JP5845921B2 - Mobile vehicle power supply system - Google Patents

Description

  The present invention relates to a mobile vehicle power supply system.

  Patent Document 1 below discloses a parking assist device that suppresses a relative displacement between a power transmission unit (power feeding coil) fixed to a road surface and a power reception unit (power reception coil) installed on the bottom of a vehicle. That is, this parking assist device is mounted on a vehicle, and receives power from the power transmission unit in a non-contact state, a camera that captures the surroundings of the vehicle, and an image obtained from the camera. A first vehicle guidance unit that recognizes the position and guides the vehicle toward the power transmission unit, and a second vehicle guidance unit that guides the vehicle based on the power received by the power reception unit are provided.

  Patent Document 2 below discloses a non-contact power feeding system that suppresses the generation of loss due to energy conversion in the non-contact power feeding. That is, this non-contact power feeding system has a power transmission coil laid along the vehicle running path, a power reception coil that receives power supplied from the power transmission coil, and vehicle position information and accelerator pedal operation information (accelerator information). ), A beacon that outputs signal information of a traffic signal installed in the traveling direction of the vehicle, and vehicle position information and accelerator information so that Lorentz force is generated in the traveling direction in response to power reception by the power receiving coil. And a control device that controls energization timing of the power transmission coil that transmits power to the power receiving coil based on signal information from the beacon.

JP2011-188679A JP 2010-268661 A

  By the way, the parking assistance device disclosed in Patent Document 1 described above is applied to the road surface when applied to suppressing the positional deviation between the feeding coil installed in a column and the receiving coil of the vehicle in a stop area such as an intersection. There is a high possibility that the installed power supply coil is behind a moving vehicle traveling in front and the power supply coil cannot be recognized by the camera. In particular, when the distance to the moving vehicle ahead is narrow, it is difficult to photograph the feeding coil. Moreover, since the non-contact power feeding system disclosed in Patent Document 2 has power feeding coils laid along the road surface, there is a problem that the system is increased in size and costs are increased.

  The present invention has been made in view of the above-described circumstances, and appropriately detects the position of the power feeding coil in various places where a moving vehicle can stop without causing an increase in system size and cost. It aims at suppressing the position shift of a feeding coil and the receiving coil of a vehicle.

  In order to achieve the above object, in the present invention, as a first solution means, a mobile vehicle power supply system that performs non-contact power supply to a moving vehicle, the power supply means provided at a place where the moving vehicle can stop A positioning mark provided at a certain distance from the power feeding means, a power receiving means provided on the moving vehicle for receiving power from the power feeding means, and a power feeding means provided on the moving vehicle for detecting the positioning mark. A distance specifying means for specifying the distance between the vehicle and the moving vehicle, and a driving support means for supporting the traveling of the moving vehicle to the power supplying means based on the distance between the power supplying means specified by the distance specifying means and the moving vehicle. Adopt the means to do.

  In the present invention, as the second solving means, in the first solving means, the distance specifying means takes a surrounding image of the moving vehicle with a camera, and based on the surrounding image, the distance between the power feeding means and the moving vehicle. The method of calculating is adopted.

  In the present invention, as the third solution means, in the first or second solution means, a plurality of power supply means are provided, and one positioning mark is provided at a position away from the plurality of power supply means by a certain distance. The mobile vehicle power supply system further includes power supply location notification means for notifying the moving vehicle of power supply means that the mobile vehicle is not stopped as a power supply location, and the distance specifying means is the power supply location notified from the power supply location notification means And a means for calculating the distance to the power supply location based on the detection result of the positioning mark.

  In the present invention, as the fourth solving means, in any one of the first to third solving means, the driving support means displays a driving support image indicating a distance between the power feeding means and the moving vehicle on the display unit. , Is adopted.

  According to the present invention, since the distance between the power feeding means and the moving vehicle is specified using the positioning mark, the position of the power feeding means in various places where the moving vehicle can stop without increasing the size of the system and increasing the cost. Can be detected appropriately, and positional deviation between the power feeding coil means and the power receiving means of the moving vehicle can be suppressed.

