JP2020168922A - Parking control system, on-vehicle device, parking control method, computer program, and power supply system - Google Patents

Abstract

To position a power reception coil relative to a power supply coil with high accuracy.SOLUTION: A parking control system 1 includes: a power reception coil 11 mounted on a vehicle 10; a power supply coil 600 which is installed on a road surface and performs wireless power supply to the power reception coil 11; a heat distribution image generation device 200 which generates a heat distribution image of the power supply coil 600 and is mounted on the vehicle 10; and an on-vehicle device 400 mounted on the vehicle 10. The on-vehicle device 400 includes: an estimation part which estimates a position of the power supply coil 600 in the heat distribution image generated by the heat distribution image generation device 200; and an output part which outputs an instruction used for running control of the vehicle 10 based on a position of the power supply coil 600 estimated by the estimation part.SELECTED DRAWING: Figure 1

Description

The present invention relates to a parking control system, an in-vehicle device, a parking control method, a computer program, and a power supply system.

Patent Document 1 proposes a parking support system that recognizes the periphery of a vehicle using an image sensor, a radar sensor, a sonar sensor, or the like, and aligns the vehicle with a parking target position based on the recognition result.

Japanese Unexamined Patent Publication No. 2016-7961

However, the parking support system disclosed in Patent Document 1 has a problem that accurate alignment becomes difficult if an error occurs in the recognition result around the vehicle.

The present disclosure includes the following inventions. However, the present invention is defined by the scope of claims.

The parking control system according to one aspect of the present invention generates a power receiving coil mounted on a vehicle, a power feeding coil installed on a road surface that wirelessly supplies power to the power receiving coil, and a heat distribution image of the power feeding coil. The vehicle-mounted device includes a heat distribution image generation device mounted on the vehicle and an in-vehicle device mounted on the vehicle, and the vehicle-mounted device is the power supply in the heat distribution image generated by the heat distribution image generation device. It has an estimation unit that estimates the position of the coil, and an output unit that outputs a command used for traveling control of the vehicle based on the position of the power feeding coil estimated by the estimation unit.

The in-vehicle device according to one aspect of the present invention is an in-vehicle device for causing the vehicle to perform automatic parking so as to align the power receiving coil mounted on the vehicle with the power feeding coil installed on the road surface. The input unit that receives the heat distribution image from the heat distribution image generator mounted on the vehicle that generates the heat distribution image of the power supply coil, and the power supply coil in the heat distribution image received by the input unit. An estimation unit that estimates the position of the vehicle and an output unit that outputs a command used for traveling control of the vehicle based on the position of the power feeding coil estimated by the estimation unit.

The parking control method according to one aspect of the present invention is a parking control method for the vehicle for aligning the power receiving coil mounted on the vehicle and the power feeding coil installed on the road surface. The on-board heat distribution image generator estimates the position of the feed coil in the heat distribution image generated by the heat distribution image generator, and the step of generating the heat distribution image of the feed coil. It has a step of outputting a command used for traveling control of the vehicle based on the position of the power feeding coil.

The computer program according to one aspect of the present invention is a computer program for causing the vehicle to perform automatic parking in order to align the power receiving coil mounted on the vehicle with the power feeding coil installed on the road surface. The step of receiving the heat distribution image from the heat distribution image generation device mounted on the vehicle, which generates the heat distribution image of the power feeding coil in the computer, and the heat distribution image generation device generated by the heat distribution image generation device. A computer program for executing a step of estimating the position of the feeding coil in a heat distribution image and a step of outputting a command used for traveling control of the vehicle based on the estimated position of the feeding coil. is there.

The power supply system according to one aspect of the present invention includes a power supply coil installed on a road surface that wirelessly supplies power to a power receiving coil mounted on a vehicle, and a power supply device that supplies a current to the power supply coil. The power supply device supplies the power supply coil with a current that raises the temperature of the power supply coil in order to generate a heat distribution image of the power supply coil.

The present invention can be realized not only as an in-vehicle device provided with the above-mentioned characteristic processing unit, but also as a parking control method in which the characteristic processing is a step, or a computer is made to execute such a step. It can be realized as a computer program for. Further, a part or all of the in-vehicle device can be realized as a semiconductor integrated circuit, or a parking control system including the in-vehicle device can be realized.

According to the present invention, the positioning of the power receiving coil with respect to the power feeding coil can be performed with high accuracy.

It is a schematic diagram which shows an example of the structure of the parking control system which concerns on embodiment. It is a block diagram which shows an example of the structure of the vehicle-mounted system which concerns on embodiment. It is a block diagram which shows an example of the structure of the automatic driving in-vehicle device which concerns on embodiment. It is a functional block diagram which shows an example of the function of the automatic driving vehicle-mounted device which concerns on embodiment. It is a figure explaining an example of the estimation process by the automatic driving vehicle-mounted device which concerns on embodiment. It is a graph which shows an example of the time change of the 2nd current applied to the feed coil which concerns on embodiment. It is a top view which shows an example of the temperature measurement part in the feed coil which concerns on embodiment. It is a graph which shows an example of the time change of the temperature of the feeding coil which concerns on embodiment. It is a graph which shows an example of a temperature change index. It is a figure explaining an example of the analysis processing of the temperature change distribution image by the automatic driving vehicle-mounted device which concerns on embodiment. It is a flowchart which shows an example of the procedure of automatic parking of a vehicle by the parking control system which concerns on embodiment. It is a figure explaining an example of the estimation process by the automatic driving in-vehicle device which concerns on the modification of embodiment. It is a graph which shows an example of the time change of the temperature of the feed coil which concerns on the modification of embodiment.

<Outline of Embodiment of the present invention>
Hereinafter, the outline of the embodiment of the present invention will be described in a list.

(1) The parking control system according to the present embodiment displays a power receiving coil mounted on a vehicle, a power feeding coil installed on a road surface that wirelessly supplies power to the power receiving coil, and a heat distribution image of the power feeding coil. The vehicle-mounted device includes a heat distribution image generation device mounted on the vehicle and an vehicle-mounted device mounted on the vehicle, and the vehicle-mounted device is the heat distribution image generated by the heat distribution image generation device. It has an estimation unit that estimates the position of the power supply coil, and an output unit that outputs a command used for traveling control of the vehicle based on the position of the power supply coil estimated by the estimation unit. By generating a heat distribution image of the feeding coil that can reach a high temperature, the position of the feeding coil in the heat distribution image can be accurately estimated. Therefore, the positioning of the power receiving coil with respect to the power feeding coil can be performed with high accuracy. The term "installed on the road surface" as used herein includes being placed on the road surface and being buried on the road surface.

