JP2022112271A - Parking support device, parking support system and parking support method - Google Patents

Abstract

To provide a parking support device, a parking support system and a parking support method capable of assessing that wireless charging has not been implemented normally.SOLUTION: A parking support device comprises: a charging state determination section which determines whether or not wireless charging has been implemented normally between a wireless charger installed in a vehicle parking region and a vehicle on the basis of a detection result of a state of at least either the wireless charger or the vehicle; and an information provision section which provides a person on board the vehicle with information indicating that the wireless charging has not been implemented normally when the wireless charging is determined not to have been implemented normally.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to parking assistance devices, parking assistance systems, and parking assistance methods.

Patent Literature 1 discloses a non-contact charging parking assistance device that increases the efficiency of non-contact charging when a vehicle is automatically parked in a parking area provided with a non-contact charger.

This device identifies the position of the vehicle with respect to the non-contact charger based on the mark of the non-contact charger imaged by an imaging means mounted on the vehicle, and detects the position of the non-contact charger from the identified position of the vehicle. By setting the target travel trajectory to the position, the vehicle is automatically driven along the target travel trajectory.

When the vehicle moves to the position of the contactless charger, the vehicle stops at a position where the power receiver mounted on the vehicle faces the contactless charger, and starts contactless charging.

Japanese Patent No. 6350312

However, in the device disclosed in Patent Document 1, when an abnormality occurs in the non-contact charger or the power receiver, the non-contact charging is normally carried out even though the non-contact charging cannot be carried out normally. There is a problem that the passenger of the vehicle cannot grasp that the vehicle is not installed.

Non-limiting examples of the present disclosure contribute to providing a parking assistance device, a parking assistance system, and a parking assistance method capable of recognizing that contactless charging is not normally performed.

A parking assistance device according to an embodiment of the present disclosure determines whether or not contactless charging is normally performed between a contactless charger provided in a parking area of a vehicle and the vehicle. a state-of-charge determining unit that determines based on a result of detection of at least one of the states of the charger and the vehicle; and if it is determined that the non-contact charging is not normally performed, the and an information providing unit that provides information indicating that there is no vehicle to passengers of the vehicle.

A parking assistance system according to an embodiment of the present disclosure includes the above parking assistance device and a contactless charger.

A parking assistance method according to an embodiment of the present disclosure determines whether or not contactless charging is normally performed between a contactless charger provided in a vehicle parking area and the vehicle. determining based on a result of detecting at least one of the state of the charger and the vehicle; providing indicative information to occupants of the vehicle.

According to an embodiment of the present disclosure, it is possible to provide a parking assistance device, a parking assistance system, and a parking assistance method capable of recognizing that non-contact charging is not normally performed.

Further advantages and advantages of an embodiment of the present disclosure are apparent from the specification and drawings. Such advantages and/or advantages may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all provided to obtain one or more of the same features. no.

A diagram showing a configuration example of a parking assistance system 100 according to an embodiment of the present disclosure A diagram for explaining devices connected to the parking assistance device 10 according to the embodiment of the present disclosure. A diagram showing a configuration example of a parking assistance device 10 according to an embodiment of the present disclosure FIG. 4 is a diagram showing a configuration example of a target trajectory setting unit 110; Flowchart for explaining the operation of the parking assistance system 100 Flowchart for explaining the operation of the parking assistance system 100 Flowchart for explaining the operation of the parking assistance system 100 Flowchart for explaining the operation of the parking assistance system 100 Flowchart for explaining the operation of the parking assistance system 100 Flowchart for explaining the operation of the parking assistance system 100 Flowchart for explaining the operation of the parking assistance system 100 when performing automatic parking for non-contact charging while reflecting the passenger's intention.

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification and drawings, constituent elements having substantially the same functions are denoted by the same reference numerals, thereby omitting redundant description.

(Embodiment)
First, the background leading to the creation of the embodiments according to the present disclosure will be described.

For example, in the known technology disclosed in Patent Document 1, the position of the vehicle relative to the non-contact charger is specified based on the mark of the non-contact charger imaged using imaging means mounted on the vehicle, and the position of the specified vehicle is identified. By setting a target travel trajectory from the position to the position of the non-contact charger, automatic driving of the vehicle is started along the target travel trajectory. When the vehicle moves to the position of the contactless charger, the vehicle stops at a position where the power receiver mounted on the vehicle faces the contactless charger, and starts contactless charging.

However, in the known technology, when an abnormality occurs in the non-contact charger or the power receiver, the vehicle is notified that the non-contact charging is not normally performed even though the non-contact charging cannot be performed normally. passengers cannot understand.

For this reason, it is desired to be able to grasp that non-contact charging is not normally performed. Embodiments according to the present disclosure will be described below.

FIG. 1 is a diagram showing a configuration example of a parking assistance system 100 according to an embodiment of the present disclosure.

(Parking support system 100)
A parking assistance system 100 includes a parking assistance device 10 , a power receiver 20 , and a contactless charger 50 .

Parking assistance device 10 and power receiver 20 are provided in vehicle 200 . Vehicle 200 is an electric vehicle, a plug-in hybrid vehicle, or the like having a storage battery for running.

(Parking support device 10)
The parking assistance device 10 is a device for assisting parking by automatically parking the vehicle 200 in the parking area 202 . A configuration example of the parking assistance device 10 will be described later.

A parking area 202 is an area surrounded by parking frames 201 . The parking frame 201 is, for example, a frame specified by a demarcation line displayed on the road surface within the parking area.

(Power receiver 20)
Power receiver 20 receives electric power supplied from non-contact charger 50 and outputs the electric power to a running storage battery mounted on vehicle 200 .

The power receiver 20 includes a power receiving coil that receives power supplied from the non-contact charger 50, and a power conversion circuit.

The power receiving coil is provided at the bottom of vehicle 200 . The electric power received by the power receiving coil is converted into a DC voltage by a power conversion circuit, and then charged to a storage battery for running mounted on vehicle 200 .

(Non-contact charger 50)
The non-contact charger 50 is a non-contact charger that supplies power to the power receiver 20 .

The contactless charger 50 has a power transmission coil that supplies power to the contactless charger 50 . The power transmission coil is provided in parking area 202 so as to face the power receiving coil of power receiver 20 when power receiver 20 provided in vehicle 200 moves above contactless charger 50 .

In addition to the power transmission coil, the non-contact charger 50 includes, for example, a communication device that performs wireless communication with the parking assistance device 10 .

A mark D is displayed on the top surface of the non-contact charger 50 . Mark D is a mark for informing passengers of vehicle 200 of the position of non-contact charger 50 .

Next, peripheral devices of the parking assistance device 10 will be described with reference to FIG.

FIG. 2 is a diagram for explaining devices connected to the parking assistance device 10 according to the embodiment of the present disclosure.

As shown in FIG. 2, the parking assistance system 100 includes the parking assistance device 10, the power receiver 20, and the non-contact charger 50 described above, as well as the position detection device 2, the front camera 6, the rear camera 7, and the communication device 8. , an operation input unit 9 , a display device 11 , an audio output device 12 , a vehicle control ECU (Electronic Control Unit) 13 , and a battery ECU 14 .

