JP5743590B2 - Electric car - Google Patents

Description

  The present invention relates to an electric vehicle.

  2. Description of the Related Art Conventionally, for example, in an electric vehicle that charges a battery mounted on a vehicle by a non-contact charging system, a position shift between a power receiving unit provided in the vehicle and a power feeding unit provided in a charger is detected, and the vehicle is stopped. A system for notifying a driver when the position is appropriate is known (for example, see Patent Document 1).

JP-A-9-182212

By the way, according to the system according to the above prior art, it is possible to eliminate the inability to charge due to the positional deviation when the vehicle is stopped.
However, since it is impossible to determine whether or not the stop position is appropriate until the vehicle actually stops, it is necessary to redo the stop position every time.
Further, for example, when the positional relationship between the power receiving unit and the power feeding unit changes due to a change in the layout of the vehicle or the charger, there arises a problem that complicated labor such as a system change is required.

  The present invention has been made in view of the above circumstances, and can assist the positioning of the power receiving side and the power feeding side of non-contact charging easily and accurately, thereby reducing the burden on the driver. The purpose is to provide a simple electric vehicle.

In order to solve the above problems and achieve the object, an electric vehicle according to a first aspect of the present invention includes a travel motor (for example, the motor 33 in the embodiment) and power supplied to the travel motor. Non-contact charging electric vehicle including a power storage device (for example, battery 21 in the embodiment) and a power receiving unit (for example, vehicle receiving antenna 22 in the embodiment) disposed under the vehicle floor (For example, the electric vehicle 10 in the embodiment), and a camera device (for example, the rear camera 34 in the embodiment) that captures a real image of the traveling direction of the electric vehicle including the road surface; A monitor unit (for example, the display device 38 in the embodiment) provided to project at least a real image captured by the camera device and a pseudo image of the road surface direction under the vehicle floor including the position of the power reception unit; When the power feeding unit (for example, the transmission antenna 18 in the embodiment) arranged on the road surface on the actual image projected on the monitor unit reaches the vehicle body end in the traveling direction, the power feeding unit A pseudo-video generation unit (for example, a pseudo-video generation unit 42 in the embodiment) that synthesizes the position of the power supply unit on the pseudo video according to the traveling direction. Means (for example, the follower 44 in the embodiment), and the follower is located on a plane under the vehicle floor at a position where a center position of the power feeding part overlaps the end of the vehicle body on the real image. The distance between the position of the power feeding unit and the position of the power receiving unit in the direction perpendicular to the traveling direction and the distance between the position of the power feeding unit and the position of the power receiving unit in the traveling direction are calculated. And the calculation result and the advance Deriving a position of the feeding portion by a parameter indicating a movement amount and the movement amount of the vertical direction.

  Furthermore, in the electric vehicle according to the second aspect of the present invention, the follow-up means is a power supply position determining means for determining the position of the power supply unit on the actual video (for example, the follow-up unit 44 in the embodiment also serves). The power supply position determining means is operated by manual setting of the driver when the driver of the electric vehicle confirms the power supply unit on the real image.

  Furthermore, in the electric vehicle according to the third aspect of the present invention, the power supply position determining means is configured such that the power supply unit disposed on the road surface on the real image projected on the monitor unit is the vehicle body in the traveling direction. It becomes operable when it reaches the end.

  Furthermore, in the electric vehicle according to the fourth aspect of the present invention, the follow-up means is a power supply position determining means for determining the position of the power supply section on the actual video (for example, the tracking section 44 in the embodiment also serves). The power supply position determining means operates by automatic setting when it is determined that the power supply unit is present on the actual video.

  Further, in the electric vehicle according to the fifth aspect of the present invention, the parameter is a detection result of a vehicle speed and an acceleration sensor (for example, the vehicle state sensor 35 and the acceleration sensor in the embodiment).

  Furthermore, in the electric vehicle according to the sixth aspect of the present invention, the parameter is a detection result of a vehicle speed and a steering angle sensor (for example, the vehicle state sensor 35 and the steering angle sensor in the embodiment).

  Furthermore, in the electric vehicle according to the seventh aspect of the present invention, the parameter is position information based on a positioning signal.

  Furthermore, in the electric vehicle according to the eighth aspect of the present invention, the monitor unit simultaneously displays the real image and the pseudo image in different display areas.

According to the electric vehicle of the first aspect of the present invention, when the position of the power supply unit outside the vehicle is displayed on the monitor inside the vehicle by the actual image of the camera device, and the position of the power supply unit moves outside the shootable range. The position of the power feeding unit is made to follow on the monitor by the pseudo image.
Accordingly, it is possible to assist the positioning of the power receiving unit under the vehicle floor and the power feeding unit on the road surface easily and accurately, thereby reducing the driving burden on the driver.

  In addition, even when the positional relationship between the power receiving unit and the power feeding unit changes due to, for example, a layout change of an electric vehicle or a power transmission device, the power is fed on the pseudo image every time the position of the power feeding unit disappears on the actual video. Because the position of the part is made to follow the direction of travel, it is possible to respond appropriately without the need to change the operation content, reducing the cost required to change the operation content, and causing restrictions due to various layout changes This can be prevented.

  Furthermore, the estimated position of the power feeding unit is determined by the distance between the center position of the power feeding unit and the position of the power receiving unit in the direction perpendicular to the traveling direction, and the parameters indicating the amount of movement in the traveling direction and the amount of movement in the vertical direction. Can be derived with high accuracy.

  According to the electric vehicle according to the second aspect of the present invention, the driver's intention can be accurately reflected in the determination of the position of the power feeding unit on the actual video.