(2) Further, in the parking control system according to the present embodiment, the position of the feeding coil may be the center position of the feeding coil. By estimating the center position of the power feeding coil, the alignment with the power receiving coil can be performed more accurately.

(3) Further, in the parking control system according to the present embodiment, the estimation unit determines the center of gravity of the region of a specific temperature in the image based on the heat distribution image, and determines the center position based on the determined center of gravity. You may estimate. As a result, the center position of the feeding coil can be estimated by determining the center of gravity of the region of the specific temperature of the image.

(4) Further, in the parking control system according to the present embodiment, the estimation unit specifies and specifies the distribution of the amount of change in the temperature of the feeding coil based on the plurality of time-series heat distribution images. The position of the feeding coil may be estimated based on the distribution of the amount of change in temperature. When a current is supplied to the feeding coil in a low temperature state, the temperature of the feeding coil rises. The amount of change in temperature at that time differs depending on the part of the feeding coil. Therefore, the position of the feeding coil can be estimated based on the distribution of the amount of change in temperature.

(5) Further, in the parking control system according to the present embodiment, the parking control system further includes a power supply device that supplies an electric current to the power supply coil, and the power supply device further supplies the power supply for generating a heat distribution image. A current that raises the temperature of the coil may be supplied to the feeding coil. As a result, by supplying a current from the power supply device to the feeding coil, the temperature of the feeding coil rises, and a heat distribution image capable of specifying the position of the feeding coil can be obtained.

(6) Further, in the parking control system according to the present embodiment, the power supply device transmits a second current having a frequency different from the first current supplied to the power feeding coil for the wireless power feeding, and the heat distribution image. May be supplied to the feed coil for the production of. Frequencies suitable for wireless power feeding may not be suitable for generating heat distribution images. Therefore, when wireless power feeding is performed, a first current having a frequency suitable for wireless power feeding is supplied to the feeding coil, and when a heat distribution image is generated, a second current having a frequency suitable for generating a heat distribution image is supplied. By supplying the power supply coil, both efficient wireless power supply and accurate estimation of the position of the power supply coil can be realized. The "different frequency" referred to here includes frequency 0. That is, the second current may be an alternating current or a direct current.

(7) The in-vehicle device according to the present embodiment is an in-vehicle device for causing the vehicle to perform automatic parking so as to align the power receiving coil mounted on the vehicle with the power feeding coil installed on the road surface. Therefore, the input unit that receives the heat distribution image from the heat distribution image generation device mounted on the vehicle that generates the heat distribution image of the power supply coil, and the power supply in the heat distribution image received by the input unit. It includes an estimation unit that estimates the position of the coil, and an output unit that outputs a command used for traveling control of the vehicle based on the position of the power feeding coil estimated by the estimation unit. By generating a heat distribution image of the feeding coil that can reach a high temperature, the position of the feeding coil in the heat distribution image can be accurately estimated. Therefore, the positioning of the power receiving coil with respect to the power feeding coil can be performed with high accuracy.

(8) The parking control method according to the present embodiment is a parking control method for the vehicle for aligning the power receiving coil mounted on the vehicle and the power feeding coil installed on the road surface, and is the vehicle. A step of generating a heat distribution image of the feeding coil by the heat distribution image generating device mounted on the above, and a step of estimating the position of the feeding coil in the heat distribution image generated by the heat distribution image generating device. It has a step of outputting a command used for traveling control of the vehicle based on the estimated position of the feeding coil. By generating a heat distribution image of the feeding coil that can reach a high temperature, the position of the feeding coil in the heat distribution image can be accurately estimated. Therefore, the positioning of the power receiving coil with respect to the power feeding coil can be performed with high accuracy.

(9) The computer program according to the present embodiment is a computer program for causing the vehicle to execute automatic parking in order to align the power receiving coil mounted on the vehicle with the power feeding coil installed on the road surface. A step of receiving the heat distribution image from the heat distribution image generator mounted on the vehicle, which generates the heat distribution image of the power feeding coil in the computer, and the heat distribution image generation device are generated. A computer program for executing a step of estimating the position of the feeding coil in the heat distribution image and a step of outputting a command used for traveling control of the vehicle based on the estimated position of the feeding coil. Is. By generating a heat distribution image of the feeding coil that can reach a high temperature, the position of the feeding coil in the heat distribution image can be accurately estimated. Therefore, the positioning of the power receiving coil with respect to the power feeding coil can be performed with high accuracy.

(10) The power supply system according to the present embodiment includes a power supply coil installed on the road surface that wirelessly supplies power to the power receiving coil mounted on the vehicle, and a power supply device that supplies current to the power supply coil. The power supply device supplies a current that raises the temperature of the feeding coil to the feeding coil in order to generate a heat distribution image of the feeding coil. As a result, by supplying a current from the power supply device to the feeding coil, the temperature of the feeding coil rises, and a heat distribution image capable of specifying the position of the feeding coil can be obtained.

<Details of Embodiments of the present invention>
Hereinafter, details of the embodiment of the present invention will be described with reference to the drawings. In addition, at least a part of the embodiments described below may be arbitrarily combined.

[1. Parking control system configuration]
FIG. 1 is a schematic view showing an example of the configuration of the parking control system according to the present embodiment. The parking control system 1 shown in FIG. 1 is a system for automatically parking a vehicle in a parking space. In FIG. 1, the parking space S is a rectangular area defined by a white line H for parking one vehicle 10. In FIG. 1, the longitudinal direction of the parking space S along the direction in which the vehicle 10 enters or exits the parking space S is the Y direction, and the width direction orthogonal to the longitudinal direction is the X direction. Of the Y directions, the direction in which the vehicle 10 enters the parking space S is the Y1 direction, and the direction in which the vehicle exits the parking space S (the opposite direction to the Y1 direction) is the Y2 direction.

The parking control system 1 according to the present embodiment automatically parks a vehicle 10 having a power source such as an engine vehicle or an electric vehicle in the parking space S. The "engine vehicle" refers to a vehicle propelled by the power of an engine. The "electric vehicle" refers to a vehicle propelled by the power of a motor, and includes an EV (Electric Vehicle), a PHV (Plug-in Hybrid Vehicle), and an HV (Hybrid Vehicle). The parking control system for automatically parking an electric vehicle will be described below.