The parking assistance device 10 includes a position detection device 2, a front camera 6, a rear camera 7, a communication device 8, an operation input unit 9, a display device 11, an audio output device 12, a vehicle control ECU 13, a battery ECU 14, and a power receiver 20. It is connected.

(Position detection device 2)
The position detection device 2 is a device that detects the current position of the vehicle 200 . The position detection device 2 includes a GNSS (Global Navigation Satellite System) receiver 3 , a gyro sensor 4 and a wheel speed sensor 5 .

The GNSS receiver 3 measures the current position of the vehicle 200 based on signals received by the GNSS antenna from positioning satellites.

The gyro sensor 4 is, for example, a sensor that detects changes in yaw angle, roll angle, and pitch angle.

The wheel speed sensor 5 is a sensor that sequentially outputs pulse signals corresponding to the rotational speed of rolling wheels of the vehicle 200 .

(Front camera 6, rear camera 7)
The front camera 6 is an imaging device that captures an image of a predetermined area in front of the vehicle. The rear camera 7 is an imaging device that captures an image of a predetermined range behind the vehicle.

(Communication device 8)
The communication device 8 is a device that performs wireless communication with a communication device provided in the non-contact charger 50 .

The communication device 8 receives the parking assistance information transmitted from the non-contact charger 50 and transfers it to the parking assistance device 10 .

Parking assistance information is information for assisting parking at a position where the efficiency of non-contact charging is high. The parking assistance information includes, for example, a signal indicating the position of the non-contact charger 50, the recommended parking direction, the position of the parking frame 201, the contents of the mark D, the state of the charger, and the like.

(recommended parking direction)
The recommended parking direction is a parking direction recommended when parking the vehicle 200, such as a forward parking direction or a rearward parking direction.

(Contents of mark D)
The contents of the mark D include its shape, size, color, and the like.

(Signal indicating charger status)
The signal indicating the status of the charger includes the identification number of the non-contact charger 50, the charging start time, the output power amount, the output voltage value, the output current value, the charger usage status, and whether the non-contact charger 50 is normal. It is a signal indicating whether or not

(Operation input unit 9)
The operation input unit 9 is a man-machine interface such as a switch, button, lever, touch panel, voice recognition device, etc. that receives operations by passengers of the vehicle 200 .

(Display device 11, audio output device 12)
The display device 11 is a center display, a meter panel, a head-up display, or the like, which are provided inside the vehicle. The audio output device 12 is a speaker provided inside the vehicle. The display device 11 is an example of a display unit mounted on the vehicle 200 .

(Vehicle control ECU 13)
The vehicle control ECU 13 is an electronic control unit that collects vehicle information and performs various control processes related to predetermined functions of the vehicle 200, such as a motor ECU, a hybrid ECU, and an engine ECU. The vehicle information includes the opening degree of the accelerator pedal, the depression amount of the brake pedal, the steering amount of the steering wheel, and the like.

Next, with reference to FIG. 3, details of the parking assistance device 10 will be described.

FIG. 3 is a diagram showing a configuration example of the parking assistance device 10 according to the embodiment of the present disclosure. The parking assistance device 10 includes a vehicle position acquisition unit 101, a non-contact charger position acquisition unit 102, a relative position identification unit 103, a storage unit 104, a parking position identification unit 105, a recommended parking direction acquisition unit 106, and a parking frame position acquisition unit 107. , and a mark information acquisition unit 108 .

The parking assistance device 10 also includes an image recognition processing unit 109, a target locus setting unit 110, an automatic driving control unit 111, a necessity switching unit 112, a charging information acquisition unit 113, a start determination unit 114, an efficiency identification unit 115, and a notification processing unit. 116 , an ambient information acquisition unit 117 , an information reception unit 118 , an information provision unit 119 , a setting reception unit 120 and a foreign object detection unit 121 .

The parking assistance device 10 also includes a state-of-charge determination unit 130 , a diagnosis unit 131 , a parking area determination unit 132 , and a search unit 133 .

(Vehicle position acquisition unit 101)
The vehicle position acquisition unit 101 acquires the current position of the vehicle 200 detected by the position detection device 2 . Hereinafter, the current position of vehicle 200 may be simply referred to as "vehicle position".

(Non-contact charger position acquisition unit 102)
The non-contact charger position acquisition unit 102 acquires information on the position of the non-contact charger 50 received by the communication device 8 .

(Relative position specifying unit 103)
The relative position specifying unit 103 receives the information on the vehicle position acquired by the vehicle position acquiring unit 101 and the information on the position of the non-contact charger 50 acquired by the non-contact charger position acquiring unit 102, and determines the vehicle position. and information on the position of the non-contact charger 50, the vehicle position relative to the position of the non-contact charger 50 is specified.

(storage unit 104)
The storage unit 104 stores efficiency information that associates the efficiency of non-contact charging with the distance from the position of the non-contact charger 50 to the position of the power receiver 20 of the vehicle 200 .

(Parking position specifying unit 105)
The parking position specifying unit 105 refers to the efficiency information stored in the storage unit 104 and specifies the parking position where the efficiency of non-contact charging is maximized.

The parking position is a target parking position when the vehicle is automatically parked toward the non-contact charger 50 so as to maximize the efficiency of non-contact charging. Below, the parking position specified by the parking position specifying unit 105 may be referred to as a "target parking position."

(Recommended parking direction acquisition unit 106)
The recommended parking direction acquisition unit 106 acquires information on the recommended parking direction described above.

(Parking frame position acquisition unit 107)
The parking frame position acquisition unit 107 acquires information on the position of the parking frame 201 described above.

(Mark information acquisition unit 108)
The mark information acquisition unit 108 acquires the contents of the mark D described above.

(Image recognition processing unit 109)
The image recognition processing unit 109 performs a process of extracting recognition targets included in the captured images captured by the front camera 6 and the rear camera 7 as information about the surroundings of the non-contact charger 50 .

In the following description, information about the surroundings of non-contact charger 50 may be simply referred to as "surroundings information" in order to simplify the description.

The surrounding information includes, for example, the parking frame 201, the position and size of the vehicle parked in the parking space adjacent to the parking frame 201, the wall of the building constructed adjacent to the parking frame 201, the utility pole, the streetlight, It includes information on the positions of steel columns in multistory parking lots, lock plates installed in coin parking lots, and so on.

Here, the aforementioned mark D indicates the position of non-contact charger 50, and in order to determine the parking position of vehicle 200, mark D indicating the position of non-contact charger 50 can be extracted. desirable.

However, if fallen leaves are piled up on the mark D displayed in the parking frame 201, or due to the influence of darkness at night or bad weather such as rain, the display of the mark D may not be displayed by the vehicle-mounted camera. It may not be possible to take an image.

In such a case, the image recognition processing unit 109 determines the position and size of the parking frame 201 described above, the position and size of the vehicle parked in the parking space adjacent to the parking frame 201, and the size of the building constructed adjacent to the parking frame 201. The position of the non-contact charger 50 may be estimated based on positional information such as walls, utility poles, streetlights, steel frame pedestals of multistory parking lots, lock plates installed in coin parking lots, and the like.

