides the vehicle 150 to the power supply unit 180 using the information received from the vehicle guidance information providing device 170. The details of the configuration of the vehicle guidance device 100 will be described later.

  The power receiving unit 151 is provided on the bottom surface of the vehicle 150. The power receiving unit 151 is supplied with power from the power supply unit 180 in a non-contact manner by electromagnetic induction using a power receiving coil (not shown) opposed to the power supply unit 180, and charges the storage battery 152 by supplying power to the storage battery 152.

  The storage battery 152 stores the power supplied by the power receiving unit 151.

  The vehicle guidance information providing apparatus 170 includes a power supply side communication unit 171, a sensor unit 172, and a power supply side control unit 173. The vehicle guidance information providing device 170 generates information for guiding the vehicle 150 to a position where the power receiving unit 151 and the power feeding unit 180 face each other, and transmits the generated information to the vehicle 150. The details of the configuration of the vehicle guidance information providing device 170 will be described later.

  The power feeding unit 180 is installed or embedded on the ground so as to be exposed from the ground surface. The power feeding unit 180 is provided, for example, in a parking space or the like, and feeds power to the power receiving unit 151 while the vehicle 150 is parked.

<Configuration of vehicle guidance device>
The structure of the vehicle guidance apparatus 100 which concerns on embodiment of this invention is demonstrated using FIG.

  The vehicle guidance device 100 includes a vehicle information storage unit 101, a travel distance acquisition unit 102, a vehicle side communication unit 103, a vehicle direction acquisition unit 104, a vehicle side control unit 105, and a display unit 106. .

  The vehicle information storage unit 101 is vehicle information that is information on the tread width of the vehicle 150, the distance between the center of the power receiving unit 151 and the front end of the rear wheel, and the distance between the center of the power receiving unit 151 and the rear end of the rear wheel. Is stored in advance. The vehicle information storage unit 101 outputs the stored vehicle information to the vehicle side communication unit 103 in accordance with instructions from the vehicle side control unit 105.

  The movement distance acquisition unit 102 is activated under the control of the vehicle side control unit 105. In accordance with an instruction from the vehicle-side control unit 105, the travel distance acquisition unit 102 determines which one of the wheel 160c and the wheel 160d of the vehicle 150 from the time when either the wheel 160c or the wheel 160d of the vehicle 150 steps on the sensor unit 172. Detects the moving distance of the vehicle 150 in the time up to the time when the sensor unit 172 is stepped on. The movement distance acquisition unit 102 outputs the detection result of the movement distance to the vehicle side communication unit 103 as vehicle distance information. In addition to the detection of the movement distance, the movement distance acquisition unit 102 detects the movement distance of the vehicle 150 according to the control of the vehicle side control unit 105 and outputs the detection result to the vehicle side control unit 105. The travel distance acquisition unit 102 is, for example, a vehicle speed pulse generator that generates a vehicle speed pulse whose pulse cycle changes according to the traveling speed of the vehicle 150.

  When vehicle information is input from the vehicle information storage unit 101, the vehicle side communication unit 103 generates a signal including vehicle information and transmits the signal to the power supply side communication unit 171. When the vehicle distance information is input from the movement distance acquisition unit 102, the vehicle side communication unit 103 generates a signal including the vehicle distance information and transmits the signal to the power supply side communication unit 171. The vehicle side communication unit 103 generates a charge start signal or a charge stop signal according to the control of the vehicle side control unit 105, and transmits the generated charge start signal or charge stop signal to the power supply side communication unit 171.

  When the vehicle side communication unit 103 receives a transmission request for vehicle information from the power supply side communication unit 171, the vehicle side communication unit 103 notifies the vehicle side control unit 105 that the transmission request has been received. The vehicle side communication unit 103 notifies the vehicle side control unit 105 that the measurement start request has been received when the movement start measurement start request is received from the power supply side communication unit 171. The vehicle side communication unit 103 notifies the vehicle side control unit 105 that the measurement stop request has been received when the movement distance measurement stop request is received from the power supply side communication unit 171. When the vehicle side communication unit 103 receives angle information and relative distance information from the power supply side communication unit 171, the vehicle side communication unit 103 outputs the received angle information and relative distance information to the vehicle side control unit 105. When the vehicle side communication unit 103 receives the correction angle information from the power supply side communication unit 171, the vehicle side communication unit 103 outputs the received correction angle information to the vehicle side control unit 105. When the vehicle side communication unit 103 receives the corrected relative distance information from the power supply side communication unit 171, the vehicle side communication unit 103 outputs the received corrected relative distance information to the vehicle side control unit 105. Here, the angle information indicates an inclination with respect to the straight traveling direction from a position where the power receiving unit 151 and the power feeding unit 180 of the vehicle 150 face each other. The relative distance information indicates a relative distance between the power receiving unit 151 and the power feeding unit 180. The corrected angle information indicates corrected angle information. The corrected relative distance information indicates corrected relative distance information. Details of angle information, relative distance information, correction angle information, and correction relative distance information will be described later.

  The vehicle orientation acquisition unit 104 measures the current orientation of the vehicle 150 under the control of the vehicle-side control unit 105, and detects the amount of change in the orientation measured this time with respect to the previously measured orientation. The vehicle direction acquisition unit 104 outputs the detected amount of change in the direction of the vehicle 150 to the vehicle side control unit 105. The vehicle orientation acquisition unit 104 is a magnetic orientation sensor or an angular velocity sensor, for example. The angular velocity sensor is a vibration type gyro or an optical fiber gyro.

  The vehicle-side control unit 105 controls the vehicle-side communication unit 103 and the power receiving unit 151 to start various processes associated with charging when a charging start instruction is input from the display unit 106. The vehicle-side control unit 105 controls the vehicle-side communication unit 103 and the power receiving unit 151 to start various processes associated with the charge stop when a charge stop instruction is input from the display unit 106.