In the parking control system 1 according to the present embodiment, the vehicle 10 is advanced backward and parked in the parking space S. Note that this configuration is an example, and the vehicle 10 may be advanced and parked.

On the road surface of the parking space S, a power feeding coil 600 for supplying power to the vehicle 10 parked in the parking space S is installed. The power feeding coil 600 can wirelessly supply power to the power receiving coils arranged opposite to each other by electromagnetic induction, and is provided on the center line C extending in the Y direction and passing through the center in the width direction of the parking space S.

A power feeding system 110 including a power feeding coil 600 is provided on the road side. The power supply system 110 includes a power supply coil 600, a power supply device 601 including an inverter, an AC / DC converter, and the like, and a power supply control device 602. The power feeding coil 600 is connected to the power supply device 601. The power supply control device 602 is connected to the power supply device 601 and controls the power supply device 601. The power supply device 601 supplies a current to the power supply coil 600 under the control of the power supply control device 602. The power feeding coil 600 wirelessly supplies power by the current supplied from the power supply device 601.

The power control device 602 includes a wireless communication unit (not shown) and can perform wireless communication with the vehicle 10.

The vehicle 10 includes a power receiving coil 11 for receiving power from the power feeding coil 600. Since the power receiving coil 11 needs to face the power feeding coil 600 installed on the road surface in order to receive power, it is mounted on the lower surface of the vehicle 10. Further, the power receiving coil 11 is mounted on the center line in the width direction of the vehicle 10.

The vehicle 10 is equipped with an autonomous driving vehicle-mounted device 400 and a heat distribution image generation device 200. The heat distribution image generator 200 includes, for example, an infrared camera. The heat distribution image generation device 200 measures the heat of the target and generates a heat distribution image showing the heat distribution. The heat distribution image generation device 200 is attached to, for example, the rear side of the vehicle 10 and generates a heat distribution image behind the vehicle 10. The heat distribution image generation device 200 is connected to the autonomous driving vehicle-mounted device 400, and can transmit the heat distribution image to the autonomous driving vehicle-mounted device 400. The heat distribution image generator 200 can be attached to any position on the vehicle body. For example, when the vehicle 10 moves forward and parks, the heat distribution image generation device 200 may be attached to the front portion of the vehicle 10 to generate a heat distribution image in front of the vehicle 10. Further, the heat distribution image generation device 200 may be attached to the upper part of the vehicle 10, for example, the roof to generate the heat distribution image on the downstream side in the traveling direction.

The heat of the power feeding coil 600 is measured by the heat distribution image generation device 200 of the vehicle 10 to be automatically parked in the parking space S, and the heat distribution image is generated. The position of the feeding coil 600 in the heat distribution image is estimated by performing image analysis processing on the obtained heat distribution image by the autonomous driving vehicle-mounted device 400. If the position of the heat distribution image generation device 200 in the vehicle 10 is determined, the relative distance and direction of the power supply coil 600 with respect to the vehicle 10 can be specified based on the position of the power supply coil 600 in the heat distribution image. Further, if the relative distance and direction between the heat distribution image generator 200 and the power receiving coil 11 are given, the direction and distance from the power receiving coil 11 to the power feeding coil 600 can be specified.

The automatic driving vehicle-mounted device 400 outputs a command for controlling the vehicle 10 based on the position of the power feeding coil 600 in the heat distribution image, whereby the vehicle 10 travels and the power receiving coil 11 faces the power feeding coil 600. An automatic parking operation is performed in which the vehicle 10 stops at the position.

[2. In-vehicle system configuration]
FIG. 2 is a block diagram showing an example of the configuration of the in-vehicle system according to the present embodiment. The in-vehicle system 100 according to the present embodiment is mounted on the vehicle 10.

The in-vehicle system 100 includes, for example, a heat distribution image generator 200, a vehicle control device 301, a motor 302, a battery 303, an inverter 304, a steering control device 305, a steering angle sensor 306, a motor 307, and braking. It includes a device 308, a display device 309, a relay device 310, an external communication device 311, a power supply control device 312, an AC / DC converter 313, a power receiving coil 11, and an automatic operation in-vehicle device 400.

The motor 302 is connected to the axle and generates the driving torque of the vehicle 10. An inverter 304 is connected to the motor 302 and the battery 303. The inverter 304 receives power from the battery 303 and rotationally drives the motor 302. Further, the regenerative power generated by the motor 302 during braking is recovered to the battery 303 through the inverter 304.

The steering control device 305 is connected to the steering angle sensor 306 and the motor 307. The steering control device 305 receives the detected value of the steering angle from the steering angle sensor 306, and controls the motor 307 that drives the power steering device (not shown). By controlling the motor 307, the steering control device 305 can change the steering angle of the steering wheels, that is, the tire angle in order to change the traveling direction of the vehicle. The braking device 308 can drive a braking mechanism provided on an axle (not shown) of the vehicle to generate a braking force on the traveling vehicle 10.

The vehicle control device 301 receives a command from the autonomous driving vehicle-mounted device 400, controls the motor 302 according to the target tire angle and the target speed, and gives a control instruction to the steering control device 305 to drive the vehicle or brake. If necessary, the braking device 308 is controlled to generate a braking force in the vehicle. Specifically, when a command for the target tire angle is given from the automatic driving vehicle-mounted device 400, a control instruction is given to the steering control device 305 according to this command, and the steering control device 305 gives a control instruction and a detection value of the steering angle sensor. The motor 307 is controlled based on the above to set the tire angle of the vehicle to the target tire angle. When a command for the target traveling speed is given from the autonomous driving vehicle-mounted device 400, the vehicle control device 301 controls the motor 302 according to this command to drive the vehicle at the target traveling speed. Further, when a braking command is given from the autonomous driving vehicle-mounted device 400, the vehicle control device 301 controls the motor 302 and the braking device 308 in accordance with this command to generate a braking force.

The display device 309 displays character information, an image, or the like in response to display instructions from the vehicle control device 301, the autonomous driving vehicle-mounted device 400, and other devices.

The power supply control device 312 is connected to the AC / DC converter 313, and the AC / DC converter 313 is connected to the power receiving coil 11. The power supply control device 312 controls the AC / DC converter 313. When the power receiving coil 11 faces the power feeding coil 600, the power receiving coil 11 receives wireless power from the power feeding coil 4 and outputs an alternating current to the AC / DC converter 313. The AC / DC converter 313 converts the alternating current given from the power receiving coil 11 under the control of the power supply control device 312 into a direct current, and outputs the direct current to the battery 303.