It should be noted that the image recognition processing unit 109, instead of the captured images captured by the front camera 6 and the rear camera 7, for example, captured images captured by a mobile information terminal such as a smartphone, surveillance cameras installed in parking lots and a captured image captured by an in-vehicle device mounted on another vehicle existing around the vehicle 200 are received by wireless communication, and based on the received captured image, information about the surroundings of the vehicle 200 may be extracted.

Further, the surrounding information may be, for example, the object extracted from the image generated by the top view generation unit (not shown). The top view generation unit has an image generation function that generates a top view by converting the viewpoint from a virtual viewpoint in the upper direction of the vehicle 200 so as to look down on the vehicle 200 based on an image captured by an imaging unit mounted on the vehicle 200, for example. have

The image recognition processing unit 109 outputs the extracted information about the surroundings of the vehicle 200 to the surrounding information acquisition unit 117, the start determination unit 114, and the like.

(Ambient information acquisition unit 117)
A surrounding information acquisition unit 117 acquires surrounding information extracted by the image recognition processing unit 109 . The surrounding information acquisition unit 117 calculates the position of the recognition target from the acquired surrounding information using a known method, and specifies the position of the recognition target.

Surrounding information acquisition section 117 outputs information indicating the specified recognition target position to target trajectory setting section 110 .

(Target trajectory setting unit 110)
Target trajectory setting unit 110 determines the position of non-contact charger 50 acquired by non-contact charger position acquisition unit 102, the vehicle position specified by relative position specifying unit 103, and the vehicle position specified by parking position specifying unit 105. The target parking position, the recommended parking direction acquired by the recommended parking direction acquisition unit 106, the position of the parking frame 201 acquired by the parking frame position acquisition unit 107, and the recognition target position specified by the surrounding information acquisition unit 117 Based on the above, the target travel locus, which is the travel locus when the vehicle 200 is parked by automatic driving, is set.

The target travel locus is a travel locus that allows vehicle 200 to enter parking area 202 and park vehicle 200 at the aforementioned target parking position. A specific example of the configuration of the target locus setting unit 110 will be described later.

(Automatic driving control unit 111)
When the start determination unit 114 determines to start the automatic operation control, the automatic driving control unit 111 adjusts the steering amount, the brake amount, the accelerator opening, etc. along the target running trajectory set by the target trajectory setting unit 110. By adjusting, automatic operation control is performed to park the vehicle 200 at the target parking position. The configuration of the start determination unit 114 will be described later.

(Necessity switching unit 112)
The necessity switching unit 112 outputs a signal indicating to start the non-contact charging parking assistance when a setting operation requiring the non-contact charging parking assistance is performed in the operation input unit 9 .

(Charge information acquisition unit 113)
The charging information acquisition unit 113 acquires SOC (State of Charge), which is information indicating the charging state of the storage battery for driving, from the battery ECU 14 .

(Start determination unit 114)
When a setting operation requiring non-contact charging parking assistance is performed on the operation input unit 9, the start determination unit 114 outputs a signal indicating to start the non-contact charging parking assistance output from the necessity switching unit 112. receive.

When the SOC value acquired by the charging information acquisition unit 113 does not indicate full charge, the start determination unit 114 that has received the signal instructs the communication device 8 to perform wireless communication with the non-contact charger 50. output a signal to start

Further, when the image recognition processing unit 109 can extract the mark D of the non-contact charger 50 based on the captured image received from another device through wireless communication, the start determination unit 114 determines that parking by automatic driving can be started. It determines and outputs an operation start signal to the automatic operation control unit 111 .

Further, when the image recognition processing unit 109 cannot extract the mark D of the non-contact charger 50, the start determination unit 114 considers the recognition target position specified by the surrounding information acquisition unit 117, and starts parking by automatic driving. An operation start signal for starting is output to the automatic operation control unit 111 .

In addition, when parking at the target parking position is completed, the start determination unit 114 outputs a charging start signal for starting non-contact charging to the communication device 8 . Accordingly, a charging start signal is transmitted from the communication device 8 to the non-contact charger 50 , and non-contact charging is started between the non-contact charger 50 and the power receiver 20 .

(Efficiency identification unit 115)
When the vehicle position specified by the relative position specifying unit 103 is received, the efficiency specifying unit 115 refers to the efficiency information stored in the storage unit 104 to specify the efficiency of contactless charging corresponding to the vehicle position. . Efficiency specifying unit 115 transfers information on the specified efficiency of non-contact charging to notification processing unit 116 . The efficiency identification unit 115 is an example of an efficiency calculation unit according to the embodiment of the present disclosure.

Efficiency specifying unit 115 may be configured to calculate charging efficiency based on information transmitted from non-contact charger 50 and output information on the calculated charging efficiency to notification processing unit 116 .

For example, the efficiency specifying unit 115 receives information about the charging method of the non-contact charger 50, refers to the information about the charging method, the SOC of the running storage battery, the storage capacity of the running storage battery, etc. Calculate the charging efficiency of Information about the charging method of the non-contact charger 50 is, for example, information such as an electromagnetic induction method, a resonance magnetic induction method, a microwave discharge method, and the like.

Note that efficiency specifying unit 115 calculates the degree of overlap of non-contact charger 50 with respect to the power receiver mounted on vehicle 200 when vehicle 200 travels toward non-contact charger 50, and calculates the degree of overlap based on the calculated degree of overlap. , the charging efficiency may be calculated.

In the case of the electromagnetic coupling method, voltage is induced in the power receiving coil of the power receiver 20 due to changes in the magnetic flux generated in the power transmitting coil of the non-contact charger 50 . When the non-contact charger 50 is viewed from above, the charging efficiency is improved as the degree of overlap between the power transmitting coil and the power receiving coil increases and as the distance between the power transmitting coil and the power receiving coil decreases.

Therefore, the parking assistance device 10 captures an image of the non-contact charger 50 using, for example, a camera mounted on the vehicle 200, and determines the center position of the power transmission coil of the non-contact charger 50 based on the image captured by the camera. Then, the parking assistance device 10 calculates a target travel locus such that the center position of the power receiving coil of the power receiver 20 is guided with respect to the estimated center position of the power transmitting coil of the non-contact charger 50. set.

When vehicle 200 travels along the target travel locus, the degree of overlap between contactless charger 50 and power receiver 20 mounted on vehicle 200 changes. Calculate

(Notification processing unit 116)
Notification processing unit 116 , when receiving information on the vehicle position identified by relative position identification unit 103 , notifies passengers of vehicle 200 of the efficiency of contactless charging at the vehicle position, so that the efficiency identification unit 115 identifies the efficiency. The information on the efficiency of non-contact charging is transferred to the display device 11 and the audio output device 12 .

(Foreign matter detector 121)
The foreign object detection unit 121 detects, for example, that the voltage induced in the power receiving coil of the receiver 20 due to changes in the magnetic flux of the power transmitting coil of the non-contact charger 50 is equal to or less than a predetermined value induced when there is no foreign object. foreign objects such as empty cans and small animals between the receiver 20 and the non-contact charger 50 are detected.