  The vehicle-side control unit 105 starts various controls for guiding the vehicle 150 when an instruction for guiding the vehicle 150 is input from the display unit 106. Specifically, the vehicle-side control unit 105 instructs the vehicle information storage unit 101 to output vehicle information when receiving a notification of receiving a vehicle information transmission request from the vehicle-side communication unit 103. When the vehicle-side control unit 105 receives a notification of receiving the measurement start request from the vehicle-side communication unit 103, the vehicle-side control unit 105 instructs the movement distance acquisition unit 102 to start measuring the movement distance. When the vehicle-side control unit 105 receives a notification from the vehicle-side communication unit 103 that has received the measurement stop request, the vehicle-side control unit 105 instructs the travel distance acquisition unit 102 to stop the travel distance measurement.

  The vehicle side control unit 105 performs control to display guidance using angle information or relative distance information input from the vehicle side communication unit 103 on the display unit 106.

  Specifically, the vehicle-side control unit 105 performs guidance based on the amount of change in azimuth from the start of angle information calculation input from the vehicle azimuth acquisition unit 104, using the angle information input from the vehicle-side communication unit 103 as an initial value. . That is, the vehicle-side control unit 105 guides the initial value to be “0” using the amount of change in direction. The timing at which the vehicle-side control unit 105 controls to start guidance using the amount of change in direction is the time when the sensor unit 172 is stepped on by the left and right wheels 160c and 160d of the vehicle 150. The reason is that if the sensor unit 172 is not stepped on by both wheels 160c and 160d, the inclination cannot be obtained and angle information cannot be generated.

  Further, the vehicle-side control unit 105 uses the relative distance information input from the vehicle-side communication unit 103 as an initial value, and starts relative distance information calculation input from the movement distance acquisition unit 102 (relative distance information calculation start time = angle information calculation). Guidance is performed based on the travel distance from the start time) and the direction change amount from the start of relative distance information calculation input from the vehicle orientation acquisition unit 104. At this time, the vehicle-side control unit 105 calculates the distance traveled left and right and front and rear with respect to the straight direction from the amount of change in direction. Specifically, the vehicle-side control unit 105 uses the relative distance in the left-right direction and the relative distance in the front-rear direction at the start of relative distance information calculation as initial values, and the relative distance in the left-right direction and the front-rear direction in the relative distance information calculation start. Are guided so that each of the relative distances becomes “0”. Here, the straight traveling direction is a traveling direction of the vehicle 150 when the steering angle of the wheels 160a, 160b, 160c, and 160d of the vehicle 150 that receives power supply is 0 °.

  The vehicle-side control unit 105 performs control for causing the display unit 106 to display the correction angle information input from the vehicle-side communication unit 103. The vehicle-side control unit 105 performs control for causing the display unit 106 to display the corrected relative distance information input from the vehicle-side communication unit 103.

  Specifically, the vehicle-side control unit 105 uses the correction angle information input from the vehicle-side communication unit 103 as an initial value, and guides by the amount of change in direction from the start of calculation of the correction angle information input from the vehicle direction acquisition unit 104. I do. That is, the vehicle-side control unit 105 guides the initial value to be “0” using the amount of change in direction. The timing at which the vehicle-side control unit 105 controls to start guidance using the amount of change in the azimuth is the time at which both the left and right wheels 160c and 160d of the vehicle 150 are separated from the sensor unit 172. The reason is that the inclination cannot be obtained unless both wheels are separated from the sensor unit 172, and correction angle information cannot be generated.

  In addition, the vehicle-side control unit 105 uses the corrected relative distance information input from the vehicle-side communication unit 103 as an initial value, and starts correction relative distance information input from the movement distance acquisition unit 102 (at the time of starting correction relative distance information calculation = Guidance is performed based on the movement distance from the time when the correction angle information calculation is started) and the amount of azimuth change since the start of calculation of the corrected relative distance information input from the vehicle direction acquisition unit 104. At this time, the vehicle-side control unit 105 calculates the distance traveled left and right and front and rear with respect to the straight traveling direction S1 from the amount of change in direction. Specifically, the vehicle-side control unit 105 uses the relative distance in the left-right direction and the relative distance in the front-rear direction when starting the correction relative distance information calculation as initial values, and the relative distance in the left-right direction when starting the correction relative distance information calculation and Guidance is provided so that each of the relative distances in the front-rear direction is “0”.

  The display unit 106 displays angle information, relative distance information, corrected angle information, or corrected relative distance information under the control of the vehicle side control unit 105. Alternatively, the display unit 106 displays an image for guiding the vehicle 150 according to the control of the vehicle side control unit 105. The display unit 106 displays a menu screen that accepts an instruction to guide the vehicle 150, an instruction to start charging, or an instruction to stop charging from the outside. The display unit 106 outputs the above-described various instructions received from the outside through the menu screen to the vehicle-side control unit 105.

<Configuration of vehicle guidance information providing device>
The structure of the vehicle guidance information provision apparatus 170 in embodiment of this invention is demonstrated using FIG.

  The vehicle guidance information providing apparatus 170 includes a power supply side communication unit 171, a sensor unit 172, and a power supply side control unit 173.

  The power supply side communication unit 171 receives a power supply start signal or a power supply stop signal from the vehicle side communication unit 103. The power supply side communication unit 171 outputs the received power supply start signal or power supply stop signal to the power supply side control unit 173. The power supply side communication unit 171 generates a signal including a vehicle information transmission request input from the power supply side control unit 173 and transmits the signal to the vehicle side communication unit 103. The power supply side communication unit 171 generates a signal including a movement distance measurement start request under the control of the power supply side control unit 173 and transmits the signal to the vehicle side communication unit 103. The power supply side communication unit 171 generates a signal including a movement distance measurement stop request under the control of the power supply side control unit 173 and transmits the signal to the vehicle side communication unit 103. The power supply side communication unit 171 generates a signal including angle information, relative distance information, or a correction value input from the power supply side control unit 173 and outputs the signal to the vehicle side communication unit 103.

  The sensor unit 172 is installed or embedded in the ground in a state of being exposed from the ground surface. The sensor unit 172 is disposed in the vicinity of the power feeding unit 180. The sensor unit 172 is activated or stopped according to the control of the power supply side control unit 173. The sensor unit 172 outputs a predetermined voltage to the power supply side control unit 173 when stepped on by the wheel 160c and the wheel 160d. The sensor unit 172 is, for example, a pressure sensor. The sensor unit 172 can use a weight sensor as a pressure sensor.