The vehicle control device 301, the inverter 304, the steering control device 305, the braking device 308, and the display device 309 are connected to a bus 350 such as a CAN bus, and a relay device 310 is connected to the bus 350. Further, the automatic driving vehicle-mounted device 400 and the power supply control device 312 are connected to a bus 351 such as a CAN bus, and a relay device 310 is connected to the bus 351.

The relay device 310 relays communication between the in-vehicle devices through an in-vehicle network using buses 350, 351 and the like. That is, each of the vehicle control device 301, the inverter 304, the steering control device 305, the braking device 308, the display device 309, and the autonomous driving vehicle-mounted device 400 can communicate with each other via the relay device 310. The relay device 310 is connected to the out-of-vehicle communication device 311 via the communication line 352.

The out-of-vehicle communication device 311 is capable of performing wireless communication. The out-of-vehicle communication device 311 wirelessly communicates with devices outside the vehicle, such as a roadside unit, a terminal, a base station, and a server. The out-of-vehicle communication device 311 can perform wireless communication with the power supply control device 602.

[3. Configuration of autonomous driving in-vehicle device]
As shown in FIG. 2, the autonomous driving vehicle-mounted device 400 is connected to the heat distribution image generation device 200 and receives the heat distribution image generated by the heat distribution image generation device 200. The autonomous driving vehicle-mounted device 400 is connected to the vehicle control device 301. The automatic driving in-vehicle device 400 determines a target tire angle and a target running speed, outputs a command including the determined target tire angle and the target mileage, determines braking of the running vehicle 10, and causes the vehicle 10 to brake. It outputs a braking command to decelerate.

FIG. 3 is a block diagram showing an example of the configuration of the autonomous driving vehicle-mounted device 400 according to the present embodiment. The autonomous driving vehicle-mounted device 400 includes a CPU 401, a memory 402, and a communication interface (input unit, output unit) 405. The memory 402 includes transient memories such as SRAM and DRAM and non-transient memories such as flash memory, and stores data used for executing the parking control program 403 and the parking control program 403, which are computer programs. Will be done. The autonomous driving vehicle-mounted device 400 is configured to include a computer, and each function of the autonomous driving vehicle-mounted device 400 is exhibited by executing a parking control program 403, which is a computer program stored in the storage device of the computer, by the CPU 401. Will be done. The parking control program 403 can be stored in a recording medium such as a CD-ROM. The CPU 401 executes the parking control program 403 and performs a parking control process as described later.

The CPU 401 executes an image analysis process on the heat distribution image transmitted from the heat distribution image generation device 200. By this image acquisition process, the CPU 401 estimates the position of the feeding coil 600 in the heat distribution image.

The communication interface 405 is connected to the bus 351 and can communicate with each device included in the in-vehicle system 100. For example, the communication interface 405 can output commands such as a travel command and an electrical braking command to the vehicle control device 301. Further, the communication interface 405 is connected to the heat distribution image generation device 200, and receives the heat distribution image from the heat distribution image generation device 200.

FIG. 4 is a functional block diagram showing an example of the functions of the autonomous driving vehicle-mounted device 400. The autonomous driving vehicle-mounted device 400 functions as an input unit 410, an estimation unit 420, a determination unit 430, and an output unit 440 when the CPU 401 executes the parking control program 403.

The input unit 410 receives the image data (heat distribution image) output from the heat distribution image generation device 200.

The estimation unit 420 executes an estimation process for estimating the position of the feeding coil 600 in the heat distribution image by image analysis. FIG. 5 is a diagram illustrating an example of estimation processing by the autonomous driving vehicle-mounted device 400 according to the present embodiment.

When a direct current is supplied from the power supply device 601 to the feeding coil 600, the temperature of the feeding coil 600 changes with time. The estimation unit 420 generates a temperature change distribution image 610 showing the distribution of the amount of temperature change from a plurality of time-series heat distribution images 500_1, 500_2,500_3, ... Received by the input unit 410.

The power supply control device 602 has a power supply mode in which a first current for wireless power supply is supplied to the power supply coil 600 and a measurement mode in which a second current for heat distribution image generation is supplied to the power supply coil 600. Can be controlled (see FIG. 1). The first current is an alternating current having a frequency suitable for wireless power feeding (for example, 80 kHz), and the second current can be a direct current. The second current is also a current that raises the temperature of the feeding coil 600. The second current supplied to the feeding coil 600 may be a direct current or an alternating current. In the case of alternating current, the frequency may be different from the first current for wireless power feeding, or may be the same frequency as the first current. However, it is preferable that the temperature of the feeding coil 600 does not change periodically, and therefore, the current supplied to the feeding coil 600 is preferably a direct current or an alternating current having a higher frequency than the first current.

FIG. 6 is a graph showing an example of a time change of the second current applied to the feeding coil 600. FIG. 7A is a plan view showing an example of a temperature measurement point in the feeding coil 600, and FIG. 7B is a graph showing an example of a time change in the temperature of the feeding coil 600. In FIG. 6, the vertical axis represents current and the horizontal axis represents time. In FIG. 7B, the vertical axis represents temperature and the horizontal axis represents time. As shown in FIG. 6, at time t _0, the second current (DC current) is applied to the feeding coil 600. When the second current is applied to the feeding coil 600, the temperature of the feeding coil 600 rises. For example, when the temperature change is measured at P ₁ , P ₂ , and P ₃ shown in FIG. 7A, the graph shown in FIG. 7B is obtained. In FIG. 7B, graph TC ₁ shows the temperature change at position P ₁ , graph TC ₂ shows the temperature change at position P ₂ , and graph TC ₃ shows the temperature change at position P ₃ .

By applying the second current, the central portion of the feeding coil 600 becomes the highest temperature, and the temperature becomes lower toward the outside. In other words, the most rapidly changing temperature at the position closest P ₁ in the center of the feeding coil 600, the temperature change becomes slightly gentle in next nearest P ₂ in the center, the temperature change at the position P ₃ most distant from the center Will be the most gradual.