When detecting a foreign object, the foreign object detection unit 121 outputs information indicating the existence of the foreign object to the information receiving unit 118 .

(Information receiving unit 118)
Information receiving unit 118 receives information about contactless charging performed between contactless charger 50 provided in parking area 202 of vehicle 200 and vehicle 200 .

Information related to non-contact charging includes, for example, the following information.
(1) Charging standard information of the non-contact charger 50;
(2) Charging standard information of the storage battery for driving.
(3) Information indicating the start of automatic operation of the non-contact charger 50 .
(4) Information indicating that non-contact charging is to be performed at the first charging speed.
(5) Information indicating that non-contact charging is performed at a second charging rate that is faster than the first charging rate.
(6) Information indicating that there is a foreign object between the power receiver 20 and the non-contact charger 50 that may interfere with non-contact charging.
(7) Information indicating that there is no parking area 202 in which contactless charging is possible.

The charging standard information is CHAdeMO (registered trademark), Combo (Combined Charging System), and the like. The charging standard information includes information on the WPT (Wireless Power Transmission) class, information on the type of power receiving coil provided in the power receiver 20, information on the type of power transmitting coil provided in the non-contact charger 50, and the like. may

The WPT class is a classification that defines the maximum value of power that can be input from the system power supply to the non-contact charger 50, the minimum required power transmission efficiency, and the like. WPT1 to WPT4 are defined in the WPT class. "WPT1" defines the maximum input power to the non-contact charger 50 as 3.7 kVA, "WPT2" defines the maximum input power as 7.7 kVA, and "WPT3" defines the maximum input power as 11.7 kVA. 1 kVA, and "WPT4" specifies a maximum input power of 22 kVA.

The information indicating the start of automatic driving is, for example, information transmitted from the display device 11 when the "automatic parking start" button displayed on the display device 11 is operated.

The information indicating that non-contact charging is performed at the first charging speed is, for example, a normal charger with an output of 1 kW (when using a 100 V power supply), a normal charger with an output of 3 kW (when using a 200 V power supply), etc. This is charging speed identification information transmitted from the non-contact chargers 50 by wireless communication when non-contact charging is performed using slow normal chargers as the non-contact chargers 50 .

The information indicating that non-contact charging is to be performed at a second charging rate faster than the first charging rate is non-contact charging using a high-speed charger with an output of 50 kW or more and a high charging rate as the non-contact charger 50. is the identification information of the charging speed transmitted from the non-contact charger 50 by wireless communication when implementing .

Information indicating that there is a foreign object that can interfere with non-contact charging between the power receiver 20 and the non-contact charger 50 is, for example, information output from the foreign object detection unit 121 .

(Information providing unit 119)
Information providing unit 119 provides information on contactless charging to passengers of vehicle 200 . Details of the information provided to the passenger by the information providing unit 119 will be described later.

Information related to non-contact charging includes information indicating that there is no parking area 202 that allows non-contact charging, information indicating that there is a parking area 202 that allows non-contact charging, and the like.

Below, the parking area 202 in which non-contact charging is possible may be referred to as a "charging space".

Information indicating that there is no parking area 202 capable of contactless charging includes, for example, "There is no charging space for contactless charging", "Charging space is being used. Do you want to search for another charging space? is guidance such as

The information indicating that there is a parking area 202 in which contactless charging is possible is, for example, guidance such as "There is a charging space. Do you want to start parking in the charging space?"

These guidances can be reproduced as text messages on the display device 11 by referring to the correspondence information stored in the storage unit 104 by the information providing unit 119, for example. The correspondence information includes a text message displayed when there is a parking area 202 capable of contactless charging, a text message displayed when there is no parking area 202 capable of contactless charging, and the like.

Note that, when the charging state determination unit 130 (to be described later) determines that the non-contact charging is not normally performed, the information providing unit 119 provides the information indicating that the non-contact charging is not normally performed. Information on contact charging may be provided to passengers.

In this case, the information provided to the passenger is, for example, guidance such as "contactless charging is not being performed normally" and "contactless charging cannot be started due to an abnormality".

Further, when the charging state determining unit 130 described later determines that the non-contact charging is normally performed, the information providing unit 119 provides the passenger with information indicating that the non-contact charging is normally performed. may be configured to provide

In this case, the information provided to the passenger is, for example, guidance such as "contactless charging has started successfully".

(Setting reception unit 120)
The setting accepting unit 120 accepts settings from the passenger for the information on contactless charging provided to the passenger by the information providing unit 119 .

For example, when a setting button for starting non-contact charging displayed on the display device 11 is operated, or when an operation for executing automatic parking is performed on the operation input unit 9, the setting reception unit 120 accepts these settings.

The setting reception unit 120 that has received the setting transmits a signal indicating the passenger's setting content to the automatic operation control unit 111 . The automatic driving control unit 111 that has received the signal indicating the setting content of the passenger performs control such as starting non-contact charging and automatically parking the vehicle 200 based on the signal.

Note that the setting reception unit 120 may receive the setting from the passenger for the information on contactless charging provided to the passenger by voice. In this case, the received voice is recognized, and a signal indicating the content of the recognized voice is transmitted to the automatic driving control unit 111 as a signal indicating the setting content of the passenger.

(Charging state determination unit 130)
The state-of-charge determining unit 130 determines whether or not contactless charging is normally performed between the contactless charger 50 and the vehicle 200, for example, based on a vehicle state signal transmitted from the vehicle control ECU 13. . A signal indicating the determination result is transmitted to the information providing unit 119 and the diagnosis unit 131 .

For example, if the signal indicating the value of the voltage output from the power receiving coil of power receiver 20, which is included in the vehicle status signal, is equal to or greater than a predetermined value, state-of-charge determination unit 130 determines that contactless charging is normally performed. determined to be

Further, when the signal indicating the value of voltage is less than the predetermined value, state-of-charge determination unit 130 determines that non-contact charging is not normally performed.

Note that even when the voltage is equal to or higher than the predetermined value, it may not be possible to charge the storage battery for running when an abnormality occurs in the power conversion device (not shown).

In this case, the state-of-charge determining unit 130 determines that the non-contact charging is not normally performed based on the signal included in the vehicle state signal and indicating that the power conversion device is not normal.

The power conversion device (not shown) converts the AC power output from the power receiving coil into DC power that can charge the storage battery for running, or converts it into AC power that can drive the main motor for running.

Note that the state-of-charge determination unit 130 determines whether contactless charging is performed between the contactless charger 50 and the vehicle 200 based on the above-described parking assistance information instead of the vehicle state signal transmitted from the vehicle control ECU 13, for example. It may be configured to determine whether or not it is being implemented normally.

In this case, based on the signal indicating the state of the non-contact charger 50 included in the parking assistance information, if the output power amount, the output voltage value, the output current value, etc. of the non-contact charger 50 are equal to or greater than a predetermined value, Charging state determination unit 130 determines that non-contact charging is normally performed.

In addition, when the output power amount, output voltage value, output current value, and the like of non-contact charger 50 are less than predetermined values, state-of-charge determining unit 130 determines that non-contact charging is not normally performed.