  The power supply side control unit 173 activates the sensor unit 172 and detects that the sensor unit 172 is stepped on by the wheel 160c and the wheel 160d based on the output value from the sensor unit 172. Specifically, the power supply side control unit 173 detects that the sensor unit 172 has been stepped on by the wheel 160c or the wheel 160d when the output voltage from the sensor unit 172 is greater than or equal to a threshold value. The power supply side control unit 173 transmits a measurement start request for starting the measurement of the moving distance of the vehicle 150 when detecting that the sensor unit 172 is stepped on by either the wheel 160c or the wheel 160d. The power supply side communication unit 171 is controlled. The power supply side control unit 173 transmits a measurement stop request for stopping the measurement of the moving distance of the vehicle 150 when the sensor unit 172 continuously detects that the sensor unit 172 has been stepped on by either the wheel 160c or the wheel 160d. Thus, the power supply side communication unit 171 is controlled.

  The power supply side control unit 173 performs a calculation using the vehicle information and the vehicle distance information input from the power supply side communication unit 171 to obtain the inclination of the vehicle 150 with respect to the straight traveling direction. The power supply side control unit 173 outputs the obtained inclination to the power supply side communication unit 171 as angle information. Here, the straight traveling direction refers to a direction when the vehicle 150 travels straight from a position where the power receiving unit 151 and the power feeding unit 180 face each other when the steering angle of the vehicle 150 is 0 °. A method for obtaining the inclination of the vehicle 150 will be described later.

  The power feeding side control unit 173 obtains the relative distance between the power receiving unit 151 and the power feeding unit 180 based on the obtained inclination of the vehicle 150 and the detection position of the sensor unit 172 that has detected that the vehicle has been stepped on by the wheel 160c. The power feeding side control unit 173 outputs the obtained relative distance to the power feeding side communication unit 171 as relative distance information. A method for obtaining the relative distance will be described later.

  The power supply side control unit 173 detects that the wheel 160 c and the wheel 160 d have passed through the sensor unit 172 based on the output value from the sensor unit 172. Specifically, the power supply side control unit 173 detects that the wheel 160c or the wheel 160d has passed the sensor unit 172 when the output voltage from the sensor unit 172 is less than the threshold value. The power feeding side control unit 173 transmits a measurement start request for starting measurement of the moving distance of the vehicle 150 when detecting that one of the wheel 160c and the wheel 160d has passed the sensor unit 172. The power supply side communication unit 171 is controlled. The power supply side control unit 173 transmits a measurement stop request for stopping the measurement of the moving distance of the vehicle 150 when it continuously detects that one of the wheel 160c and the wheel 160d has passed the sensor unit 172. In this way, the power supply side communication unit 171 is controlled.

  The power supply side control unit 173 obtains a correction angle obtained by correcting the previously obtained inclination using the previously obtained inclination and the inclination obtained this time, and outputs correction angle information indicating the obtained correction angle to the power supply side communication unit 171. To do. A method for obtaining the correction angle will be described later.

  The power feeding side control unit 173 obtains the relative distance between the power receiving unit 151 and the power feeding unit 180 based on the inclination obtained this time and the detection position of the sensor unit 172b that detects the last step by the wheel 160d. The power supply side control unit 173 obtains a corrected relative distance obtained by correcting the previously obtained relative distance using the previously obtained relative distance and the presently obtained relative distance, and supplies corrected relative distance information indicating the obtained corrected relative distance. To the side communication unit 171. A method for obtaining the corrected relative distance will be described later.

<First vehicle tilt calculation method>
A first calculation method of the inclination of the vehicle 150 in the embodiment of the present invention will be described with reference to FIGS. FIG. 2 is a plan view of the charging system 10 in a state where the alignment between the power receiving unit 151 and the power feeding unit 180 is not completed. FIG. 3 is a plan view of the charging system 10 in a state where the alignment between the power receiving unit 151 and the power feeding unit 180 is completed. FIG. 4 is a diagram illustrating a relationship between the wheels 160c and 160d and the sensor units 172a and 172b when the sensor unit 172a is stepped on by the wheel 160c.

  When the vehicle 150 retreats from diagonally to the left in the straight traveling direction S1 and approaches the power supply unit 180 so that the power reception unit 151 and the power supply unit 180 face each other from the state of FIG. When 160c steps on sensor unit 172a, power supply side control unit 173 detects that sensor unit 172a has been stepped on by wheels 160c.

  Subsequently, when the wheel 160d steps on the sensor unit 172b, the power feeding side control unit 173 detects that the sensor unit 172b is stepped on by the wheel 160d.

In this case, as shown in FIG. 4, the power supply side control unit 173 includes the vehicle distance information of the distance r1 traveled by the vehicle 150 from when the wheel 160c steps on the sensor unit 172a until the wheel 160d steps on the sensor unit 172b, and Using the tread width h included in the vehicle information, the inclination θ1 is obtained by a trigonometric function. In other words, the power feeding side control unit 173 determines that the straight line # 401, the straight line # 402, and the straight line # 403 have three sides and the direction of the vehicle 150 with respect to the traveling direction S1 according to the equation θ1 = tan ⁻¹ (r1 / h). The inclination θ1 of the vehicle 150 is obtained. The inclination θ1 indicates the inclination of the vehicle 150 with respect to the straight traveling direction S1.

  When calculating the inclination of the vehicle 150, for example, the inclination θ1 when the vehicle 150 moves backward from the diagonally left direction with respect to the straight traveling direction S1 is positive (+), and the vehicle 150 from the diagonally right direction with respect to the straight traveling direction S1. The inclination θ1 at the time of retreating is negative (−). The power supply side control unit 105 can determine whether the inclination θ1 is positive or negative by detecting which of the sensor unit 172a and the sensor unit 172b has been stepped on first. As a result, the power supply side control unit 105 can determine whether it is clockwise or counterclockwise when guiding the driver in the direction in which the steering wheel is rotated. The sign may be reversed.

  Note that the first inclination of the vehicle 150 when the vehicle 150 approaches the power feeding unit 180 from the diagonally right direction with respect to the straight traveling direction S1 can be calculated by the same method as described above, and thus the description thereof is omitted.