In an example of the estimation process, the center position of the feeding coil 600 in the heat distribution images 500_1, 500_2,500_3, ... Is estimated based on the amount of time change in the temperature of the feeding coil 600. The change in the luminance value of the same pixel of the heat distribution images 500_1, 500_2,500_3, ... Is the time change of the temperature at one position in the real space. For example, the estimation unit 420 pays attention to one pixel common to all of the heat distribution images 500_1, 500_2,500_3, ..., And obtains time-series data of the brightness value of the pixel. The estimation unit 420 identifies a temperature change index related to the amount of time change in temperature from the time series data of the brightness value. The estimation unit 420 executes the above processing for each pixel to generate a temperature change distribution image 610.

FIG. 8 is a graph showing an example of the temperature change index. For example, the estimation unit 420 can specify the ratio of the temperature at the attention position to the temperature at the specific reference position at the same time as a temperature change index at the attention position. The vertical axis of FIG. 8 indicates the temperature, and the horizontal axis indicates the temperature at the reference position. FIG. 8 shows an example in which the reference position the position P ₁ in FIG. 7A. In other words, the horizontal axis in Figure 8 shows the temperature at the position P _1.

As shown in FIG. 7B, in position _{P 1,} the temperature _{T 0} at time _{t 0} is, temperatures _{T 1} at time _{t 1} is, temperature _{T 2} at time _{t 2} is the temperature _{T 3} at time _{t 3} However, the temperature T ₄ is observed at time t ₄ , the temperature T ₅ is observed at time t ₅ , the temperature T ₆ is observed at time t ₆ , and the temperature T ₇ is observed at time t ₇ . Similarly, at position _{P 2,} 'is, temperatures _{T 1} at time _{t 1'} the temperature _{T 0} at time _{t 0} is the time _{t 2} the temperature _{T 2} 'is, the temperature _{T 3} at time _{t 3'} but 'is, the temperature _{T 5} at time _{t 5'} temperature _{T 4} at time _{t 4} is the time _{t 6} 'is, at time _{t 7} the temperature _{T 7'} temperature _{T 6} is observed. In position _{P 3,} "is, temperatures _{T 1} at time _{t 1"} temperature _{T 0} at time _{t 0} is, "is, the temperature _{T 3} at time _{t 3"} temperature _{T 2} at time _{t 2} is the time A temperature T ₄ "is observed at t ₄ , a temperature T ₅ " is observed at time t ₅ , a temperature T ₆ "is observed at time t ₆ , and a temperature T ₇ " is observed at time t ₇ .

Graph _{R 2} in FIG. 8 represent the respective temperature _T 0 through T ₇ at the reference position _{P 1,} the correspondence relationship between each temperature _{T 0} '~ _{T 7'} at the target position _{P 2.} Graph _{R 3} represents a respective temperature _T 0 through T ₇ at the reference position _{P 1,} the correspondence relationship between each temperature _T 0 "~ _{T 7"} at the target position _{P 3.} The graph R ₁ shows the correspondence between the temperatures T _{0 to} T ₇ at the reference position P _{1 and} the temperatures T _{0 to} T ₇ at the reference position P 1. Note that in FIG. 7B and FIG. 8, ▲ indicates the temperature _{T 0} '~ _{T 7'} at the target position _{P 2,} ■ shows the temperature _T 0 "~ _{T 7"} at the target position _{P 3.}

Since the graph R ₁ is the relationship between the temperatures T _{0 to} T _{7 at the} same reference position P ₁ , it changes linearly and its slope is 1. As shown in FIG. 7B, the graph TC ₂ shows the same change tendency as the graph TC _{1 at the} same time. That is, in the same time, if the increase in the reference position P ₁ time rate of change of temperature (differential value) is also increased time rate of change of temperature at the target position P _2, the time rate of change of temperature at the reference position P ₁ There if decreases, so does the time rate of change of temperature at the target position P _2. However, in the graph TC ₁ and the graph TC ₂ , the magnitude of the time change rate of the temperature is different from each other. In other words, towards the time rate of change in the graph TC ₁ is greater than the time rate of change in the graph TC _1. Graph TC ₃ also shows the same change tendency as graph TC ₁ and graph TC ₂ , but the time change rate in graph TC ₃ is even smaller than the time change rate in graph TC ₂ .

As described above, the time change of the temperature shows the same tendency at any position on the feeding coil 600. Accordingly, as shown in FIG. 8, a graph _{R 2} and _{R 3} becomes approximately linear. Estimation unit 420, for example, from the temperature _{T 0} '~ _{T 7'} at the target position _{P 2} at time _t 0 ~t _7, using approximation algorithm such as the least square method, the gradient of the graph TC ₂ is an approximate straight line Can be calculated. This slope is the temperature change index at the target position P _2. Similarly, the estimation unit 420 uses an approximation algorithm such as the least squares method from the temperature T ₀ "to T ₇ " at the attention position P _{3 at} time t _{0 to} t ₇ , and the slope of the graph TC ₃ which is an approximate straight line. Can be calculated. The estimation unit 420 calculates the temperature change index for each pixel (attention position) and generates the temperature change distribution image 610. In this process, the estimation unit 420 can set any one pixel as a reference position. For example, a high temperature region can be specified in the heat distribution image, and one point in the region can be set as a reference position.

The estimation unit 420 analyzes the generated temperature change distribution image 610 and estimates the center of the feeding coil 600 in the image. FIG. 9 is a diagram illustrating an example of analysis processing of the temperature change distribution image 610. In FIG. 9, the range including the image of the feeding coil 600 in the temperature change distribution image 610 is enlarged and shown. By applying the second current, the central portion of the feeding coil 600 becomes the highest temperature, and the temperature becomes lower toward the outside. In addition, the temperature change index is also the largest in the central portion and decreases toward the outside. For example, a temperature change indicator at the position P _A close to the center CP is greater than the temperature change index at the position P _B away from the center CP.

The solid line shown in FIG. 9 is an isoline connecting points having the same temperature change index. For example, the temperature change index corresponding to the equivalence line 611 is A ₁ , the temperature change index corresponding to the equivalence line 612 is A ₂ , the temperature change index corresponding to the equivalence line 613 is A ₃ , and the equivalence line 614 corresponds. temperature change index _{a 4} which, isolines 615 corresponding temperature change index _{a 5 (however, a 1> a 2> a} 3> a 4> a 5) when to the inner isoline 611, The temperature change index is the region of A ₁ or more, and the area between the contour line 611 and the contour line 612 is the region where the temperature change index is A ₂ or more and less than A ₁ , and the contour line 612 and the contour line 613. between the, a region below the temperature variation index a ₃ or a _2, between isolines 613 and isolines 614, the temperature variation index is a region of less than a ₄ or a _3, etc. between the contour lines 614 and isolines 615, the temperature variation index is a region of less than a ₅ or a _4, the outer contour lines 615, the temperature variation index is a region of less than a _5.