Moreover, the state-of-charge determination unit 130 is configured to determine whether or not the non-contact charging is normally performed based on both the vehicle state signal and the signal indicating the state of the non-contact charger 50 described above. may

(Modified example of state-of-charge determination unit 130)
Note that the state-of-charge determining unit 130 may be configured as follows.

For example, the state-of-charge determination unit 130 determines that the voltage output from the power receiving coil of the power receiver 20 is equal to or higher than the voltage output from the power receiving coil of the power receiver 20 by the elapse of a certain time from the time when the power reception between the contactless charger 50 and the power receiver 20 is started. If the value is equal to or greater than the predetermined value, it is determined that the non-contact charging is normally performed.

In addition, the state-of-charge determination unit 130 determines that the voltage output from the power receiving coil of the power receiver 20 remains unchanged even after a certain period of time has passed since the start of power reception between the contactless charger 50 and the power receiver 20 . If it is less than the predetermined value, it is determined that the non-contact charging is not normally performed.

With this configuration, it is possible to determine whether or not the non-contact charging has been performed normally in a state where the voltage and the like have stabilized after a certain period of time has elapsed, so the accuracy of determining the state of charge is improved.

(Parking area determination unit 132)
The parking area determination unit 132 determines whether or not there is a parking area 202 in which contactless charging is possible based on the signal indicating the charger usage status.

The signal indicating the charger usage status is a signal indicating whether or not the non-contact charger 50 is in use.

When the signal indicating the charger usage status indicates that the non-contact charger 50 is not in use, the parking area determination unit 132 determines that there is a parking area 202 in which non-contact charging is possible.

In this case, the parking area determination unit 132 transmits to the information providing unit 119 a signal indicating that there is a parking area 202 in which contactless charging is possible.

The information providing unit 119 that has received the signal provides the passenger with information indicating that there is a parking area 202 in which contactless charging is possible. The information in this case is, for example, guidance such as "There is a parking space where contactless charging is possible."

When the signal indicating the charger usage status indicates that the non-contact charger 50 is being used, the parking area determination unit 132 determines that there is no parking area 202 in which non-contact charging is possible.

In this case, the parking area determination unit 132 transmits to the information providing unit 119 and the searching unit 133 a signal indicating that there is no parking area 202 in which contactless charging is possible.

The information providing unit 119 that has received the signal provides the passenger with information indicating that there is no parking area 202 in which contactless charging is possible. The information in this case is, for example, guidance such as "There is no parking area where contactless charging is possible. Would you like to move to a parking area where the contactless charger 50 is not installed?"

The processing of the search unit 133 that has received the signal will be described later.

Hereinafter, the parking area 202 in which the non-contact charger 50 is not installed may be referred to as a "non-charging space".

In addition to the signal indicating the charger usage status, the parking area determination unit 132 uses, for example, an image captured by a surveillance camera installed in the parking lot to determine the parking area in which contactless charging is possible. 202 is present.

(Search unit 133)
When the parking area determination unit 132 determines that there is no parking area 202 in which contactless charging is possible, the search unit 133 selects a non-contact charging area from among a plurality of parking areas 202 existing around the current position of the vehicle 200 . The position of the parking area 202 where the charger 50 is not installed, that is, the position of the non-charging space is searched.

The searching unit 133 transmits a signal regarding the searched non-charging space to the information providing unit 119 .

The information providing unit 119 that has received the signal provides the passenger with information indicating the position of the non-charging space. In this case, for example, the screen of the display device 11 displays an image of the parking lot and non-charging spaces in the parking lot.

In addition to the parking area 202 around the current position of the vehicle 200, the search unit 133 searches for a parking area 202 in another parking lot provided away from the position of the vehicle 200 as a non-charging space. You may

For example, when a specific non-charging space is selected by the passenger from the non-charging spaces displayed on the display device 11, the search unit 133 sends a signal regarding the selected non-charging space to the automatic driving control unit 111. Send to

As a result, vehicle 200 can be automatically parked even when there is no non-charging space around the current position of vehicle 200 .

(Diagnosis unit 131)
Diagnosis unit 131 diagnoses the cause of non-contact charging not being performed normally.

For example, when the state-of-charge determining unit 130 described above determines that non-contact charging is not normally performed, a signal indicating the result of this determination is transmitted to the diagnostic unit 131 .

Diagnosis unit 131 that has received the signal diagnoses the cause of non-contact charging not being performed normally based on the above-described signal indicating the state of the charger and the vehicle state signal.

The vehicle status signal includes a signal indicating whether the power receiving coil provided in the power receiver 20 is normal or abnormal, a signal indicating whether the power conversion device described above is normal or abnormal, and the like.

(Diagnosis example 1: When the cause is on the vehicle side)
When the diagnostic unit 131 receives a signal indicating that the power receiving coil, the power converter, or the like is abnormal, the diagnostic unit 131 determines that the vehicle is the cause.

The state in which the vehicle has an abnormality includes, for example, a state in which the receiving coil is disconnected, a state in which a switch element provided in the power conversion device is out of order, and the like.

Diagnosis section 131 transmits a signal regarding the diagnosis result to information provision section 119 . The information providing unit 119 that has received the signal provides the passenger with information on the cause of non-contact charging being not performed normally.

The information is, for example, guidance such as "Charging cannot be started because there is an abnormality on the vehicle side."

(Diagnosis example 2: When the cause is on the non-contact charger side)
If the signal indicating the state of the charger includes a signal indicating that the non-contact charger 50 is out of order, the diagnosis unit 131 determines that the non-contact charger is the cause.

The failure state of the non-contact charger 50 includes, for example, a state in which a power transmission coil included in the non-contact charger 50 is disconnected, a state in which power is not supplied to the non-contact charger 50, and the like.

Diagnosis section 131 transmits a signal regarding the diagnosis result to information provision section 119 . The information providing unit 119 that has received the signal provides the passenger with information on the cause of non-contact charging being not performed normally.

The information is guidance such as, for example, "The non-contact charger may be out of order. Charging cannot be started."

(Another configuration example of the diagnosis unit 131)
Note that the diagnostic unit 131 may be configured as follows.

(Search for parking areas when the cause is on the vehicle side)
If the non-contact charging is not normally performed due to the vehicle side, the diagnosis unit 131 transmits a signal to search for a non-charge space to the search unit 133 .

(if non-charging space exists)
When the searching unit 133 that has received the signal finds that there is a non-charging space around the vehicle 200 as a result of the search, the automatic driving control unit outputs a signal for performing automatic driving in order to park the vehicle 200 in the non-charging space. 111.

Thereby, the vehicle 200 can be automatically moved toward the non-charging space.

(if no non-charging space exists)
If no non-charging space exists around vehicle 200 as a result of the search, searching unit 133 transmits information indicating that there is no non-charging space to information providing unit 119 .

The information is, for example, guidance such as "there are no spaces available for parking". Thereby, the passenger can quickly search for another parking lot and move the vehicle 200 to the searched parking lot.

(Search for parking area when the cause is on the non-contact charger 50 side)
If the non-contact charger 50 is the cause of non-contact charging being performed normally, the diagnostic unit 131 sends a signal to search for another parking area 202 where the non-contact charger 50 is installed. Send to the search unit 133 .