<First relative distance calculation method>
A first calculation method of the relative distance in the embodiment of the present invention will be described with reference to FIGS. FIG. 5 is a diagram illustrating a method of calculating the first relative distance in the front-rear direction according to the present embodiment. FIG. 6 is a diagram illustrating a method of calculating the first relative distance in the left-right direction in the present embodiment.

  First, the power supply side control unit 173 calculates a relative distance Y1 of the vehicle 150 with respect to the power supply unit 180 in the front-rear direction (a direction parallel to S1).

  Specifically, from FIG. 5, the power feeding side control unit 173 uses the shortest distance L1 between the slope θ1 and the straight line connecting the rear ends of the wheels 160c and 160d and the straight line passing through the center of the power receiving unit 151, The distance L2 is calculated by the function. That is, the power supply side control unit 173 calculates the distance L2 by a trigonometric function using a right triangle having three sides of the straight line # 501, the straight line # 502, and the straight line # 503 and the angle (tilt) θ1 of the right triangle. Then, the power supply side control unit 173 adds the width L3 of the sensor units 172a and 172b and the distance L4 between the sensor units 172a and 172b and the center of the power supply unit 180 to the distance L2, thereby causing the vehicle 150 to move in the front-rear direction. The relative distance Y1 to the power feeding unit 180 is obtained. That is, the power supply side control unit 173 calculates the relative distance Y1 = L2 + L3 + L4 to obtain the relative distance Y1. Here, the width L3 and the distance L4 are stored in advance in a storage unit (not shown) as known values. The distance L1 is stored in the vehicle information storage unit 101 as vehicle information.

  In addition, the power supply side control unit 173 calculates a relative distance X1 in the left-right direction of the vehicle 150 with respect to the power supply unit 180 (a direction orthogonal to S1).

  Specifically, from FIG. 6, the power feeding side control unit 173 determines the length of the straight line # 602 among the right triangles having the straight line # 601, the straight line # 602, and the straight line # 603 as three sides, as shown in FIG. It can be obtained by reducing r1 to half. The power feeding side control unit 173 can obtain the distance R1 by a trigonometric function using the length of the straight line # 602 obtained as described above and the inclination θ1. A distance R1 obtained by converting a half (h / 2) of the tread width h into a distance in the left-right direction (a direction orthogonal to the straight traveling direction S1) by a trigonometric function is associated with each inclination t1. A table may be stored in advance to determine the distance R1.

  The power supply side control unit 173 obtains the relative distance X1 in the left-right direction by subtracting the distance R1 obtained by the above method from the detection position of the sensor unit 172b. At this time, the sensor unit 172b adds the distance R2 between the line passing through the center of the power feeding unit 180 and the end of the sensor unit 172b, and the distance R3 between the end of the sensor unit 172a and the detection position of the sensor unit 172a. The value is set in advance so as to be output as the detection position of the sensor unit 172b. That is, the power supply side control unit 173 calculates X1 = (R2 + R3) −R1. The sensor units 172a and 172b are divided into a plurality of regions by straight lines parallel to the straight traveling direction S1 (not shown), and the power supply side control unit 173 detects the stepped regions of the sensor units 172a and 172b, thereby The position stepped on by the wheels 160c and 160d of the parts 172a and 172b can be detected.

  Note that the first relative distance when the vehicle 150 approaches the power feeding unit 180 from the diagonally right direction with respect to the straight traveling direction S1 can be calculated by the same method as described above, and thus the description thereof is omitted.

<Operation of vehicle guidance device: First time of vehicle tilt and relative distance calculation>
The operation at the time of calculating the first tilt and the first relative distance in the vehicle guidance apparatus 100 according to Embodiment 1 of the present invention will be described with reference to FIG. FIG. 7 is a flowchart showing the operation of the vehicle guidance device 100 when calculating the inclination and relative distance of the vehicle 150 for the first time in the present embodiment.

  From FIG. 7, first, the vehicle-side control unit 105 of the vehicle guidance device 100 determines whether or not there is a request for transmission of vehicle information (step ST701).

  If there is no request for transmission of vehicle information (step ST701: NO), vehicle guidance apparatus 100 repeats the process of step ST701.

  On the other hand, when there is a request for transmission of vehicle information (step ST701: YES), the vehicle-side control unit 105 controls to transmit vehicle information to the vehicle information storage unit 101, and the vehicle-side communication unit 103 Then, the vehicle information stored in the vehicle information storage unit 101 is transmitted (step ST702).

  Next, the movement distance acquisition unit 102 follows the instructions of the vehicle side control unit 105 from the time when one of the wheels 160c and 160d of the vehicle 150 steps on the sensor units 172a and 172b. Measurement of the moving distance of the vehicle 150 is started for the time up to the time when the sensor unit 172a, 172b is stepped on either one of 160d (step ST703).

  Next, the vehicle-side control unit 105 determines whether or not to end the measurement of the movement distance by receiving the notification of receiving the measurement stop request from the vehicle-side communication unit 103 (step ST704).

  If it is determined not to end the measurement of the movement distance (step ST704: NO), the vehicle guidance apparatus 100 repeats the process of step ST704.

  On the other hand, when it is determined that the measurement of the movement distance is to be ended (step ST704: YES), the vehicle side communication unit 103 transmits vehicle distance information indicating the movement distance (step ST705).

  Next, vehicle-side control section 105 determines whether or not angle information and relative distance information have been received (step ST706).

  When it determines with not receiving angle information and relative distance information (step ST706: NO), the vehicle guidance apparatus 100 repeats the process of step ST706.

  When it is determined that the angle information and the relative distance information have been received (step ST706: YES), the vehicle-side control unit 105 calculates the target parking position using the received angle information and the relative distance information (step ST707). ).

  Next, the vehicle side control unit 105 controls the display unit 106 to perform driving operation guidance based on the calculated target parking position (step ST708).

  Note that the vehicle-side control unit 105 may perform control so that angle information or relative distance information is displayed on the display unit 106 as the driving operation guide in step ST708 without performing the process of step ST707.

<Operation of the vehicle guidance information providing apparatus: When calculating the tilt and relative distance of the first vehicle>
The operation at the time of calculating the first tilt and the first relative distance of the vehicle guidance information providing apparatus 170 according to the embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flowchart showing the operation of the vehicle guidance information providing apparatus 170 when calculating the first inclination of the vehicle 150 and the relative distance in the first embodiment.