  According to the electric vehicle according to the third aspect of the present invention, it is possible to reduce the calculation load by omitting the execution of the process of causing the position of the power feeding unit to follow the traveling direction on the real image. The tracking accuracy of the position of the power feeding unit on the pseudo image can be improved by preventing the tracking from starting at an excessively early timing.

  With the electric vehicle according to the fourth aspect of the present invention, the position of the power feeding unit on the actual video can be easily determined.

  With the electric vehicle according to the eighth aspect of the present invention, convenience can be improved and the driving burden on the driver can be reduced.

1 is a configuration diagram of an electric vehicle and a power transmission device according to an embodiment of the present invention. It is a block diagram of the vehicle control apparatus of the electric vehicle which concerns on embodiment of this invention. It is a figure which shows the example of the display on the display screen of the display apparatus of the electric vehicle which concerns on embodiment of this invention. It is a figure which shows an example of the back-and-forth movement distance dY and the left-right movement distance dX calculated by the tracking part of the electric vehicle according to the embodiment of the present invention. It is a flowchart which shows operation | movement of the electric vehicle which concerns on embodiment of this invention. It is a figure which shows the example of a display on the display screen of the display apparatus of the electric vehicle which concerns on the 1st modification of embodiment of this invention. It is a figure which shows the example of a display on the display screen of the display apparatus of the electric vehicle which concerns on the 2nd modification of embodiment of this invention. It is a flowchart which shows operation | movement of the electric vehicle which concerns on the 2nd modification of embodiment of this invention. It is a figure which shows the example of a display on the display screen of the display apparatus of the electric vehicle which concerns on the 3rd modification of embodiment of this invention.

Hereinafter, an electric vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
For example, as shown in FIG. 1, the electric vehicle 10 according to the present embodiment receives electric power output from a power transmission device 12 connected to an AC power supply 11 outside the vehicle in a contactless manner, and the electric vehicle 10 uses this electric power. The mounted battery 21 can be charged.

  The power transmission device 12 outside the vehicle includes, for example, a rectifier circuit 15, a DC / DC converter 16, an oscillation circuit 17, and a transmission antenna 18.

The rectifier circuit 15 converts AC power output from the AC power supply 11 into DC power as charging power for charging the battery 21 of the electric vehicle 10.
The DC / DC converter 16 converts direct current power output from the rectifier circuit 15 into direct current.
The oscillation circuit 17 converts the DC power output from the DC / DC converter 16 into AC power having a frequency corresponding to a predetermined non-contact power transmission method.
Note that the DC / DC converter 16 may be omitted.

  The transmission antenna 18 is installed, for example, by being buried in the ground (road surface) of a predetermined parking area, and is output from the oscillation circuit 17 by a predetermined non-contact power transmission method such as an electromagnetic induction type, a resonance type, or a radio wave reception type. AC power is transmitted to the vehicle receiving antenna 22 of the electric vehicle 10.

For example, in the electromagnetic induction type, electric power is transmitted by electromagnetic induction using a magnetic flux linked in common between a power transmission coil (not shown) of the transmission antenna 18 and a reception coil (not shown) of the vehicle reception antenna 22. To do.
That is, when a primary current is applied to a power transmission coil (not shown) of the transmission antenna 18, a secondary current is applied to the reception coil (not shown) of the vehicle reception antenna 22 provided close to the transmission antenna 18 by electromagnetic induction. Current flows.

  Further, for example, in the resonance type, electric power is transmitted by resonance of a magnetic field and an electric field between a resonator (not shown) of the transmitting antenna 18 and a resonator (not shown) of the vehicle receiving antenna 22.

  That is, a primary coil (not shown) of a resonator (not shown) is disposed in close proximity to the transmitting antenna 18 of the power transmission device 12, and a resonator (not shown) of 2 is provided to the vehicle receiving antenna 22 of the electric vehicle 10. A next coil (not shown) is arranged in close proximity.

When a primary current is passed through the primary coil, an induced current flows to the resonator of the transmitting antenna 18 by electromagnetic induction. Further, the transmitting antenna 18 is in accordance with the inductance and stray capacitance of the resonator of the transmitting antenna 18. Resonate at the resonance frequency.
Along with this, the resonator of the vehicle receiving antenna 22 provided close to the transmitting antenna 18 resonates at the resonance frequency, a secondary current flows through the resonator of the vehicle receiving antenna 22, and the vehicle receiving antenna is further electromagnetically induced. A secondary current flows through the secondary coil adjacent to 22.

  Further, for example, in the radio wave receiving type, a microwave radio wave converted from an electric current is transmitted by the transmitting antenna 18, and the microwave radio wave is received by the vehicle receiving antenna 22 and converted into an electric current to transmit electric power. To do.

  The electric vehicle 10 includes, for example, a power receiving device 31 including a battery 21, a vehicle receiving antenna 22, a vehicle rectifier circuit 23, and a vehicle DC / DC converter 24, a motor control device 32, a motor 33, a rear camera 34, a vehicle A state sensor 35, a positioning signal receiving unit 36, a vehicle control device 37, and a display device 38 are provided.

  The vehicle receiving antenna 22 of the power receiving apparatus 31 is disposed, for example, under the floor below the floor panel of the electric vehicle 10, and the power transmitting apparatus 12 is configured by a predetermined non-contact power transmission method such as an electromagnetic induction type, a resonance type, or a radio wave reception type. The power transmitted from the transmitting antenna 18 is received.