Retrieval unit 133 that has received the signal, as a result of the search, if there is another parking area 202 in which non-contact charger 50 is installed around vehicle 200, to automatic operation control unit 111, the operation signal to send.

The driving signal is a signal that causes automatic driving to park the vehicle 200 in the parking area 202 .

Thereby, the vehicle 200 can be automatically moved to another parking area 202 where the non-contact charger 50 is installed, and non-contact charging can be started.

(Another configuration example of the information providing unit 119)
Note that the information providing unit 119 may be configured as follows.

When contactless charging is started, the information providing unit 119 uses a known time calculation method to calculate the time required for the storage battery for driving to reach a fully charged state, and provides information about the time to the passenger. do.

With this configuration, the passenger can grasp the time required for the storage battery for traveling to reach a fully charged state.

When contactless charging is started, the information providing unit 119 uses a known time calculation method to calculate the time when the storage battery for running is in a fully charged state, and provides information about the time to the passenger.

With this configuration, the passenger can grasp the time when the storage battery for traveling will reach a fully charged state.

The information providing unit 119 provides the passenger with information indicating the state of charge of the travel storage battery when the non-contact charging is started.

With this configuration, the passenger can grasp the percentage of the state of charge of the storage battery for traveling.

In addition, the information providing unit 119 provides the passenger with information indicating that the charging amount of the travel storage battery has reached the charging amount set for the passenger.

With this configuration, for example, when the charge amount for completing charging is set to 90%, when the charge amount of the storage battery for driving reaches 90%, a text message or the like is displayed indicating that the charge amount has reached the set value. can be provided to passengers by

Next, a configuration example of the target locus setting unit 110 will be described with reference to FIG.

FIG. 4 is a diagram showing a configuration example of the target locus setting unit 110. As shown in FIG. The target locus setting unit 110 includes a first locus setting unit 110a and a second locus setting unit 110b.

(First travel locus setting unit 110a)
When information on the position of non-contact charger 50 is transmitted from non-contact charger position acquisition unit 102, first travel locus setting unit 110a determines that the position of non-contact charger 50 has been acquired.

First traveling locus setting unit 110a, which has determined that the position of non-contact charger 50 has been acquired, determines that vehicle 200 is in the parking area from the vehicle position specified by relative position specifying unit 103 in the parking direction according to the recommended parking direction. 202 and set a target travel locus that allows the vehicle to park at the target parking position. The target travel locus is an example of the first travel locus of the present disclosure.

The first running locus setting unit 110a that has set the target running locus outputs a signal for automatic operation to the automatic driving control unit 111 according to the set target running locus.

(Second travel locus setting unit 110b)
When the position of non-contact charger 50 is not transmitted from non-contact charger position acquisition unit 102, second travel locus setting unit 110b determines that the position of non-contact charger 50 cannot be acquired.

The second traveling locus setting unit 110b, which has determined that the position of the non-contact charger 50 cannot be acquired, determines the position of the non-contact charger 50 based on the recognition target position specified by the surrounding information acquisition unit 117, and determines the position of the non-contact charger 50. A target travel locus of the vehicle 200 to the area 202 is set. The target travel locus is an example of the second travel locus of the present disclosure.

The second running locus setting unit 110b that has set the target running locus outputs a signal for causing the vehicle 200 to automatically drive to the automatic driving control unit 111 according to the set target running locus.

Next, the operation of parking assistance system 100 will be described with reference to FIGS. 5A to 5G.

A parking assistance method when contactless charging is started by setting a target travel locus will first be described below with reference to FIGS. 5A to 5F. 5A to 5F are flow charts for explaining the operation of the parking assistance system 100. FIG.

In step S1, when a signal indicating the start of non-contact charging parking assistance is received, a process of determining whether or not the storage battery for driving is in a fully charged state is executed based on the SOC value of the storage battery for driving. .

If the storage battery for running is not fully charged (step S1, NO), the process of step S2 is executed.

In step S<b>2 , the communication is started according to the signal for starting wireless communication between the communication device 8 and the non-contact charger 50 . When communication between the communication device 8 and the non-contact charger 50 is started, the process of step S3 is executed.

In step S3, a process of determining whether or not the communication device 8 has received the parking assistance information transmitted from the non-contact charger 50 is executed.

If the communication device 8 has not received the parking assistance information (step S3, NO), the process of step S40 shown in FIG. 5D is executed.

The communication device 8 repeats N times whether or not the parking assistance information has been received, and if it is less than N times (step S40, NO), repeats the processing after step S2. N is a natural number of 1 or more.

If it is N times or more (step S40, YES), the process of step S41 is executed.

In step S41, the information providing unit 119 notifies information indicating that there is no vacant parking space in which contactless charging is possible, that is, there is no charging space, because the contactless charger 50 is being used by another vehicle.

After that, the process of step S42 is executed. In step S42, the setting reception unit 120 determines whether or not the passenger's setting for the notification executed in step S41 has been received.

If the setting is accepted within the fixed time (step S42, YES), the process of step S43 is executed.

In step S43, an operation corresponding to the passenger's setting is executed. For example, when an operation to suspend automatic operation of the vehicle 200 is performed, the automatic driving control unit 111 stops the vehicle 200 until an operation to resume automatic operation is input.

Further, when manual driving is performed to move vehicle 200 to parking area 202 where non-contact charger 50 is not installed, automatic driving control unit 111 suspends automatic parking.

After step S43, the non-contact charging parking assistance process ends.

Returning to step S42, if the setting is not received within the fixed time (step S42, NO), the process of step S44 is executed.

In step S44, the automatic driving control unit 111 sets the non-charging space as the parking target position, and automatically parks at the position.

At this time, a plurality of non-charging spaces may be displayed in the form of a list on the display device 11, and a non-charging space may be selected from this list.

After step S44, the non-contact charging parking assistance process ends.

Returning to step S3 shown in FIG. 5A, when the parking assistance information is received (step S3, YES), the process of step S4 is executed.

In step S4, a process of determining whether the recommended parking direction included in the parking assistance information is forward parking or backward parking is executed.

In the case of forward parking (step S4, YES), the process of step S5 is executed.

In step S5, a process of determining whether or not the mark D of the non-contact charger 50 has been confirmed in the forward parking state is executed.

When the mark D is extracted, that is, when the mark D can be confirmed by the front camera 6 (step S5, YES), the process of step S9 shown in FIG. 5C is executed.

In step S9, the vehicle position acquisition unit 101 executes a process of acquiring vehicle position information.

When the vehicle position information is acquired (step S9), the process of step S10 is executed.

In step S<b>10 , the relative position specifying unit 103 performs a process of specifying the vehicle position with respect to the non-contact charger 50 .

When the vehicle position with respect to non-contact charger 50 is specified (step S10), the process of step S11 is executed.

In step S11, the parking position specifying unit 105 executes a process of specifying a target parking position that maximizes the efficiency of non-contact charging.

When the target parking position that maximizes the efficiency of non-contact charging is identified (step S11), the process of step S12 is executed.