  First, power supply side control section 173 determines whether or not sensor sections 172a and 172b are stepped on by wheels 160c and 160d of vehicle 150 (step ST801).

  When it is determined that the sensor units 172a and 172b are not stepped on by the wheels 160c and 160d (step ST801: NO), the vehicle guidance information providing apparatus 170 repeats the process of step ST801.

  On the other hand, when it is determined that the sensor units 172a and 172b are stepped on by the wheels 160c and 160d (step ST801: YES), the power supply side communication unit 171 determines the measurement start request and vehicle for measuring the moving distance of the vehicle 150. An information transmission request is transmitted (step ST802).

  Next, power supply side control section 173 stores whether wheels 160c and 160d that stepped on sensor sections 172a and 172b are left wheels or right wheels (step ST803). At this time, when the sensor unit 172a is stepped on, the power feeding side control unit 173 stores the stepped by the left wheel, and when the sensor unit 172b is stepped on, the power supply side control unit 173 stores the stepped by the right wheel. To do.

  Next, power supply side control section 173 determines whether or not sensor sections 172a and 172b that are not stepped on in step ST801 are stepped on by wheels 160c and 160d of vehicle 150 (step ST804).

  When it is determined that the vehicle has not been stepped on by wheels 160c and 160d (step ST804: NO), vehicle guidance information providing apparatus 170 repeats the process of step ST804.

  On the other hand, when it is determined that the vehicle has been stepped on by wheels 160c and 160d (step ST804: YES), power supply side communication unit 171 transmits a measurement stop request for stopping the measurement of the travel distance of vehicle 150 (step ST805). ).

  Next, power supply side control section 173 stores the position where it is detected that wheels 160c and 160d of vehicle 150 have stepped on sensor sections 172a and 172b (step ST806).

  Next, power feeding side control section 173 determines whether vehicle information and vehicle distance information have been received (step ST807).

  Next, when it is determined that the vehicle information and the vehicle distance information are not received (step ST807: NO), the vehicle guidance information providing apparatus 170 repeats the process of step ST807.

  On the other hand, when it is determined that the vehicle information and the vehicle distance information are received (step ST807: YES), the power supply side control unit 173 calculates the inclination θ1 using the vehicle information and the vehicle distance information (step ST807). ST808).

  Next, power supply side control section 173 calculates a relative distance Y1 in the front-rear direction with respect to power supply section 180 of vehicle 150 (step ST809).

  Next, power supply side control section 173 calculates a relative distance X1 in the left-right direction with respect to power supply section 180 of vehicle 150 (step ST810).

  Next, power supply side communication section 171 transmits angle information indicating inclination θ1 and relative distance information indicating relative distance Y1 and relative distance X1 (step ST811).

<The second calculation method of vehicle inclination>
A second slope calculation method in the embodiment of the present invention will be described with reference to FIG. FIG. 9 is a diagram illustrating a relationship between the wheels 160c and 160d and the sensor units 172a and 172b when the wheel 160d is separated from the sensor unit 172b.

  As shown in FIG. 9, when the vehicle 150 retreats obliquely from the state of FIG. 4 with respect to the straight traveling direction S1 and further approaches the power supply unit 180, the wheel 160c moves away from the sensor unit 172a, thereby 173 detects that the wheel 160c is separated from the sensor unit 172a.

  Subsequently, when the vehicle 160d is separated from the sensor unit 172b, the power feeding side control unit 173 detects that the wheel 160d is separated from the sensor unit 172b.

In this case, as shown in FIG. 9, the power supply side control unit 173 includes the vehicle distance information of the distance r2 that the vehicle 150 has traveled from when the wheel 160c is separated from the sensor unit 172a until the wheel 160d is separated from the sensor unit 172b. And, using the tread width h included in the vehicle information, the inclination θ2 is obtained by a trigonometric function. In other words, the power supply side control unit 173 determines that the straight line # 901, the straight line # 902, and the straight line # 903 are right triangles with three sides, and θ2 = tan ⁻¹ (r2 / h). The inclination θ2 is obtained. The inclination θ2 indicates the inclination of the vehicle 150 with respect to the straight traveling direction S1.

  Note that the second inclination of the vehicle 150 when the vehicle 150 approaches the power feeding unit 180 from the diagonally right direction with respect to the straight traveling direction S1 can be calculated by the same method as described above, and thus the description thereof is omitted.

<Second relative distance calculation method>
A second method of calculating the relative distance in the embodiment of the present invention will be described with reference to FIGS. 10, 11, and 12. FIG. 10 is a diagram illustrating a method for calculating the second relative distance in the front-rear direction according to the present embodiment. FIG. 11 is an enlarged view of the vicinity of the power reception unit 151 when calculating the second relative distance in the front-rear direction according to the present embodiment. FIG. 12 is a diagram illustrating a method of calculating the second relative distance in the left-right direction in the present embodiment.

  First, the power supply side control unit 173 calculates a relative distance Y2 of the vehicle 150 with respect to the power supply unit 180 in the front-rear direction (a direction parallel to S1).

  Specifically, from FIG. 10 and FIG. 11, the power feeding side control unit 173 determines the shortest distance L11 between the straight line connecting the inclination θ2 of the vehicle 150 and the front ends of the wheels 160c and 160d and the straight line passing through the center of the power receiving unit 151. Is used to calculate the distance L12 by a trigonometric function. That is, the power supply side control unit 173 calculates the distance L12 by a trigonometric function using a right triangle having three sides of the straight line # 1101, the straight line # 1102, and the straight line # 1103 and the angle (tilt) θ2 of the right triangle. The power supply side control unit 173 calculates a relative distance Y2 to the power supply unit 180 in the front-rear direction of the vehicle 150 by adding the distance L13 between the sensor units 172a and 172b and the center of the power supply unit 180 to the distance L12. . That is, the power supply side control unit 173 calculates the relative distance Y2 = L12 + L13 to obtain the relative distance Y2. Here, the distance L13 is stored in advance in a storage unit (not shown) as a known value. The distance L11 is stored in the vehicle information storage unit 101 as vehicle information.