The vehicle rectifier circuit 23 converts AC power output from the vehicle receiving antenna 22 into DC power corresponding to the allowable voltage of the battery 21.
The vehicle DC / DC converter 24 converts direct current power output from the vehicle rectifier circuit 23 into direct current.
The vehicle DC / DC converter 24 may be omitted.

  The motor control device 32 includes, for example, an inverter composed of a transistor switching element, and is connected to the high-voltage battery 21 that exchanges electric energy with the motor 33.

  The motor 33 is, for example, a three-phase DC brushless motor, and the driving and regenerative operation of the motor 33 is controlled in accordance with a control command output from the motor control device 32.

  The rear camera 34 images a predetermined external area including the road surface behind the electric vehicle 10 and outputs video data obtained by the imaging.

  The vehicle state sensor 35 includes, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the electric vehicle 10, an acceleration sensor that detects acceleration acting on the vehicle body, a gyro sensor that detects the posture and traveling direction of the vehicle body, and a yaw rate ( The yaw rate sensor that detects the rotational angular velocity of the vehicle center of gravity about the vertical axis) and the steering angle (steering angle) of the steering wheel operated by the driver or the actual steering angle (steering angle) according to the steering angle of the steering wheel And outputs signals of detection results of various vehicle states (that is, vehicle speed, acceleration, attitude, yaw rate, steering angle, steering angle, etc.) to the vehicle control device 37. .

  The positioning signal receiving unit 36 receives a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the electric vehicle 10 using an artificial satellite, for example, and outputs a reception result signal to the vehicle control device 37. To do.

  The vehicle control device 37 includes, for example, a real video generation unit 41, a pseudo video generation unit 42, a display control unit 43, and a tracking unit 44.

  Based on the video data output from the rear camera 34, the real video generation unit 41 generates a real video that is an actual video of a predetermined external area including the road surface behind the electric vehicle 10 captured by the rear camera 34. The actual video is output to the display control unit 43.

  The pseudo image generation unit 42 is, for example, outside the shootable area of the rear camera 34 and the road surface that is not shootable by being shielded by the body of the electric vehicle 10 even within the shootable area of the rear camera 34. A pseudo image showing the road surface area below the vehicle body of the automobile 10 (that is, the road surface direction under the vehicle floor) together with the vehicle body of the electric vehicle 10 is generated, and the pseudo image is output to the display control unit 43.

  Furthermore, the pseudo image generation unit 42 simulates the power supply position information (a signal of an estimation result described later) output from the follower unit 44 described later and the information on the power reception position of the electric vehicle 10 stored in advance. An image showing the power feeding position and an image showing the power receiving position can be superimposed on the video.

  In addition, when the estimation result signal output from the follow-up unit 44, which will be described later, includes information on the direction and distance from the power feeding position to the power receiving position, the pseudo image generation unit 42 converts these information into text. It can be superimposed on a pseudo image by an image or the like.

  The power feeding position is, for example, the position of the transmitting antenna 18 embedded in the ground (road surface), that is, the position of the region where power can be transmitted to the vehicle receiving antenna 22 of the electric vehicle 10 with a predetermined efficiency or more. Is visible, for example, by an appropriate display provided on the ground (road surface) in which the transmission antenna 18 is embedded, and can be photographed by the rear camera 34.

  The power receiving position can receive, for example, the position of the vehicle receiving antenna 22 disposed below the floor panel of the floor panel of the electric vehicle 10, that is, the power transmitted from the transmitting antenna 18 of the power transmitting device 12 with a predetermined efficiency or more. The position of the region is stored in advance in the pseudo-video generation unit 42 so that it can be displayed together with the body of the electric vehicle 10 on the pseudo-video.

  The display control unit 43 is one of a real video output from the real video generation unit 41 and a pseudo video output from the pseudo video generation unit 42 based on information on a power feeding position output from the follow-up unit 44 described later. One is selected and displayed on the display screen of the display device 38 arranged in the vehicle.

  For example, in the display control unit 43, the power feeding position on the road surface on the actual image displayed on the display screen of the display device 38 is the traveling direction of the electric vehicle 10 (that is, the front and rear of the electric vehicle 10 when the electric vehicle 10 moves backward). When the information indicating that the power feeding position has been determined on the actual image is output from the follow-up unit 44 by reaching the vehicle body end in the rear direction and the driver's predetermined manual setting, Switch the display on the display screen from real video to pseudo video.

  The driver's predetermined manual setting is, for example, a setting operation according to a manual direct input operation on the display screen when the display screen of the display device 38 is a touch panel capable of detecting direct contact on the display screen. For example, a setting operation according to a manual input operation with respect to an input device (not shown) that indirectly operates an instruction image that can move within the display screen.

The follower 44 is connected to a display device 38 having a display screen that is a touch panel, for example, or an input device (not shown) that indirectly operates an instruction image that can move within the display screen of the display device 38, for example. A predetermined manual setting of the driver is detected.
When it is detected that the power supply position has been determined by the driver on the actual image displayed on the display screen of the display device 38 by the driver's predetermined manual setting, a signal of this information is displayed on the display control unit. Output to 43.

  Further, the follower 44 uses, for example, the power supply position determined on the actual image displayed on the display screen of the display device 38 by the driver's predetermined manual setting as the initial position, and the vehicle position sensor. The power feeding position is sequentially estimated based on various detection result signals sequentially output from 35 and reception result signals sequentially output from the positioning signal receiver 36.

Furthermore, the follower 44 calculates the direction and distance from the power feeding position to the power receiving position based on the estimation result of the power feeding position.
And the signal of the estimation result of a feeding position and the estimation result of the direction and distance from a feeding position to a receiving position is output.