In step S12, a process of setting a target travel locus is executed by the first travel locus setting unit 110a. After the target travel locus is set, the process of step S13 is executed.

In step S13, the start determination unit 114 causes the automatic driving control unit 111 to start automatic driving control according to the target driving locus set by the first driving locus setting unit 110a.

When the automatic driving control unit 111 starts the automatic driving control, the process of step S14 is executed.

In step S14, the start determination unit 114 determines whether or not the vehicle can be parked at the target parking position.

If parking at the target parking position is possible (step S14, YES), the process of step S16 is executed.

In step S16, the automatic driving control unit 111 determines whether or not the parking of the vehicle 200 at the target parking position has been completed.

When parking is not completed (step S16, NO), the process of step S16 is repeated.

When parking is completed (step S16, YES), the process of step S17 is performed.

In step S17, non-contact charging is started, and then the process of step S20 shown in FIG. 5E is executed. Details of the processing in step S20 will be described later.

Returning to step S14, if the vehicle cannot be parked at the target parking position (step S14, NO), the process of step S15 is executed.

In step S15, a process of informing that the vehicle cannot be parked at the target parking position is executed. In this process, for example, a message such as "automatic parking cannot be performed due to an obstacle" is displayed on the display device 11. FIG. After step S15, the non-contact charging parking assistance process ends.

Returning to step S1 shown in FIG. 5A, if the storage battery for driving is fully charged (step S1, YES), the non-contact charging parking assistance process ends.

Returning to step S4, if the recommended parking direction is backward parking (step S4, NO), the process of step S7 is executed.

In step S7, a process of determining whether or not the mark D of the non-contact charger 50 has been confirmed while the vehicle is parked facing backward is executed.

When the mark D is extracted, that is, when the mark D can be confirmed by the rear camera 7 (step S7, YES), the process of step S9 described above is executed.

If the mark D cannot be confirmed by the rear camera 7 (step S7, NO), the process of step S8 is executed.

In step S8, notification processing unit 116 executes a process of notifying that mark D of non-contact charger 50 cannot be confirmed.

In this process, for example, a message such as "unable to confirm non-contact charger" is displayed on the display device 11 .

Note that, in this process, the audio output device 12 may reproduce audio guidance to the effect that the non-contact charger 50 cannot be confirmed.

After the process of step S8, the process of step S61 is executed. Details of the processing in step S61 will be described later.

Returning to step S5, if the mark D cannot be confirmed by the front camera 6 (step S5, NO), the process of step S6 is executed.

In step S6, similarly to the process in step S8, notification processing unit 116 performs a process of notifying that mark D of non-contact charger 50 cannot be confirmed.

After step S6, the process of step S61 shown in FIG. 5B is executed.

In step S61, the ambient information acquisition unit 117 executes a process of determining whether or not the position of the recognition target has been identified.

In step S61, if the position of the recognition target cannot be specified (step S61, NO), the process of step S62 is executed.

In step S62, a process of notifying that the recognition target position of non-contact charger 50 cannot be specified is executed.

In this process, for example, a message such as "the vehicle frame cannot be recognized" is displayed on the display device 11. FIG.

After the process of step S62, the process of step S61 is repeated.

In step S61, if the position of the recognition target can be identified (step S61, YES), the process of step S63 is executed.

In step S63, the process of setting the target running locus is executed by the second running locus setting unit 110b.

When the target running locus is set by the second running locus setting unit 110b, the process of step S64 is executed. In step S64, the start determination unit 114 causes the automatic driving control unit 111 to start automatic driving control according to the target driving locus set by the second driving locus setting unit 110b.

When the automatic driving control unit 111 starts the automatic driving control, the process of step S65 is executed. In step S65, when parking at the target parking position is started, the automatic driving control unit 111 determines whether or not the parking of the vehicle 200 at the target parking position is completed.

When parking is not completed (step S65, NO), the process of step S65 is repeated.

If parking is completed (step S65, YES), the process of step S66 is executed. In step S66, a process of starting non-contact charging is executed. After the non-contact charging is started, the process of step S20 shown in FIG. 5E is executed.

In step S20, state-of-charge determination unit 130 determines whether or not contactless charging has started.

When it is determined that non-contact charging has started by the method of determining the state of charge described above (step S20, YES), the process of step S21 is executed.

In step S<b>21 , the charge state determination unit 130 transmits information indicating that non-contact charging has started to the display device 11 and the audio output device 12 , for example. Thereby, the passenger can be notified that non-contact charging has started.

Returning to step S20, if it is determined by the method of determining the state of charge described above that non-contact charging has not started (step S20, NO), the process of step S22 is executed.

In step S22, the state-of-charge determining unit 130 transmits information indicating that non-contact charging has not started to the display device 11 and the audio output device 12, for example. Thereby, it is possible to inform the passenger that the non-contact charging has not started.

After that, the process of step S23 is executed. In step S23, the diagnosis unit 131 diagnoses the cause of non-contact charging not being performed normally.

After that, the process of step S24 is executed. In step S<b>24 , the diagnosis unit 131 transmits information regarding the diagnosis result to the information provision unit 119 . This makes it possible to notify the cause of non-contact charging not being carried out normally.

After that, the process of step S25 shown in FIG. 5F is executed. In step S<b>25 , if the vehicle is the cause of non-contact charging being started (step S<b>25 , YES), diagnosis unit 131 transmits a signal to search unit 133 to search for a non-charging space.

In step S<b>26 , searching unit 133 that has received the signal to search for non-charging spaces searches for non-charging spaces around vehicle 200 .

As a result of the search, if there is a non-charging space around the vehicle 200 (step S27, YES), a driving signal for automatically driving to park the vehicle 200 in the non-charging space is transmitted to the automatic driving control unit 111. do.

Thereby, the automatic driving control unit 111 sets the non-charging space as the parking target position, and automatically parks at the position (step S28). After step S28, the non-contact charging parking assistance process ends.

Returning to step S<b>27 , if no non-charging space exists around vehicle 200 (step S<b>27 , NO), searching unit 133 transmits information indicating that no non-charging space exists to information providing unit 119 .

Upon receiving the information indicating that there is no non-charging space, the information providing unit 119 transmits information indicating that there is no non-charging space to the display device 11 and the audio output device 12 . Accordingly, the passenger can be notified that there is no non-charging space (step S29).

After that, in step S30, when the operation corresponding to the passenger's setting is executed, the non-contact charging parking assistance process ends.

Returning to step S<b>25 , if the non-contact charger is the cause of non-contact charging (step S<b>25 , NO), diagnosis section 131 transmits a signal to search section 133 to search for a charging space.

In step S<b>31 , search unit 133 determines whether or not there is a charging space around vehicle 200 .

As a result of the determination, if there is a charging space around the vehicle 200 (step S32, YES), an operation signal for performing automatic driving to park the vehicle 200 in the charging space is transmitted to the automatic driving control unit 111.

Thereby, the automatic driving control unit 111 sets the charging space as the parking target position, and automatically parks at the position (step S33). After step S33, the processes after step S1 shown in FIG. 5A are repeated.