  Here, the distance L12 has a positive value, a negative value, and a case of “0”. Which value the distance L12 is can be determined by comparing the distance L11 with a value half the length of the straight line # 1001. That is, when the distance L11 is larger than a half value of the length of the straight line # 1001, the distance L12 is a positive value, and the distance L11 is smaller than a half value of the length of the straight line # 1001. In this case, the distance L12 is a negative value, and the distance L12 is “0” when the distance L11 is equal to one half of the length of the straight line # 1001.

  In addition, the power supply side control unit 173 calculates a relative distance X2 of the vehicle 150 with respect to the power supply unit 180 in the left-right direction (a direction orthogonal to S1).

  Specifically, from FIG. 12, the power feeding side control unit 173 can determine the distance R11 by the same method as the method for determining the distance R1 described above. And the electric power feeding side control part 173 calculates | requires the relative distance X2 of the left-right direction by subtracting the distance R11 from the detection position of the sensor part 172b. At this time, the sensor unit 172b adds the distance R12 between the line passing through the center of the power feeding unit 180 and the end of the sensor unit 172a, and the distance R13 between the end of the sensor unit 172a and the detection position of the sensor unit 172a. A value is set in advance so as to be output as a detection position. In other words, the power supply side control unit 173 calculates X2 = (R12 + R13) −R11.

  Note that the second relative distance when the vehicle 150 approaches the power supply unit 180 from the diagonally right direction with respect to the straight traveling direction S1 can be calculated by the same method as described above, and thus the description thereof is omitted.

<Operation of vehicle guidance device: second time of tilt and relative distance calculation>
The operation | movement at the time of the 2nd inclination and the 2nd relative distance calculation of the vehicle guidance apparatus 100 which concerns on embodiment of this invention is demonstrated using FIG. FIG. 13 is a flowchart showing the operation of the vehicle guidance device 100 when calculating the inclination and relative distance of the vehicle 150 for the second time in the present embodiment.

  From FIG. 13, first, the vehicle-side control unit 105 of the vehicle guidance device 100 determines whether or not there is a request to start measurement of the movement distance (step ST1301).

  If there is no measurement start request (step ST1301: NO), vehicle guidance apparatus 100 repeats the process of step ST1301.

  On the other hand, when there is a measurement start request (step ST1301: YES), the vehicle-side control unit 105 controls the movement distance acquisition unit 102 to start measurement of the movement distance.

  In addition, the movement distance acquisition unit 102 follows the instruction from the vehicle-side control unit 105 from the time at which one of the wheel 160c and the wheel 160d of the vehicle 150 passes the sensor units 172a and 172b, and the wheel 160c and the wheel 160d of the vehicle 150. Measurement of the moving distance of the vehicle 150 in the time until the time when either one of the sensors passes through the sensor units 172a and 172b is started (step ST1302).

  Next, vehicle-side control section 105 determines whether or not the measurement of the movement distance is to be terminated by receiving a notification of receiving the measurement stop request from vehicle-side communication section 103 (step ST1303).

  If it is determined not to end the measurement of the movement distance (step ST1303: NO), the vehicle guidance apparatus 100 repeats the process of step ST1303.

  On the other hand, when it is determined that the measurement of the movement distance is finished (step ST1303: YES), the vehicle side communication unit 103 transmits vehicle distance information indicating the movement distance (step ST1304).

  Next, the vehicle-side control unit 105 determines whether or not the correction angle information indicating the second tilt of the vehicle guide device 100 and the corrected relative distance information indicating the second relative distance of the vehicle guide device 100 are received. (Step ST1305).

  When it is determined that the corrected angle information and the corrected relative distance information are not received (step ST1305: NO), the vehicle guidance apparatus 100 repeats the process of step ST1305.

  When it is determined that the corrected angle information and the corrected relative distance information are received (step ST1305: YES), the vehicle-side control unit 105 corrects the target parking position using the received corrected angle information and corrected relative distance information. (Step ST1306).

  Next, the vehicle side control unit 105 controls the display unit 106 to perform driving operation guidance based on the corrected target parking position, and the display unit 106 displays driving operation guidance (step ST1307).

  Note that the vehicle-side control unit 105 may perform control such that the corrected angle information or the corrected relative distance information is displayed on the display unit 106 as the driving operation guide in step ST1307 without performing the process of step ST1306.

<Operation of vehicle guidance information providing device: second time of tilt and relative distance calculation>
The operation at the time of the second tilt and the second relative distance calculation of the vehicle guidance information providing apparatus 170 according to the embodiment of the present invention will be described with reference to FIG. FIG. 14 is a flowchart showing the operation of the vehicle guidance information providing apparatus 170 when calculating the inclination and relative distance of the vehicle 150 for the second time in the first embodiment.

  First, power supply side control section 173 determines whether or not the output value of sensor section 172a has become “0” as wheel 160c of vehicle 150 passes through sensor section 172a (step ST1401). Here, when the output value is “0”, it means that the wheel 160c has passed the sensor unit 172a.

  If it is determined that the output value of sensor unit 172a is not “0” (step ST1401: NO), vehicle guidance information providing apparatus 170 repeats the process of step ST1401.

  On the other hand, when it determines with the output value of the sensor part 172a being "0" (step ST1401: YES), the electric power feeding side communication part 171 transmits the measurement start request | requirement for measuring the moving distance of the vehicle 150. FIG. (Step ST1402).

  Next, power supply side control section 173 determines whether or not the output value of sensor section 172b has become “0” as wheel 160d of vehicle 150 passes through sensor section 172b (step ST1403). Here, when the output value is “0”, it means that the wheel 160d has passed the sensor unit 172b.

  If it is determined that the output value of sensor unit 172b is not “0” (step ST1403: NO), vehicle guidance information providing apparatus 170 repeats the process of step ST1403.

  On the other hand, when it is determined that the output value of sensor unit 172b is “0” (step ST1403: YES), power supply side communication unit 171 issues a measurement stop request for stopping the measurement of the travel distance of vehicle 150. Transmit (step ST1404).

  Next, power supply side control section 173 stores the detection position at which sensor section 172a, 172b last detected being stepped on by vehicle 150 (step ST1405).

  Next, power supply side control section 173 determines whether vehicle information and vehicle distance information are received (step ST1406).