  For example, the follower 44 overlaps the end position of the electric vehicle 10 in the traveling direction of the electric vehicle 10 on the real image, and the power supply position is determined when the power position is determined on the actual image by a predetermined manual setting by the driver. The initial position is a vertical direction (that is, the left and right of the electric vehicle 10 when the electric vehicle 10 is moving backward) with respect to the traveling direction (that is, the back and forth direction of the electric vehicle 10 when the electric vehicle 10 is moving backward) on the plane below the vehicle floor. The distance (initial value of the left and right distance) A between the power receiving position in the direction) is calculated.

  The follower 44 then calculates the calculation result of the left-right distance initial value A, the amount of movement in the traveling direction (that is, the rearward direction of the electric vehicle 10 when the electric vehicle 10 is moving backward) and the subsequent timing. The power feeding position is estimated based on a parameter indicating the amount of movement in the vertical direction (that is, the left-right direction of the electric vehicle 10 when the electric vehicle 10 moves backward), and the estimation result is derived.

  The parameter indicating the movement amount in the traveling direction and the movement amount in the vertical direction may be, for example, a detection result sequentially output from the vehicle speed sensor and the gyro sensor (or acceleration sensor) of the vehicle state sensor 35. The detection result may be sequentially output from the vehicle speed sensor and the steering angle sensor of the state sensor 35, or may be the reception result sequentially output from the positioning signal receiving unit 36, for example.

  The electric vehicle 10 according to the present embodiment has the above-described configuration. Next, the operation of the electric vehicle 10 will be described.

  First, in a state where the electric vehicle (vehicle) 10 moves backward, the display control unit 43 performs an initial setting as a rear camera on the display screen D of the display device 38 as shown in FIGS. 3A to 3B, for example. The actual video R based on the video data output from 34 is displayed.

  Accordingly, for example, the power feeding position is set to the rear camera 34 in a state in which the electric vehicle 10 moves backward toward the power feeding position S including an appropriate visible display provided on the ground (road surface) where the transmission antenna 18 is embedded. When the electric vehicle 10 is present, the power feeding position S relatively moves on the real image R as the electric vehicle 10 moves.

For example, as shown in FIG. 3C, the power feeding position S on the road surface on the real image R displayed on the display screen D of the display device 38 is the vehicle body end in the traveling direction of the electric vehicle 10 (that is, the rear End) 10a, and the power supply position S is determined on the real image R by a predetermined manual setting by the driver (for example, direct contact with an appropriate position on the real image R by a driver's finger). Then, the display control unit 43 superimposes and displays the power feeding position image SP indicating the center position of the power feeding position S on the real video R.
Then, the follower 44 sets the center position of the power supply position S by this determination as the initial position of the power supply position S in the estimation process executed thereafter.

Then, the display control unit 43 switches the display on the display screen D of the display device 38 from the real video R to the pseudo video P, for example, as shown in FIG.
At this time of switching, the pseudo video generation unit 42 generates the pseudo video P in advance, for example, in a road area where direct imaging by the rear camera 34 is impossible, and a vehicle video VE showing the body of the electric vehicle 10 and pseudo video generation in advance. The power reception position image UP indicating the power reception position of the electric vehicle 10 stored in the unit 42 and the power supply position image SP indicating the center position of the power supply position S determined on the actual video R by the driver are superimposed and generated. To do.

  The road surface area in which direct imaging by the rear camera 34 is not possible is, for example, a road surface and a rear camera that cannot be photographed by being shielded by the body of the electric vehicle 10 even within the imaging possible area of the rear camera 34. 34 is an area of the road surface that is outside the image-capable area 34 and below the vehicle body of the electric vehicle 10 (that is, an area in the road surface direction under the vehicle floor).

  Further, at the time of this switching, the follower 44 is a plane below the vehicle floor based on the initial position of the power feeding position S determined on the actual video R by the driver and the power receiving position of the electric vehicle 10 stored in advance. Above, the distance (initial value of the left and right distance) A between the initial position of the power feeding position S and the center position of the power receiving position in the direction perpendicular to the traveling direction is calculated.

Further, the follow-up unit 44 sets, for example, a distance in the traveling direction from the rear end of the electric vehicle 10 stored in advance to the center position of the power receiving position as the front-rear distance initial value B.
Then, the pseudo video generation unit 42 indicates information on the direction and distance from the power feeding position to the power receiving position by a character image or the like based on the initial value A of the left and right distance and the initial value B of the longitudinal distance calculated and set by the follower 44. The information image IP is superimposed on the pseudo image P.

  Then, for example, as shown in FIG. 3E, the electric vehicle 10 is configured such that the power feeding position image SP moves relative to the power receiving position image UP on the pseudo image P displayed on the display screen D of the display device 38. In the state in which the vehicle travels backward, the follower 44 is a parameter indicating the left-right distance initial value A and the front-rear distance initial value B corresponding to the initial position of the power feeding position S, and the movement amount in the traveling direction and the movement amount in the vertical direction obtained sequentially. To estimate the center position of the power feeding position S and derive the estimation result.

  The follower 44 is configured such that the distance (left-right distance) X between the center position of the power feeding position S and the center position of the power receiving position in the direction perpendicular to the traveling direction on the plane below the vehicle floor, and the plane below the vehicle floor. Above, the distance (front-rear distance) Y between the center position of the power feeding position S and the center position of the power receiving position in the traveling direction is calculated.