Returning to step S<b>32 , if there is no charging space around vehicle 200 (step S<b>32 , NO), searching unit 133 transmits information indicating that there is no charging space to information providing unit 119 .

Upon receiving the information indicating that there is no charging space, the information providing unit 119 transmits information indicating that there is no charging space to the display device 11 and the audio output device 12 . Thereby, the passenger can be notified that there is no charging space (step S34).

After that, in step S35, when the operation corresponding to the setting of the passenger is executed, the non-contact charging parking assistance process ends.

Next, with reference to FIG. 5G, a description will be given of a parking assistance method for automatic parking for non-contact charging while reflecting the passenger's intention. The process shown in FIG. 5G is executed after the process of step S1 shown in FIG. 5A.

FIG. 5G is a flowchart for explaining the operation of the parking assistance system 100 when performing automatic parking for non-contact charging while reflecting the passenger's intention.

Information receiving unit 118 receives information about contactless charging performed between contactless charger 50 provided in parking area 202 of vehicle 200 and vehicle 200 (step S71). After that, the process of step S72 is executed.

The information providing unit 119 provides the passenger of the vehicle 200 with information on contactless charging (step S72). After that, the process of step S73 is executed.

The setting reception unit 120 receives the setting from the passenger for the information regarding the non-contact charger (step S73). After that, the process of step S74 is executed.

The setting reception unit 120 causes automatic operation for non-contact charging to be performed based on the setting information from the passenger (step S74).

Various embodiments have been described above with reference to the drawings, but it goes without saying that the present disclosure is not limited to such examples. It is obvious that a person skilled in the art can conceive of various modifications or modifications within the scope described in the present disclosure, and it is understood that these also belong to the technical scope of the present disclosure. be. Also, the components in the above embodiments may be combined arbitrarily within the scope of the present disclosure.

Although specific examples of the present disclosure have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims may include various modifications and changes of the specific examples illustrated in the present disclosure.

An embodiment of the present disclosure is suitable for parking assistance devices and parking assistance systems.

2 position detection device 3 GNSS receiver 4 gyro sensor 5 wheel speed sensor 6 front camera 7 rear camera 8 communication device 9 operation input unit 10 parking assistance device 11 display device 12 voice output device 13 vehicle control ECU
14 Battery ECU
20 power receiver 50 non-contact charger 100 parking assistance system 101 vehicle position acquisition unit 102 contact charger position acquisition unit 103 relative position identification unit 104 storage unit 105 parking position identification unit 106 recommended parking direction acquisition unit 107 parking frame position acquisition unit 108 Mark information acquisition unit 109 Image recognition processing unit 110 Target trajectory setting unit 110a First travel trajectory setting unit 110b Second travel trajectory setting unit 111 Automatic operation control unit 112 Necessity switching unit 113 Charging information acquisition unit 114 Start determination unit 115 Efficiency identification Part 116 Notification Processing Part 117 Surrounding Information Acquisition Part 118 Information Receiving Part 119 Information Providing Part 120 Setting Receiving Part 121 Foreign Matter Detection Part 131 Judging Part 132 Parking Area Judging Part 133 Searching Part 200 Vehicle 201 Parking Frame 202 Parking Area

Claims (17)

A detection result of at least one of the state of the non-contact charger and the vehicle to determine whether or not the non-contact charging is normally performed between the non-contact charger provided in the parking area of the vehicle and the vehicle. A charging state determination unit that determines based on
an information providing unit that provides an occupant of the vehicle with information indicating that the non-contact charging is not normally performed when it is determined that the non-contact charging is not normally performed;
A parking assistance device comprising: 3. The information providing unit, when it is determined that the contactless charging is being performed normally, provides an occupant of the vehicle with information indicating that the contactless charging is being performed normally. 1. The parking assistance device according to 1. Diagnosis unit for diagnosing the cause of non-contact charging not being performed normally based on the detection result of the state of the contactless charger and the vehicle when it is determined that the non-contact charging is not performed normally. 2. The parking assist device of claim 1, further comprising: a. 4. The parking assistance device according to claim 3, wherein said information providing unit provides information regarding said cause to a passenger of said vehicle. further comprising a search unit for searching the parking area,
4. The parking assistance device according to claim 3, wherein said diagnosis unit causes said search unit to search for a parking area in which said non-contact charger is not installed when said cause is in said vehicle. Further comprising an automatic driving control unit that automatically parks the vehicle,
The search unit causes the automatic driving control unit to perform automatic driving when, as a result of searching for the parking area, there is a parking area in which the non-contact charger is not installed around the vehicle. 5. The parking assistance device according to 5. If the search for the parking area reveals that there is no parking area in which the non-contact charger is installed around the vehicle, the search unit transmits information indicating that the parking area does not exist to the information providing unit. 6. A parking assistance device according to claim 5, provided by a department. further comprising a search unit for searching the parking area,
4. The parking assistance according to claim 3, wherein said diagnosis unit causes said search unit to search for another parking area where said non-contact charger is installed when said cause is on said non-contact charger side. Device. a parking area determination unit that determines whether or not there is a parking area in which the non-contact charging is possible;
a search unit that searches for a parking area in which the non-contact charger is not installed when the parking area that allows non-contact charging does not exist as a result of determination by the parking area determination unit;
an automatic driving control unit that automatically parks the vehicle in the parking area searched by the search unit;
The parking assistance device according to any one of claims 1 to 4, further comprising: 10. The information providing unit, when the parking area in which the non-contact charging is possible does not exist, provides the passenger of the vehicle with information indicating that the parking area in which the non-contact charging is possible does not exist. A parking assist device as described. a setting reception unit that receives a setting from an occupant of the vehicle for information indicating that the parking area in which the non-contact charging is possible does not exist;
An automatic driving control unit that automatically parks the vehicle based on the settings;
11. The parking assist device of claim 10, further comprising: a. When contactless charging is started, the information providing unit calculates the time required for a running storage battery mounted on the vehicle to reach a fully charged state, and provides information about the time to passengers of the vehicle. A parking assistance device according to any one of claims 1 to 11, provided. When the contactless charging is started, the information providing unit calculates the time when the driving storage battery mounted on the vehicle reaches a fully charged state, and provides information about the time to the passengers of the vehicle. A parking assistance device according to any one of claims 1 to 12. 14. The information providing unit according to any one of claims 1 to 13, wherein when contactless charging is started, the information providing unit provides a passenger of the vehicle with information indicating a state of charge of a storage battery for running mounted on the vehicle. The parking assistance device according to the paragraph. wherein the information providing unit provides an occupant of the vehicle with information indicating that an amount of charge of a storage battery for running mounted in the vehicle has reached an amount of charge set by an occupant of the vehicle. Item 15. The parking assistance device according to any one of Items 1 to 14. A parking assistance system comprising the parking assistance device according to any one of claims 1 to 15 and the non-contact charger. A detection result of at least one of the state of the non-contact charger and the vehicle to determine whether or not the non-contact charging is normally performed between the non-contact charger provided in the parking area of the vehicle and the vehicle. determining based on
providing an occupant of the vehicle with information indicating that the non-contact charging is not normally performed when it is determined that the non-contact charging is not normally performed;
parking assistance methods including;

Images