1 is a diagram illustrating an overall configuration of a mobile vehicle power feeding system A according to an embodiment of the present invention, and is a schematic diagram illustrating a positional relationship of each component on a road D. FIG. It is a model which shows the detailed structure of the principal part of the mobile vehicle electric power feeding system A which concerns on one Embodiment of this invention. It is a flowchart which shows operation | movement of the mobile vehicle electric power feeding system A which concerns on one Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the mobile vehicle power supply system A according to the present embodiment is provided in four power supply coils L1 to L4, a positioning mark post P, a control device C, and a mobile vehicle M that are fixedly provided on the ground. Vehicle device U.

  Such a moving vehicle power feeding system A supplies (power feeds) electric power to the moving vehicle M parked in front of the traffic light on the road D in a non-contact manner via power feeding coils L1 to L4. Each of the power supply coils L1 to L4 constitutes a power supply unit in this embodiment together with a power supply circuit (not shown). Further, the positioning mark post P and the control device C constitute a power feeding location notifying unit in the present embodiment.

  Each of the feeding coils L1 to L4 is a helical coil having a predetermined coil diameter, and is embedded at a certain interval in front of the traffic signal in the traveling direction of the moving vehicle M on the road D as shown in the figure. That is, among the four power supply coils L1 to L4, the power supply coil L1 is provided at a position closest to the traffic light on the road D, and the power supply coil L2 is provided on the road D at a position closest to the traffic light next to the power supply coil L1. The feeding coil L3 is provided on the road D at a position next to the traffic signal next to the feeding coil L2, and the feeding coil L4 is located on the road D next to the traffic signal next to the feeding coil L3 (that is, on the road D). (The farthest position from the traffic light).

  Each of the feeding coils L1 to L4 radiates a magnetic field (feeding magnetic field) to the surroundings when AC power having a predetermined frequency is supplied from the feeding circuit. Such power supply coils L1 to L4 have a posture in which the coil axis is in the vertical direction (vertical direction) so that the power supply magnetic field acts on the moving vehicle M, and is exposed to the road D or nonmagnetic such as plastic. It is embed | buried on the road D in the state molded by the material. The power supply circuit outputs AC power to each of the power supply coils L1 to L4 according to a power supply control signal input from the control device C.

  As shown in the figure, the positioning mark post P is provided on the shoulder of the road D and on the road D on the upstream side (side far from the traffic light) by a certain distance from the feeding coil L4 farthest from the traffic light, and the positioning mark p1 and the beacon p2 And. That is, since the distance between the power supply coils L1 to L4 on the road D is a fixed value and the distance between the power supply coil L4 and the positioning mark post P is also a fixed value, the positioning mark post P is connected to each power supply coil L1 to L4. On the other hand, it is provided upstream by a certain distance.

  The positioning mark p1 is a sign for allowing the moving vehicle M to recognize the presence of the positioning mark post P, and is a very unique figure that cannot exist around the road D. The beacon p2 is a wireless communication device that transmits a stop assistance signal to the moving vehicle M based on a control signal input from the control device C. This stop assistance signal is a signal for notifying the moving vehicle M of the power supply coils L1 to L4 as the “power supply location” that is the closest to the traffic signal where the moving vehicle M is not stopped.

  The control device C is a software-type control device that functions based on a predetermined system control program. When the moving vehicle M stops on any of the power supply coils L1 to L4, the power supply circuit is supplied with AC power. Further, when there is no moving vehicle M that stops on any of the power supply coils L1 to L4, the control device C ends the supply of AC power to the power supply circuit.

  When the moving vehicle M stops on any one of the feeding coils L1 to L4 (for example, the feeding coil L1), a receiving coil of the moving vehicle M described later is electromagnetically coupled to the feeding coil L1, so that the impedance facing the feeding coil L1 from the feeding circuit is reached. (Output impedance of the power feeding circuit) varies greatly with respect to a state where the moving vehicle M is not stopped. For example, the control device C monitors such a change in output impedance for each of the power feeding coils L1 to L4, thereby determining in which position the moving vehicle M has stopped on the power feeding coils L1 to L4, to the power feeding circuit. While starting the power feeding, the mobile vehicle M is notified of the power feeding location as a stop assistance signal via the beacon p2.