The estimation unit 420 identifies the contour line from the temperature change distribution image 610, and estimates the center position CP based on the identified contour line. For example, the estimation unit 420 determines the position of the center of gravity of the region surrounded by the specified contour lines, and sets the determined center of gravity as the center position CP of the feeding coil 600. In another example, when the feeding coil 600 is circular, the estimation unit 420 approximates the specified contour line with a circle by the least squares method or the like, and sets the center of this circle as the center position CP of the feeding coil 600. .. When the contour line 613 is specified in FIG. 9, the center of the circle 620 that approximates the contour line 613 is obtained. A plurality of contour lines may be used for estimating the center position CP. For example, the center of gravity of the region inside the contour line may be calculated, and the average value of the centers of gravity corresponding to each contour line may be used as the center position CP. Further, an approximate circle may be obtained for each of the plurality of contour lines, and the average value of the centers of the approximate circles may be used as the center position CP. The shape of the feeding coil 600 is not limited to a circle, but may be a triangle, a quadrangle, or another shape. In this case, the contour line can be approximated by a shape suitable for the feeding coil 600. For example, when the feeding coil 600 is a quadrangle, the contour lines can be approximated by a quadrangle or a quadrangle with rounded corners.

See FIG. 4 again. The determination unit 430 determines the travel plan of the vehicle 10 based on the estimated center position CP. If the position of the heat distribution image generation device 200 in the vehicle 10 is determined, the center position of the power receiving coil 11 in the heat distribution image can be specified in advance. For example, by specifying the pixel at the center position CP of the power feeding coil 600 and the pixel at the center position of the power receiving coil 11 in the heat distribution image, the positional relationship (relative distance and both pixels) of both pixels in the thermal analysis image is connected. Direction) is specified. The position in the thermal analysis image corresponds to the position in real space. Therefore, the determination unit 430 can determine the traveling direction and the traveling distance of the vehicle 10 for aligning the positions of the power receiving coil 11 and the feeding coil 600 from the positional relationship of both pixels in the thermal analysis image. The determination unit 430 determines a travel plan including a target tire angle, a target travel speed, a target mileage, and the like from the travel direction and the mileage.

The output unit 440 outputs a command for controlling the running of the vehicle 10 according to the determined running plan. For example, the travel command includes information such as a target tire angle, a target mileage, and a target vehicle speed. The output command is given to the vehicle control device 301. The vehicle control device 301 controls the inverter 304, the steering control device 305, and the braking device 308 according to a command given from the output unit 440. As a result, the vehicle 10 travels according to the travel plan, and automatic parking is executed.

The input unit 410 and the output unit 440 are realized by the communication interface 405 of FIG. The estimation unit 420 and the determination unit 430 are realized by the CPU 401.

[4. Operation of parking control system]
Hereinafter, the operation of the parking control system 1 according to the present embodiment will be described. The CPU 401 of the autonomous driving vehicle-mounted device 400 executes the parking control process by executing the parking control program 403. The vehicle 10 is automatically parked by the automatic driving vehicle-mounted device 400 and the power supply control device 602 operating as follows.

FIG. 10 is a flowchart showing an example of the procedure for automatic parking of the vehicle 10 by the parking control system 1 according to the present embodiment.

The CPU 401 of the autonomous driving vehicle-mounted device 400 drives the feeding coil 600 to generate a heat distribution image, so that it outputs a coil drive start request (step S101). The coil drive start request is transmitted from the external communication device 311 to the power supply control device 602.

Upon receiving the coil drive start request (step S201), the power supply control device 602 controls the power supply device 601 in the measurement mode. As a result, the power supply device 601 supplies the second current to the feeding coil 600 (step S202).

When the second current is supplied to the feeding coil 600, the temperature of the feeding coil 600 rises. The CPU 401 outputs a measurement start instruction to the heat distribution image generation device 200 (step S102). Upon receiving the measurement start instruction, the heat distribution image generation device 200 starts the heat measurement. The heat distribution image generation device 200 continuously measures heat and generates a time-series heat distribution image at a predetermined frame rate. The time-series heat distribution image output from the heat distribution image generation device 200 is received by the autonomous driving vehicle-mounted device 400 (step S103).

The CPU 401 executes the estimation process described above to estimate the center position CP of the feeding coil 600 in the heat distribution image (step S104). That is, the CPU 401 generates a temperature change distribution image from the time-series heat distribution image, analyzes the temperature change distribution image, and estimates the center position CP.

The CPU 401 determines the travel plan based on the estimated center position CP (step S105). That is, the CPU 401 determines a travel plan (target tire angle, target travel speed, target mileage, etc.) of the vehicle 10 for aligning the positions of the power receiving coil 11 and the power feeding coil 600.

The CPU 401 generates a command for driving the vehicle 10 according to the determined travel plan, and outputs the generated command (step S106). As a result, a command is output from the communication interface 405 to the vehicle control device 301. The vehicle control device 301 outputs a control signal from the received command to the inverter 304, the steering control device 305, and the braking device 308. As a result, the vehicle 10 travels according to the travel plan.

When the travel control according to the travel plan is completed, the CPU 401 confirms whether or not the positions of the power feeding coil 600 and the power receiving coil 11 are aligned (step S107). This process is realized, for example, by the CPU 401 estimating the center position CP from the heat distribution image generated by the heat distribution image generator 200 and determining whether or not the center position CP matches the center position in the image of the power receiving coil 11. can do.

The CPU 401 determines that parking is completed when the feeding coil 600 and the power receiving coil 11 are aligned, and when the feeding coil 600 and the power receiving coil 11 are not aligned, parking is not completed. Determine (step S108). If parking is not completed (NO in step S108), the CPU 401 shifts the process to step S102 and executes the processes of steps S102 to S108 again. As a result, the parking control of the vehicle 10 is performed again.

On the other hand, when parking is completed (YES in step S108), the CPU 401 outputs a power supply start request in order to drive the power supply coil 600 for power supply to the power receiving coil 11 (step S109). The power supply start request is transmitted from the vehicle outside communication device 311 to the power supply control device 602.