  For example, as shown in FIG. 4, the follower 44 defines an angle θ formed by the movement vector of the center position of the power feeding position S and the traveling direction (that is, the back and forth direction of the electric vehicle 10 when the electric vehicle 10 moves backward). Calculation is performed based on signals of detection results sequentially output from the gyro sensor (or acceleration sensor) or the steering angle sensor of the vehicle state sensor 35.

  The follower 44 then determines the amount of movement (front-rear movement distance) dY (= V × T) in the traveling direction (that is, the rearward direction of the electric vehicle 10 when the electric vehicle 10 is moving backward) as the vehicle speed of the vehicle state sensor 35. The detection result (vehicle speed V) signal sequentially output from the sensor and the movement time T are calculated.

Then, the follower 44 determines the amount of movement (left-right movement distance) dX (= dY × tan θ) in the vertical direction (that is, the left-right direction of the electric vehicle 10 when the electric vehicle 10 is moving backward) as the front-rear movement distance dY and the angle Calculated by θ.
Then, the follower 44 calculates the current values of the front-rear distance Y and the left-right distance X based on the front-rear movement distance dY and the left-right movement distance dX and the previous values of the front-rear distance Y and the left-right distance X.

  The follower 44 may calculate the current values of the front-rear distance Y and the left-right distance X using the previous value and the current value of the reception results sequentially output from the positioning signal receiver 36.

Then, as illustrated in FIG. 3E, for example, the pseudo video generation unit 42 superimposes the feeding position image SP on the pseudo video P according to the center position of the feeding position S sequentially estimated by the follower 44. Are sequentially changed in accordance with the traveling direction, and the contents of the information image IP are sequentially updated according to the left-right distance X and the front-rear distance Y sequentially calculated by the follower 44.
Accordingly, the display control unit 43 displays the pseudo video P sequentially generated by the pseudo video generation unit 42 on the display screen D of the display device 38.

  Hereinafter, an operation of the electric vehicle 10 when the power receiving position of the electric vehicle 10 is moved to the power feeding position of the power transmission device 12 in a state where the electric vehicle (vehicle) 10 moves backward will be described.

  First, for example, in step S01 shown in FIG. 5, the actual video R based on the video data output from the rear camera 34 is displayed on the display screen D of the display device 38.

Next, in step S02, the power feeding position S on the road surface on the real image R reaches the vehicle body end (that is, the rear end) 10a in the traveling direction of the electric vehicle 10, and the driver's predetermined manual setting ( For example, it is determined whether or not the power feeding position S is determined on the real image R by direct contact with a driver's finger at an appropriate position on the real image R).
If the determination result is “NO”, the determination in step S02 is repeated.
On the other hand, if the determination is “YES”, the flow proceeds to step S03.

Next, in step S03, it is determined whether or not the first process is being executed.
If this determination is “NO”, the flow proceeds to step S 06 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 04.

Next, in step S04, a power feeding position image SP indicating the center position of the power feeding position S determined by the driver's predetermined manual setting is superimposed on the real image R, and the left and right distance initial value A and the front and rear distance initial value are displayed. The value B is calculated.
The left-right distance initial value A is set as the left-right distance X, and the front-rear distance initial value B is set as the front-rear distance Y.

  Next, in step S05, the display on the display screen D of the display device 38 is switched from the real video R to the pseudo video P. In the pseudo video P, the vehicle image VE, the power receiving position image UP, and the power feeding position image SP are displayed. The information image IP is superimposed and displayed, and the process proceeds to step S08 described later.

  Further, in step S06, the angle θ formed by the movement vector of the center position of the power feeding position S and the traveling direction (that is, the back and forth direction of the electric vehicle 10 when the electric vehicle 10 moves backward) is used as the gyro of the vehicle state sensor 35. Calculation is performed based on a detection result signal sequentially output from the sensor (or acceleration sensor) or the steering angle sensor.

Then, the movement amount (front-rear movement distance) dY (= V × T) in the traveling direction (that is, the front-rear direction rearward of the electric vehicle 10 when the electric vehicle 10 moves backward) is sequentially output from the vehicle speed sensor of the vehicle state sensor 35. And a detection time (vehicle speed V) signal and a travel time T.
Further, the amount of movement (left-right movement distance) dX (= dY × tan θ) in the vertical direction (that is, the left-right direction of the electric vehicle 10 when the electric vehicle 10 moves backward) is calculated by the front-rear movement distance dY and the angle θ. .

Next, in step S07, based on the front-rear movement distance dY and the left-right movement distance dX and the left-right distance X and the front-rear distance Y set at this time, the power receiving position is changed from the center position of the power feeding position S at this time. The left-right distance X (= X−dX) and the front-rear distance Y (= Y−dY) to the center position of the image are calculated.
Then, the information image IP indicating the direction and distance information from the power feeding position to the power receiving position by a character image or the like is superimposed on the pseudo image P.

In step S08, it is determined whether the power feeding position has reached the power receiving position.
In this determination, the case where the power feeding position reaches the power receiving position is not limited to the case where the center position of the power feeding position coincides with the center position of the power receiving position as viewed from the vertical direction. Including a case where the power feeding position and the power receiving position having an overlap are seen from the vertical direction, for example, a case where the center position of the power feeding position reaches a power receiving position having a predetermined size as seen from the vertical direction, etc. Good.

If the determination result of step S08 is “NO”, the process returns to step S03 described above.
On the other hand, if the determination result of step S08 is “YES”, the process proceeds to step S09.
In step S09, the driver is notified that the alignment has been completed, and the process proceeds to the end.