  The moving vehicle M is a vehicle that is driven by a driver and travels on the road D, and is, for example, an electric vehicle or a hybrid vehicle that travels using electric power as a power source. The moving vehicle M includes a vehicle device U that constitutes the moving vehicle power feeding system A together with the above-described power feeding coils L1 to L4, a power feeding circuit (not shown), a positioning mark post P, and ground equipment including a control device C. .

  As illustrated in FIG. 2, the vehicle device U includes a power receiving coil 1, a communication unit 2, a camera 3, a speed sensor 4, a distance calculation unit 5, a control unit 6, and a touch panel 7. Although omitted in FIG. 2, the moving vehicle M naturally includes components necessary for traveling such as an engine, a traveling motor, an operation handle, a brake, and a storage battery (secondary battery). Among these components, the communication unit 2, the camera 3, the speed sensor 4, and the distance calculation unit 5 constitute a distance specifying unit in the present embodiment, and the control unit 6 and the touch panel 7 travel in the present embodiment. It constitutes a support means.

  The power receiving coil 1 is provided on the bottom of the moving vehicle M in such a posture that the coil axis is in the vertical direction (vertical direction) so as to be able to face the power feeding coils L1 to L4. The power receiving coil 1 has substantially the same coil diameter as each of the power feeding coils L1 to L4 that are ground facilities, and receives AC power in a contactless manner by being electromagnetically coupled to any one of the power feeding coils L1 to L4. Such a power receiving coil 1 constitutes a power receiving means in this embodiment together with a charging circuit (not shown). The AC power (received power) received by the power receiving coil 1 is supplied from the power receiving coil 1 to the drive motor through the charging circuit, and is converted into DC power to be charged in a storage battery (not shown).

  Here, non-contact power reception from the power supply coils L1 to L4 by the power reception coil 1 of the moving vehicle M is performed based on a magnetic field resonance method. That is, a resonance capacitor (not shown) for constituting a resonance circuit is connected to each of the power receiving coil 1 and each of the power feeding coils L1 to L4. Further, for example, the capacitance of the resonance capacitor includes the resonance frequency of the power reception side resonance circuit including the power reception coil 1 and the resonance capacitor, and the resonance frequency of the power supply side resonance circuit including the power supply coils L1 to L4 and the resonance capacitor. Are set to have the same frequency.

  The communication unit 2 is a wireless communication device that receives the stop assistance signal transmitted from the beacon p <b> 2, and outputs the stop assistance signal to the distance calculation unit 5. The camera 3 captures a surrounding image of the moving vehicle M in the forward traveling direction and outputs it to the distance calculation unit 5. This camera 3 is installed so that the field angle of view is fixed near the windshield of the moving vehicle M so that, for example, a surrounding image of a specific fixed region in the traveling direction of the moving vehicle M is captured. The speed sensor 4 is a sensor that detects the traveling speed of the moving vehicle M, and outputs the traveling speed of the moving vehicle M to the distance calculation unit 5 as a speed signal.

  The distance calculation unit 5 is a software-type calculation device that functions based on a predetermined distance calculation program, and the position of the mark post P in the surrounding image input from the camera 3 and the surrounding image stored in advance as calculation parameters. Data table showing the relationship between the distance between the vehicle and the moving vehicle M and the mark post P, and between each of the feeding coils L1 to L4 and the positioning mark post P (positioning mark p1) stored in advance as calculation parameters. Based on the distance, the stop assistance signal input from the communication unit 2, and the traveling speed of the moving vehicle M input from the speed sensor 4, the distance between the moving vehicle M and the power feeding location (power feeding travel distance K) is calculated. . The distance calculation unit 5 outputs the power feeding travel distance K to the control unit 6.