The power control device 602 determines whether or not the power supply start request has been received (step S203). If the power supply start request has not been received (NO in step S203), the power supply control device 602 shifts the process to step S202. As a result, the second current is continuously supplied to the power supply coil 600 until the power supply start request is received.

When the power supply control device 602 receives the power supply start request (YES in step S203), the power supply control device 602 controls the power supply device 601 in the power supply mode. As a result, the power supply device 601 supplies the first current to the power supply coil 600 (step S204).

When the first current is supplied to the power feeding coil 600, wireless power is supplied from the power feeding coil 600 to the power receiving coil 11. This completes the parking control operation by the parking control system 1.

[5. Modification example]
In one modification of the present embodiment, the estimation unit 420 generates a temperature change distribution image showing the distribution of the amount of temperature change of the feeding coil 600 based on the heat distribution image, and based on the temperature change distribution image, The position of the feeding coil 600 is estimated.

FIG. 11 is a diagram illustrating an example of estimation processing by the autonomous driving vehicle-mounted device 400 according to this modification.

When a current is continuously applied to the feeding coil 600 in a low temperature state, the temperature of the feeding coil 600 rises. In this case, the current supplied to the feeding coil 600 may be a direct current or an alternating current. Further, in the case of an alternating current, the frequency may be different from the first current for wireless power feeding, or may be the same frequency as the first current. However, in the case of this modification, it is preferable that the temperature of the feeding coil 600 does not change periodically. Therefore, the current supplied to the feeding coil 600 may be a direct current or an alternating current having a higher frequency than the first current. preferable.

In this modification, the heat distribution image generator 200 is at a time when the feed coil 600 is at a low temperature (for example, when no current is supplied to the feed coil 600 or immediately after the start of current supply to the feed coil 600). Heat measurement is performed to generate a heat distribution image 500_L at low temperature. Further, the heat distribution image generator 200 performs heat measurement at a time when the temperature of the power feeding coil 600 rises (for example, a time after a predetermined time elapses after the current is supplied to the power feeding coil 600), and heat distribution at the high temperature. Generate image 500_H. During this time, the vehicle 10 remains stopped.

The input unit 410 receives a time-series heat distribution image including at least a heat distribution image 500_L at a low temperature and a heat distribution image 500_H at a high temperature. The estimation unit 420 generates a temperature change distribution image 630 from the low temperature heat distribution image 500_L received by the input unit 410 and the high temperature heat distribution image 500_H.

FIG. 12 is a graph showing the time change of the temperature of the feeding coil 600. As shown in FIG. 12, when a current is applied to the feeding coil 600, the temperature of the feeding coil 600 rises with the passage of time.

In the estimation process according to this modification, the center position of the feeding coil 600 in the heat distribution images 500_L and 500_H is estimated from the distribution of the amount of change in the temperature of the feeding coil 600. The change in the luminance value of the same pixel of the heat distribution images 500_L and 500_H is the time change of the temperature at one position in the real space. For example, the estimation unit 420 generates a difference image of the heat distribution images 500_L and 500_H. That is, the estimation unit 420 obtains the difference in the brightness values of the same pixels of the heat distribution images 500_L and 500_H for each pixel, and generates a difference image in which the difference value is the brightness value. The difference in the brightness values of the heat distribution images 500_L and 500_H in the same pixel corresponds to the amount of temperature change from the low temperature to the high temperature. Therefore, the generated difference image is the temperature change distribution image 630.

The estimation unit 420 analyzes the generated temperature change distribution image 630 and determines the center of the feeding coil 600 in the image. By applying an electric current, the central portion of the feeding coil 600 becomes the hottest, and the temperature becomes lower toward the outside. For example, the center CP to close P _{A (see} FIG. 9), the temperature change shown by the solid line in FIG. 12 is observed. On the other hand, at the position P _B (see FIG. 9) away from the central CP, the temperature change shown by the broken line in FIG. 12 is observed. That is, the temperature variation [Delta] T _A at the position _{P A,} the temperature is greater than the change amount [Delta] T _B at the position _{P B.}

The estimation unit 420 identifies the contour line from the temperature change distribution image 630, and estimates the center position CP based on the identified contour line. For example, the estimation unit 420 determines the position of the center of gravity of the region surrounded by the specified contour lines, and sets the determined center of gravity as the center position CP of the feeding coil 600. In another example, the estimation unit 420 approximates the specified contour line with a circle by the least squares method or the like, and sets the center of this circle as the center position CP of the feeding coil 600. A plurality of contour lines may be used for estimating the center position CP. For example, the center of gravity of the region inside the contour line may be calculated, and the average value of the centers of gravity corresponding to each contour line may be used as the center position CP. Further, an approximate circle may be obtained for each of the plurality of contour lines, and the average value of the centers of the approximate circles may be used as the center position CP.

[6. Other variants]
In the above embodiment, the center position of the feeding coil 600 in the heat distribution image is estimated, but the present invention is not limited to this. The position of a specific part of the feeding coil 600 in the heat distribution image, for example, a part of the feeding coil is a characteristic part such as a corner part, a convex part, or a concave part. In this case, the position of the feature portion in the heat distribution image may be estimated.

Further, in the above embodiment, when the travel plan is determined, the heat distribution image is not analyzed until the travel control according to the travel plan is completed, but the present invention is not limited to this. For example, while the vehicle is traveling according to the determined travel plan, a new heat distribution image is received, the position of the power supply coil 600 is re-estimated based on the received heat distribution image, and the estimated power supply coil is estimated. The travel plan may be updated based on the position of 600.

[7. effect]
As described above, the parking control system 1 generates heat distribution images of the power receiving coil 11 mounted on the vehicle 10, the feeding coil 600 installed on the road surface, and the feeding coil 600, and the heat mounted on the vehicle 10. It includes a distribution image generation device 200 and an automatic driving vehicle-mounted device 400 mounted on the vehicle 10. The autonomous driving vehicle-mounted device 400 has an estimation unit 420 and an output unit 440. The estimation unit 420 estimates the position of the feeding coil 600 in the heat distribution image generated by the heat distribution image generation device 200. The output unit 440 outputs a command used for traveling control of the vehicle 10 based on the position of the power feeding coil 600 estimated by the estimation unit 420. By generating a heat distribution image of the feeding coil 600 that can reach a high temperature, the position of the feeding coil 600 in the heat distribution image can be accurately estimated. Therefore, the positioning of the power receiving coil 11 with respect to the power feeding coil 600 can be performed with high accuracy.