As described above, according to the electric vehicle 10 of the present embodiment, the power feeding position outside the vehicle is displayed on the display screen of the display device 38 in the vehicle by the actual video based on the video data output from the rear camera 34. When the power feeding position moves outside the shootable range of the rear camera 34 or an area shielded by the vehicle body (for example, below the vehicle floor), the power feeding position is made to follow on the display screen by a pseudo image.
Accordingly, it is possible to assist the positioning of the power receiving position under the vehicle floor and the power feeding position on the road surface easily and accurately, thereby reducing the driving burden on the driver.

  In addition, even when the positional relationship between the power receiving position and the power feeding position changes due to, for example, a layout change, each time the power feeding position disappears on the real image, the power feeding position on the pseudo image corresponds to the traveling direction. Since it is made to follow, it can respond appropriately, without the necessity of a change of operation content, the expense required for the change of operation content can be reduced, and it can prevent that the restrictions accompanying various layout changes arise.

  Furthermore, since the driver of the electric vehicle 10 confirms the power supply position on the actual image by the driver's predetermined manual setting when the driver confirms the power supply position on the actual image, the driver's intention to determine the power supply position is determined. Can be accurately reflected.

  Further, the center position of the feeding position S is determined based on the initial value A of the left / right distance and the initial value B of the front / rear distance according to the initial position of the feeding position S, and the parameters indicating the movement amount in the traveling direction and the movement amount in the vertical direction obtained sequentially. Can be derived with high accuracy.

In the above-described embodiment, the display control unit 43 switches the display on the display screen D of the display device 38 from the real video R to the pseudo video P. However, the present invention is not limited to this. For example, FIG. Like the display screen D according to the first modification shown in (A) to (D), the display area of the display screen D of the display device 38 is divided into two display areas E1, E2, etc. in the vertical direction, for example. The real video R and the pseudo video P may be simultaneously displayed in the display areas E1 and E2.
Further, the real video R and the pseudo video P may be displayed side by side in the two display areas E1 and E2 arranged in the left-right direction.

  According to the first modified example, the movement of the power feeding position S on the real image R and the tracking of the power feeding position image SP corresponding to the traveling direction on the pseudo image P are performed according to the movement of the electric vehicle 10. Thus, it can be displayed continuously on the display screen D, the convenience can be improved, and the driving burden on the driver can be reduced.

  In the above-described embodiment, the follower 44 has reached the end of the vehicle in the traveling direction of the electric vehicle 10 at the power feeding position arranged on the road surface on the real image displayed on the display screen of the display device 38. After the time point, confirmation of the power feeding position by the driver's predetermined manual setting may be permitted, and before this time point, confirmation of the power feeding position by the driver's predetermined manual setting may be prohibited.

In this case, the calculation load can be reduced by omitting the execution of the process of causing the power feeding position image SP to follow the traveling direction on the actual video.
In addition, the tracking accuracy of the feeding position image SP corresponding to the traveling direction on the pseudo image can be improved by preventing the tracking from starting at an excessively early timing.

In the above-described embodiment, the follow-up unit 44 sets the power supply position arranged on the road surface on the actual image displayed on the display screen of the display device 38, for example, a predetermined manual setting or automatic setting by the driver. It may be determined by automatic setting when it is determined that the power feeding position is present on the actual video in accordance with recognition processing on the actual video.
After that, the real video generation unit 41 may superimpose the power feeding position image SP on the real video in accordance with the power feeding position.

  According to the second modification, first, the display control unit 43 displays the display device as an initial setting in a state where the electric vehicle (vehicle) 10 moves backward, as shown in FIGS. 7A to 7B, for example. An actual image R based on the image data output from the rear camera 34 is displayed on the display screen D of 38.

Then, the follow-up unit 44 recognizes the power feeding position arranged on the road surface on the actual image displayed on the display screen of the display device 38, for example, a predetermined manual setting of the driver or automatic recognition processing on the actual image. In accordance with the above, it is determined by automatic setting when it is determined that the power feeding position exists on the actual video.
Accordingly, the display control unit 43 superimposes and displays the power supply position image SP indicating the center position of the power supply position S on the actual video R, as shown in FIG.

  Thus, for example, as shown in FIGS. 7B and 7C, the power supply position S is composed of an appropriate visible display provided on the ground (road surface) on which the transmission antenna 18 is embedded, for example. When the electric vehicle 10 is moving backward and the power supply position is within the imaging range of the rear camera 34, the power supply position image SP corresponds to the movement of the power supply position S on the real image R as the electric vehicle 10 moves. And move relative to follow.

  Then, for example, as shown in FIG. 7C, the feeding position image SP is on the vehicle body end portion (that is, the rear end) in the traveling direction of the electric vehicle 10 on the real image R displayed on the display screen D of the display device 38. When 10a is reached, the follower 44 sets the center position of the power feeding position S at this time as the initial position of the power feeding position S in the estimation process executed thereafter.

Then, the display control unit 43 switches the display on the display screen D of the display device 38 from the real video R to the pseudo video P, for example, as shown in FIG.
At this time of switching, the pseudo video generation unit 42 generates the pseudo video P in advance, for example, in a road area where direct imaging by the rear camera 34 is impossible, and a vehicle video VE showing the body of the electric vehicle 10 and pseudo video generation in advance. The power reception position image UP indicating the power reception position of the electric vehicle 10 stored in the unit 42 and the power supply position image SP indicating the center position of the power supply position S determined on the actual video R by the driver are superimposed and generated. To do.