  The control unit 6 is a software-type control device that functions based on a predetermined vehicle control program, and instructs the distance calculation unit 5 to acquire the power feed travel distance K based on an operation instruction signal input from the touch panel 7. To do. In addition, the control unit 6 generates a driving support image that supports the driver to stop the moving vehicle M at the power feeding location based on the power feeding travel distance K input from the distance calculation unit 5, and the driving support image Is output to the touch panel 7. This driving support image is an image that numerically displays a power feeding travel distance K that gradually decreases as the mobile vehicle M travels, for example.

Here, in FIG. 2, the distance calculation unit 5 and the control unit 6 are shown as separate functional components, but the distance calculation unit 5 and the control unit 6 are the same in terms of hardware. That is, the distance calculation unit 5 and the control unit 6 are a kind of computer composed of hardware elements such as a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). Each function mentioned above is implement | achieved by running the said distance calculation program and vehicle control program which were memorize | stored in ROM. Such detailed processing of the control unit 6 will be described in the operation description to be described later.

  The touch panel 7 is, for example, a liquid crystal display with an operation panel attached in the vicinity of the operation handle. The touch panel 7 displays the driving support image based on the support image signal input from the control unit 6 and receives a driver's operation instruction. It outputs to the control part 6 as an operation instruction signal.

  Next, operation | movement of this moving vehicle electric power feeding system A comprised in this way is demonstrated along the flowchart of FIG.

  First, the operation of the ground facility will be described. That is, the control device C constantly monitors the stop / non-stop state of the moving vehicle M in each of the power supply coils L1 to L4, and among the power supply coils L1 to L4, the power supply coil in the non-stop state closest to the traffic light That is, the leading empty state power supply coil in the traveling direction of the moving vehicle M is detected as a “power supply location”, and this power supply location is output to the beacon p2 as a stop auxiliary signal.

  Here, when the traffic light becomes “red”, the leading moving vehicle M stops on the stop line in front of the traffic signal, and the subsequent moving vehicle M sequentially stops behind the previous moving vehicle M. Therefore, when the traffic light becomes “red”, the moving vehicle M sequentially stops on the feeding coil closer to the traffic light. For example, when two moving vehicles M are traveling on the road D, the leading moving vehicle M stops on the feeding coil L1, and the following moving vehicle M stops on the feeding coil L2. In this case, the control device C detects the power feeding coil L3 as a “power feeding place” and outputs it to the beacon p2.

  The control device C repeatedly performs such detection of the power feeding location and output to the beacon p2 at a predetermined time interval. As a result, the beacon p2 transmits a stop assistance signal indicating the “power supply location” to the surroundings at the predetermined time interval. The moving vehicle M traveling in the area where the stop assistance signal can be received can sequentially receive the stop assistance signal and grasp the “power supply location”.

  With respect to such a ground facility, the vehicle apparatus U mounted on the moving vehicle M operates as shown in FIG. First, the control unit 7 determines whether or not an acquisition instruction (distance acquisition instruction) for the power supply travel distance K is input from the touch panel 7 (step S1). That is, the control unit 7 constantly monitors whether or not the acquisition instruction is input while the moving vehicle M is traveling. When the acquisition instruction is input and the determination in step S1 is “Yes”, the distance calculation is performed. The unit 5 is instructed to start the acquisition of the power feed travel distance K, and on the other hand, when the acquisition instruction is not input, a standby state is repeated in which the determination process of step S1 is repeated. When the driver of the moving vehicle M determines that the remaining charge of the storage battery is low and needs to be charged, the driver of the moving vehicle M inputs an instruction to acquire the power supply travel distance K to the touch panel 7.

  When the acquisition start instruction for the power supply travel distance K is input from the control unit 7, the distance calculation unit 5 receives the surrounding image input from the camera 3, the position of the mark post P in the surrounding image, the moving vehicle M, and the mark post P. A distance data table (computation parameter) indicating the relationship with the distance between the power supply coils L1 to L4 and the positioning mark post P (computation parameter), a stop auxiliary signal input from the communication unit 2, The calculation process of the power supply travel distance K based on the travel speed of the moving vehicle M input from the speed sensor 4 is started.