  If it is determined that it has not been received (step ST1406: NO), vehicle guidance information providing apparatus 170 repeats the process of step ST1406.

  On the other hand, when it determines with having received (step ST1406: YES), the electric power feeding side control part 173 calculates inclination (theta) 2 using vehicle information and vehicle distance information (step ST1407).

  Next, power supply side control section 173 calculates relative distance Y2 in the front-rear direction with respect to power supply section 180 of vehicle 150 (step ST1408).

  Next, power supply side control section 173 calculates a relative distance X2 in the left-right direction with respect to power supply section 180 of vehicle 150 (step ST1409).

  Next, power supply side control section 173 obtains a correction angle by correcting inclination θ1 using inclination θ1 calculated last time and inclination θ2 calculated this time (step ST1410). The power supply side control unit 173 obtains the correction angle by, for example, calculating (θ1 + θ2) / 2.

  Further, the power supply side control unit 173 corrects the previously calculated relative distance in the front-rear direction using the previously calculated relative distance in the front-rear direction and the relative distance in the front-rear direction calculated this time. In addition, the power supply side control unit 173 corrects the previously calculated horizontal relative distance using the previously calculated horizontal relative distance and the currently calculated horizontal relative distance. From this, the electric power feeding side control part 173 calculates | requires correction | amendment relative distance (step ST1411). For example, the power supply side control unit 173 calculates (Y1 + Y2) / 2 and calculates the corrected relative distance by calculating (X1 + X2) / 2.

  Next, power feeding side communication section 171 transmits the correction angle information and the correction relative distance information (step ST1412).

<Effects of the present embodiment>
According to the present embodiment, by eliminating the need to provide a movable part, it is possible to guide the positioning of the power receiving unit and the power feeding unit with a simple structure and to align the power receiving unit and the power feeding unit. In this case, since it is not always necessary to move the vehicle straight, it is possible to reduce the burden on the driver when aligning the power receiving unit and the power feeding unit.

  Further, according to the present embodiment, driving guidance is performed using the corrected angle information and the corrected relative distance information, so that power is supplied through the correct route by operating the vehicle after obtaining the first angle information and relative distance information. It is possible to know whether or not the part is approaching.

<Modification of the present embodiment>
In the present embodiment, two sensor units are arranged. However, the present invention is not limited to this, and three or more sensor units may be arranged as shown in FIG.

  FIG. 15 is a plan view of a part of the charging system in a modification of the present embodiment.

  As shown in FIG. 15, three or more sensor units 1501 may be arranged in a plurality of rows and a plurality of columns at equal intervals.

  In this case, the sensor unit 1501a and the sensor unit 1501b have the same configuration as the sensor unit 172a and the sensor unit 172b and perform the same operation. Further, the sensor unit 1501c and the sensor unit 1501d have the same configuration as the sensor unit 172a and the sensor unit 172b and perform the same operation. In addition, the sensor unit 1501e and the sensor unit 1501f have the same configuration as the sensor unit 172a and the sensor unit 172b and perform the same operation.

  In addition, since the structure and operation | movement other than the above in the modification of this Embodiment are the same as that of the said this Embodiment, the description is abbreviate | omitted.

  With the configuration of the modified example of the present embodiment, the vehicle 150 can be guided to a position where the power reception unit 151 and the power supply unit 180 face each other with fine guidance.

  In the present embodiment, it has been detected that the sensor unit has been stepped on by the rear wheel and that the rear wheel has passed the sensor unit, but the present invention is not limited to this, and the sensor unit has been stepped on by the front wheel. In addition, it may be detected that the front wheel has passed through the sensor unit.

  In the present embodiment, the vehicle is guided by being displayed on the display unit. However, the present invention is not limited to this, and the vehicle may be guided by notifying by a sound other than the display.

  Further, in the present embodiment, the angle information, the correction angle information, the relative distance information, and the correction relative distance information are all acquired, but the present invention is not limited to this, only the angle information, only the angle information and the correction angle information, Only the relative distance information or only the relative distance information and the corrected relative distance information may be acquired to guide the vehicle.

  In the present embodiment, guidance is displayed on the display unit mounted on the vehicle. However, the present invention is not limited to this, and guidance may be displayed on a display unit installed in the vicinity of the power feeding unit. In this case, the vehicle does not need to receive angle information and relative distance information.

  Further, in the present embodiment, the power receiving unit 151 is arranged so that the center of the power receiving unit 151 and the half of the tread width coincide with each other, but the present invention is not limited to this, and the wheel 160c side or the wheel The power receiving unit 151 may be disposed so as to be biased toward the 160d side.

  In the present embodiment, the angle information, the correction angle information, the relative distance information, and the correction relative distance information are all calculated on the power feeding side. However, the present invention is not limited to this, and the angle information, the correction angle information, and the relative distance are calculated. All of the information and the corrected relative distance information may be calculated on the vehicle 150 side. At this time, the power feeding side transmits to the vehicle side the timing (measurement start timing) when the sensor unit 172a or the sensor unit 172b is stepped on and which of the sensor units 172a and 172b is stepped on.

  Further, in the present embodiment, the guidance when the vehicle moves backward and approaches the power feeding unit is notified, but the present invention is not limited to this, and the guidance when the vehicle moves forward and approaches the power feeding unit may be reported. Good.

  The vehicle guidance device, the vehicle guidance information provision device, and the vehicle guidance method according to the present invention are suitable for guiding a vehicle having a power reception unit to a position where the power reception unit and the power supply unit face each other.