  The road surface area in which direct imaging by the rear camera 34 is not possible is, for example, a road surface and a rear camera that cannot be photographed by being shielded by the body of the electric vehicle 10 even within the imaging possible area of the rear camera 34. 34 is an area of the road surface that is outside the image-capable area 34 and below the vehicle body of the electric vehicle 10 (that is, an area in the road surface direction under the vehicle floor).

  Further, at the time of this switching, the follower 44 is on the plane under the vehicle floor based on the initial position of the power feeding position S automatically set on the real image R and the power receiving position of the electric vehicle 10 stored in advance. Then, a distance (initial value of the left and right distance) A between the initial position of the power feeding position S and the center position of the power receiving position in the direction perpendicular to the traveling direction is calculated.

Further, the follow-up unit 44 sets, for example, a distance in the traveling direction from the rear end of the electric vehicle 10 stored in advance to the center position of the power receiving position as the front-rear distance initial value B.
Then, the pseudo video generation unit 42 indicates information on the direction and distance from the power feeding position to the power receiving position by a character image or the like based on the initial value A of the left and right distance and the initial value B of the longitudinal distance calculated and set by the follower 44. The information image IP is superimposed on the pseudo image P.

  For example, as shown in FIG. 7E, the electric vehicle 10 is configured such that the power feeding position image SP relatively moves toward the power receiving position image UP on the pseudo image P displayed on the display screen D of the display device 38. In the state in which the vehicle travels backward, the follower 44 is a parameter indicating the left-right distance initial value A and the front-rear distance initial value B corresponding to the initial position of the power feeding position S, and the movement amount in the traveling direction and the movement amount in the vertical direction obtained sequentially. To estimate the center position of the power feeding position S and derive the estimation result.

  The follower 44 is configured such that the distance (left-right distance) X between the center position of the power feeding position S and the center position of the power receiving position in the direction perpendicular to the traveling direction on the plane below the vehicle floor, and the plane below the vehicle floor. Above, the distance (front-rear distance) Y between the center position of the power feeding position S and the center position of the power receiving position in the traveling direction is calculated.

  The follower 44 then sets the angle θ formed by the movement vector of the center position of the power feeding position S and the traveling direction (that is, the back and forth direction of the electric vehicle 10 when the electric vehicle 10 moves backward) to the gyro of the vehicle state sensor 35. Calculation is performed based on a detection result signal sequentially output from the sensor (or acceleration sensor) or the steering angle sensor.

  The follower 44 then determines the amount of movement (front-rear movement distance) dY (= V × T) in the traveling direction (that is, the rearward direction of the electric vehicle 10 when the electric vehicle 10 is moving backward) as the vehicle speed of the vehicle state sensor 35. The detection result (vehicle speed V) signal sequentially output from the sensor and the movement time T are calculated.

Then, the follower 44 determines the amount of movement (left-right movement distance) dX (= dY × tan θ) in the vertical direction (that is, the left-right direction of the electric vehicle 10 when the electric vehicle 10 is moving backward) as the front-rear movement distance dY and the angle Calculated by θ.
Then, the follower 44 calculates the current values of the front-rear distance Y and the left-right distance X based on the front-rear movement distance dY and the left-right movement distance dX and the previous values of the front-rear distance Y and the left-right distance X.

  The follower 44 may calculate the current values of the front-rear distance Y and the left-right distance X using the previous value and the current value of the reception results sequentially output from the positioning signal receiver 36.

Then, the pseudo image generation unit 42 advances the power supply position image SP by sequentially changing the superimposed position of the power supply position image SP on the pseudo image P according to the center position of the power supply position S sequentially estimated by the follower 44. The information image IP is sequentially updated in accordance with the left-right distance X and the front-rear distance Y, which are sequentially calculated by the follow-up unit 44, in accordance with the direction.
Accordingly, the display control unit 43 displays the pseudo video P sequentially generated by the pseudo video generation unit 42 on the display screen D of the display device 38.

  Hereinafter, in the second modification, an operation of the electric vehicle 10 when the power receiving position of the electric vehicle 10 is moved to the power feeding position of the power transmission device 12 in a state where the electric vehicle (vehicle) 10 moves backward will be described.

  First, for example, in step S21 shown in FIG. 8, the actual video R based on the video data output from the rear camera 34 is displayed on the display screen D of the display device 38.

Next, in step S22, the actual image is obtained by automatic setting when it is determined that the power feeding position is present on the actual image in accordance with, for example, predetermined manual setting by the driver or automatic recognition processing on the actual image. It is determined whether or not the power supply position arranged on the road surface has been determined.
If the determination result is “NO”, the determination in step S22 is repeated.
On the other hand, if the determination result is “YES”, the power feeding position image SP is superimposed on the actual video R, and the process proceeds to step S23.

Next, in step S23, whether or not the power feeding position S disappears on the real video R, for example, the power feeding position image SP on the real video R is the vehicle body end (that is, the rear end) in the traveling direction of the electric vehicle 10. It is determined whether or not 10a has been reached.
If the determination result is “NO”, the determination in step S23 is repeated.
On the other hand, if this determination is “YES”, the flow proceeds to step S24.

Next, in step S24, it is determined whether or not the first process is being executed.
If this determination is “NO”, the flow proceeds to step S 27 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S25.

Next, in step S25, the left-right distance initial value A and the front-rear distance initial value B are calculated.
The left-right distance initial value A is set as the left-right distance X, and the front-rear distance initial value B is set as the front-rear distance Y.

  Next, in step S26, the display on the display screen D of the display device 38 is switched from the real video R to the pseudo video P. In the pseudo video P, the vehicle image VE, the power receiving position image UP, and the power feeding position image SP are displayed. The information image IP is superimposed and displayed, and the process proceeds to step S29 described later.