Further, the estimated position of the feeding coil 600 may be the center position of the feeding coil 600. By estimating the center position of the power feeding coil 600, the alignment with the power receiving coil 11 can be performed more accurately.

Further, the estimation unit 420 may determine the center of gravity of the region of the specific temperature in the heat distribution image, and estimate the center position of the feeding coil 600 based on the determined center of gravity. Thereby, if the center of gravity of the region of the specific temperature of the heat distribution image is determined, the center position of the feeding coil 600 can be estimated.

Further, the estimation unit 420 specifies the distribution of the amount of change in the temperature of the feeding coil 600 based on a plurality of heat distribution images in the time series, and based on the distribution of the amount of change in the specified temperature, the feeding coil 600 The position may be estimated. When a current is supplied to the feeding coil 600 in a low temperature state, the temperature of the feeding coil 600 rises. The amount of change in temperature at that time differs depending on the part of the feeding coil 600. Therefore, the position of the feeding coil 600 can be estimated based on the distribution of the amount of change in temperature.

Further, the parking control system 1 further includes a power supply device 601 that supplies a current to the power supply coil 600, and the power supply device 601 supplies a current that raises the temperature of the power supply coil 600 in order to generate a heat distribution image. May be supplied to. As a result, by supplying a current from the power supply device 601 to the feeding coil 600, the temperature of the feeding coil 600 rises, and a heat distribution image capable of specifying the position of the feeding coil 600 can be obtained.

Further, the power supply device 601 may supply a second current having a frequency different from the first current supplied to the power feeding coil 600 for wireless power feeding to the power feeding coil 600 for generating a heat distribution image. Frequencies suitable for wireless power feeding may not be suitable for generating heat distribution images. Therefore, when wireless power feeding is performed, a first current having a frequency suitable for wireless power feeding is supplied to the feeding coil 600, and when a heat distribution image is generated, a second current having a frequency suitable for generating a heat distribution image is generated. By supplying the power to the power feeding coil 600, both efficient wireless power feeding and accurate estimation of the position of the power feeding coil 600 can be realized.

[8. Supplement]
The embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of rights of the present invention is indicated by the scope of claims rather than the above-described embodiment, and includes meaning equivalent to the scope of claims and all modifications within the scope thereof.

1 Parking control system 10 Vehicle 11 Power receiving coil 100 In-vehicle system 110 Power supply system 200 Heat distribution image generator 301 Vehicle control device 302 Motor 303 Battery 304 Inverter 305 Steering control device 306 Steering angle sensor 307 Motor 308 Braking device 309 Display device 310 Relay device 311 External communication device 312 Power supply control device 313 AC / DC converter 350,351 Bus 352 Communication line 400 Automatic operation In-vehicle device 401 CPU
402 Memory 403 Parking control program 405 Communication interface 410 Input unit 420 Estimating unit 430 Determining unit 440 Output unit 500_1,500_2,500_3,500_L, 500_H Heat distribution image 600 Power supply coil 601 Power supply device 602 Power supply control device 610 Temperature change distribution image 611 615 Isoline 620 Approximate circle 630 Temperature change distribution image

Claims (10)

The power receiving coil mounted on the vehicle and
A power supply coil installed on the road surface that wirelessly supplies power to the power receiving coil,
A heat distribution image generator mounted on the vehicle that generates a heat distribution image of the power feeding coil.
The in-vehicle device mounted on the vehicle and
With
The in-vehicle device is
An estimation unit that estimates the position of the feeding coil in the heat distribution image generated by the heat distribution image generator, and an estimation unit.
An output unit that outputs a command used for traveling control of the vehicle based on the position of the power feeding coil estimated by the estimation unit, and an output unit.
Have,
Parking control system. The position of the feeding coil is the center position of the feeding coil.
The parking control system according to claim 1. The estimation unit determines the center of gravity of a region of a specific temperature in an image based on the heat distribution image, and estimates the center position based on the determined center of gravity.
The parking control system according to claim 2. The estimation unit specifies the distribution of the amount of change in the temperature of the feeding coil based on the plurality of heat distribution images in the time series, and based on the distribution of the specified amount of change in the temperature of the feeding coil, the feeding coil Estimate the position,
The parking control system according to any one of claims 1 to 3. A power supply device for supplying an electric current to the power feeding coil is further provided.
The power supply device supplies the power supply coil with a current that raises the temperature of the power supply coil in order to generate a heat distribution image.
The parking control system according to any one of claims 1 to 4. The power supply device supplies a second current having a frequency different from the first current supplied to the power feeding coil for wireless power feeding to the power feeding coil for generating the heat distribution image.
The parking control system according to claim 5. It is an in-vehicle device for causing the vehicle to perform automatic parking so as to align the power receiving coil mounted on the vehicle with the power feeding coil installed on the road surface.
An input unit that receives the heat distribution image from the heat distribution image generator mounted on the vehicle that generates the heat distribution image of the power feeding coil.
An estimation unit that estimates the position of the feeding coil in the heat distribution image received by the input unit, and an estimation unit.
An output unit that outputs a command used for traveling control of the vehicle based on the position of the power feeding coil estimated by the estimation unit, and an output unit.
To prepare
In-vehicle device. The vehicle parking control method for aligning the power receiving coil mounted on the vehicle and the power feeding coil installed on the road surface.
A step in which the heat distribution image generator mounted on the vehicle generates a heat distribution image of the feeding coil,
A step of estimating the position of the feeding coil in the heat distribution image generated by the heat distribution image generator, and
A step of outputting a command used for traveling control of the vehicle based on the estimated position of the power feeding coil, and
Have,
Parking control method. A computer program for causing the vehicle to perform automatic parking in order to align the power receiving coil mounted on the vehicle with the power feeding coil installed on the road surface.
On the computer
A step of receiving the heat distribution image from the heat distribution image generator mounted on the vehicle, which generates the heat distribution image of the power feeding coil,
A step of estimating the position of the feeding coil in the heat distribution image generated by the heat distribution image generator, and
A step of outputting a command used for traveling control of the vehicle based on the estimated position of the power feeding coil, and
To execute,
Computer program. A power supply coil installed on the road surface that wirelessly supplies power to the power receiving coil mounted on the vehicle,
A power supply device that supplies current to the power supply coil and
With
The power supply device supplies the power supply coil with a current that raises the temperature of the power supply coil in order to generate a heat distribution image of the power supply coil.
Power supply system.

Images