DESCRIPTION OF SYMBOLS 10 Charging system 100 Vehicle guidance apparatus 101 Vehicle information storage part 102 Movement distance acquisition part 103 Vehicle side communication part 104 Vehicle direction acquisition part 105 Vehicle side control part 106 Display part 150 Vehicle 151 Power receiving part 152 Storage battery 160a, 160b, 160c, 160d Wheel 170 Vehicle Guidance Information Providing Device 171 Power Supply Side Communication Unit 172, 172a, 172b Sensor Unit 173 Power Supply Side Control Unit 180 Power Supply Unit

Claims (11)

A vehicle guidance device for guiding a vehicle having a power receiving unit that receives power in a non-contact manner from a power feeding unit to a position where the power receiving unit and the power feeding unit face each other,
From the time when the pressure sensor is stepped on either the left wheel or the right wheel of the front wheel or the rear wheel of the vehicle to the time when the pressure sensor is stepped on either the left wheel or the right wheel, A travel distance acquisition unit for determining a travel distance;
The vehicle information including at least information on the tread width of the vehicle and the vehicle distance information indicating the travel distance are transmitted to an external device, and the external device performs calculation using the vehicle information and the vehicle distance information. A communication unit that obtains angle information indicating an inclination of the vehicle with respect to a straight traveling direction from the facing position from the external device;
A vehicle orientation acquisition unit for acquiring a change in the orientation of the vehicle;
A notification unit that performs notification for guiding the vehicle to a position where the power reception unit and the power feeding unit face each other based on the angle information acquired by the communication unit and the change in direction acquired by the vehicle direction acquisition unit. When,
A vehicle guidance device comprising: The notification unit
Based on the change in the direction acquired by the vehicle direction acquisition unit after the time when the pressure sensor is stepped on the other of the left wheel and the right wheel, the power reception unit and the power supply unit are opposed to each other. The vehicle guidance device according to claim 1 which performs information for guiding a vehicle. The movement distance acquisition unit
Obtain the moving distance multiple times,
The communication unit is
The vehicle distance information is transmitted each time the travel distance is obtained by the travel distance acquisition unit, and a plurality of the angles generated by performing calculations using the vehicle information and each of the vehicle distance information in the external device Get information,
The notification unit
The vehicle guidance device according to claim 1, wherein each time the angle information is acquired by the communication unit, the notification is sequentially performed based on the acquired angle information and a change in the direction acquired by the vehicle direction acquisition unit. The pressure sensor is divided into a plurality of regions by straight lines parallel to the straight direction from the facing position of the vehicle,
The communication unit is
In addition to the acquisition of the angle information, the power receiving unit generated by performing calculation using the information of the area stepped on by the left wheel or the right wheel in the external device, the vehicle information, and the inclination Relative distance information indicating a relative distance between the power supply unit and the power supply unit is acquired from the external device,
The notification unit
The vehicle guidance device according to claim 1, wherein the notification is performed using the relative distance information acquired by the communication unit in addition to the notification based on the angle information and the change in direction acquired by the vehicle direction acquisition unit. The movement distance acquisition unit
Obtain the moving distance multiple times,
The communication unit is
The vehicle distance information is transmitted each time the movement distance is obtained by the movement distance acquisition unit, and the inclination is obtained a plurality of times by performing calculation using the vehicle information and each vehicle distance information in the external device. A plurality of the relative distance information generated by performing the calculation using the vehicle information and the inclination of each, and acquiring from the external device,
The notification unit
The vehicle guidance device according to claim 4, wherein the notification using the acquired relative distance information is performed every time the relative distance information is acquired by the communication unit. A vehicle guidance information providing device that provides information for guiding a vehicle having a power receiving unit that receives power in a non-contact manner from a power feeding unit to a position where the power receiving unit and the power feeding unit face each other,
A pressure sensor,
From the time when the pressure sensor unit is stepped on either the left wheel or the right wheel of the front wheel or the rear wheel of the vehicle to the time when the pressure sensor unit is stepped on either of the left wheel or the right wheel A controller that performs calculation using vehicle information including information on a moving distance of the vehicle and a tread width of the vehicle, and obtains a tilt of the vehicle with respect to a straight traveling direction from the facing position;
A communication unit that acquires the vehicle information and vehicle distance information indicating the travel distance from the vehicle, and transmits angle information indicating the inclination obtained by the control unit to the vehicle;
A vehicle guidance information providing device. The pressure sensor unit is divided into a plurality of regions by straight lines parallel to a straight direction from the facing position of the vehicle,
The controller is
Information on the region stepped on by the left wheel or the right wheel, the vehicle information, and the calculation using the inclination are performed to obtain a relative distance between the vehicle and the power feeding unit,
The communication unit is
The vehicle guidance information providing apparatus according to claim 6, wherein in addition to the angle information, relative distance information indicating the relative distance is transmitted to the vehicle. A vehicle guidance method for guiding a vehicle having a power receiving unit that receives power in a non-contact manner from a power feeding unit to a position where the power receiving unit and the power feeding unit face each other,
From the time when the pressure sensor is stepped on either the left wheel or the right wheel of the front wheel or the rear wheel of the vehicle to the time when the pressure sensor is stepped on either the left wheel or the right wheel, A travel distance acquisition step for obtaining a travel distance;
The vehicle information including at least information on the tread width of the vehicle and the vehicle distance information indicating the travel distance are transmitted to an external device, and the external device performs calculation using the vehicle information and the vehicle distance information. A communication step of obtaining angle information indicating an inclination of the vehicle with respect to the straight traveling direction from the facing position from the external device;
A vehicle orientation obtaining step for obtaining a change in the orientation of the vehicle;
An informing step for informing for guiding the vehicle to a position where the power receiving unit and the power feeding unit face each other based on the angle information acquired in the communication step and a change in the direction acquired in the vehicle direction acquiring step. When,
A vehicle guidance method comprising: The notification step includes
Based on the change in the direction acquired by the vehicle direction acquisition step after the time when the pressure sensor is stepped on either the left wheel or the right wheel, the power receiving unit and the power supply unit face each other in a direction facing each other. The vehicle guidance method according to claim 8, wherein notification for guiding the vehicle is performed. The pressure sensor is divided into a plurality of regions by straight lines parallel to the straight direction from the facing position of the vehicle,
The communication step includes
In addition to the acquisition of the angle information, the power receiving unit generated by performing calculation using the information of the area stepped on by the left wheel or the right wheel in the external device, the vehicle information, and the inclination Relative distance information indicating a relative distance between the power supply unit and the power supply unit is acquired from the external device,
The notification step includes
The vehicle guidance method according to claim 8, wherein the relative distance information acquired by the communication step is notified in addition to the notification based on the angle information and the direction change acquired by the vehicle direction acquisition step. The vehicle orientation acquisition step includes
The vehicle guidance method according to claim 8, wherein a change in the direction of the vehicle after the pressure sensor is stepped on either the left wheel or the right wheel is acquired.

Images