  Further, in step S27, the angle θ formed by the movement vector of the center position of the power feeding position S and the traveling direction (that is, the back and forth direction of the electric vehicle 10 when the electric vehicle 10 moves backward) is used as the gyro of the vehicle state sensor 35. Calculation is performed based on a detection result signal sequentially output from the sensor (or acceleration sensor) or the steering angle sensor.

Then, the movement amount (front-rear movement distance) dY (= V × T) in the traveling direction (that is, the front-rear direction rearward of the electric vehicle 10 when the electric vehicle 10 moves backward) is sequentially output from the vehicle speed sensor of the vehicle state sensor 35. And a detection time (vehicle speed V) signal and a travel time T.
Further, the amount of movement (left-right movement distance) dX (= dY × tan θ) in the vertical direction (that is, the left-right direction of the electric vehicle 10 when the electric vehicle 10 moves backward) is calculated by the front-rear movement distance dY and the angle θ. .

Next, in step S28, based on the front-rear moving distance dY and the left-right moving distance dX and the left-right distance X and the front-rear distance Y set at this time, the power receiving position is changed from the center position of the power feeding position S at this time. The left-right distance X (= X−dX) and the front-rear distance Y (= Y−dY) to the center position of the image are calculated.
Then, the information image IP indicating the direction and distance information from the power feeding position to the power receiving position by a character image or the like is superimposed on the pseudo image P.

In step S29, it is determined whether or not the power feeding position has reached the power receiving position.
In this determination, the case where the power feeding position reaches the power receiving position is not limited to the case where the center position of the power feeding position coincides with the center position of the power receiving position as viewed from the vertical direction. Including a case where the power feeding position and the power receiving position having an overlap are seen from the vertical direction, for example, a case where the center position of the power feeding position reaches a power receiving position having a predetermined size as seen from the vertical direction, etc. Good.

If the determination result of step S29 is “NO”, the process returns to step S24 described above.
On the other hand, if the determination result of step S29 is “YES”, the process proceeds to step S30.
In step S30, the driver is notified that the alignment has been completed, and the process proceeds to the end.

  In the second modification described above, the display control unit 43 switches the display on the display screen D of the display device 38 from the real video R to the pseudo video P. However, the display control unit 43 is not limited to this. Like the display screen D according to the third modification shown in FIGS. 9A to 9D, the display area of the display screen D of the display device 38 is divided into, for example, two display areas E1, E2 in the vertical direction. Then, each real video R and pseudo video P may be simultaneously displayed in each display area E1, E2.

  In the above-described embodiment and the first to third modifications, the electric vehicle 10 includes a front camera, and the front camera may be used instead of the rear camera 34 in a state of moving forward toward the power feeding position.

DESCRIPTION OF SYMBOLS 10 Electric vehicle 11 AC power supply 12 Power transmission apparatus 18 Transmitting antenna (feed part)
21 Battery (power storage device)
22 Vehicle receiving antenna (power receiving unit)
33 Motor (traveling motor)
34 Rear camera (camera device)
38 Display device (monitor unit)
42 Pseudo video generation unit (pseudo video generation means)
44 Follow-up part (follow-up means, feeding position determination means)

Claims (8)

A traveling motor;
A power storage device capable of storing the power supplied to the traveling motor;
A non-contact charging type electric vehicle comprising a power receiving unit disposed under the vehicle floor,
A camera device for shooting a real image of the traveling direction of the electric vehicle including a road surface;
A monitor unit that is provided in a vehicle interior and projects at least a real image captured by the camera device and a pseudo image of a road surface direction under the vehicle floor including the position of the power reception unit;
Pseudo video generation for synthesizing the position of the power feeding unit with the pseudo video when the power feeding unit arranged on the road surface reaches the vehicle body end in the traveling direction on the real image projected on the monitor unit Means,
Tracking means for following the position of the power feeding unit on the pseudo image according to the traveling direction;
The tracking means includes a position of the power feeding unit in a direction perpendicular to the traveling direction on a plane under the vehicle floor at a position where a center position of the power feeding unit overlaps the vehicle body end on the real image, and The distance between the position of the power receiving unit and the distance between the position of the power feeding unit and the position of the power receiving unit in the traveling direction are calculated, the calculation result, the amount of movement in the traveling direction, and the vertical direction electric vehicle, characterized in that to derive the position of the feeding portion by a parameter indicating the amount of movement. The follow-up means has power supply position determination means for determining the position of the power supply unit on the real image,
2. The electric vehicle according to claim 1, wherein the power supply position determining unit is operated by a manual setting of the driver when the driver of the electric vehicle confirms the power supply unit on the real image.   The power supply position determining means is operable when the power supply unit arranged on the road surface reaches the vehicle body end in the traveling direction on the real image projected on the monitor unit. The electric vehicle according to claim 2. The follow-up means has power supply position determination means for determining the position of the power supply unit on the real image,
2. The electric vehicle according to claim 1, wherein the power supply position determination unit operates by automatic setting when it is determined that the power supply unit is present on the actual video.   The electric vehicle according to claim 1, wherein the parameter is a detection result of a vehicle speed and an acceleration sensor.   The electric vehicle according to claim 1, wherein the parameter is a detection result of a vehicle speed and a steering angle sensor. The electric vehicle according to claim 1, wherein the parameter is position information based on a positioning signal.   The electric vehicle according to claim 1, wherein the monitor unit simultaneously displays the real image and the pseudo image in different display areas.

Images