  Here, the surrounding image captured by the camera 3 whose shooting angle of view is fixed with respect to the moving vehicle M includes the mark post P when the moving moving vehicle M enters within a predetermined distance before the mark post P. It becomes. That is, when the moving vehicle M travels before the predetermined distance, the mark post P does not appear in the surrounding image, but when the moving vehicle M enters the predetermined distance before the mark post P, the surrounding image becomes The mark post P is included, and the position of the mark post P in the surrounding image sequentially changes as the traveling position of the moving vehicle M approaches the mark post P sequentially.

  The distance calculation unit 5 extracts the mark post P by performing predetermined image processing on the surrounding image, specifies the position of the mark post P in the surrounding image, and uses the position of the specified mark post P to perform the distance By searching the data table (calculation parameters), the distance between the moving vehicle M and the mark post P (first power supply travel distance k1) is specified (step S2).

  The distance calculation unit 5 then determines the distance between the stop location and the positioning mark post P based on the stop location based on the stop auxiliary signal and the distances (calculation parameters) between the feeding coils L1 to L4 and the positioning mark post P (calculation parameters). The second power supply travel distance k2) is specified (step S3). Then, the distance calculation unit 5 calculates the initial value of the power supply travel distance K by adding the first power supply travel distance k1 and the second power supply travel distance k2 acquired in this manner, and outputs them to the control unit 7. (Step S4). As a result, the control unit 6 generates a driving support image indicating the initial value input from the distance calculation unit 5 and outputs the driving support image as a support image signal to the touch panel 7 (step S5).

  The initial value of the power feeding travel distance K obtained in this way is the distance from the moving vehicle M to the power feeding location at a certain instantaneous time regarding the moving vehicle M whose travel position approaches the positioning mark post P every moment. Since the moving vehicle M is traveling, the power supply traveling distance K is gradually decreased from the initial value according to the traveling speed of the moving vehicle M. The distance calculation unit 5 subtracts a distance (actual traveling distance k3) obtained by sequentially multiplying the traveling speed of the moving vehicle M input from the speed sensor 4 by a predetermined time T from the initial value every predetermined time T. Thus, the power supply travel distance K at each time after the time when the initial value is acquired is calculated and output to the control unit 7 (step S6).

  And the control part 6 produces | generates the driving assistance image which shows each electric power feeding travel distance K input from the distance calculating part 5 one by one, and outputs it to the touch panel 7 as an assistance image signal (step S7). As a result, on the touch panel 7, power feeding travel distance K that sequentially decreases after the initial value is sequentially displayed in time series.

  The driver of the moving vehicle M stops the moving vehicle M at the power supply location by operating the moving vehicle M with reference to such a driving assistance image. As a result, the power receiving coil 1 of the moving vehicle M is opposed to the power feeding place (for example, the power feeding coil L3). When the control device C detects that the power receiving coil 1 is electromagnetically coupled to the power feeding coil L3, the control device C causes the power feeding circuit (not shown) to start outputting AC power to the power feeding coil L3. Be started. The control unit 6 of the moving vehicle M determines whether or not the power receiving coil 1 has received power from the power feeding coil L3 (step S8). When this determination is “Yes”, all the processes are terminated.

  The power supply from the ground facility to the moving vehicle M is terminated when the traffic light becomes “blue”. That is, when the traffic signal turns “blue” and the moving vehicle M starts running, the electromagnetic coupling of the power receiving coil 1 with respect to the power feeding coil L3 is eliminated, and the power feeding coil (not shown) is fed to the power feeding circuit (not shown). The supply to L3 is terminated.

  According to the present embodiment, since the power supply travel distance K is acquired using the positioning mark post P (positioning mark p1), the moving vehicle M can stop without causing an increase in system size and cost. It is possible to appropriately detect the positions of the power feeding coils L1 to L4 in various places and to suppress the positional deviation between the power feeding coils L1 to L4 and the power receiving coil 1 of the moving vehicle M.

As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, For example, the following modifications can be considered.
(1) In the above embodiment, the acquisition of the power feeding travel distance K is started based on the driver's operation instruction, but the present invention is not limited to this. For example, the control unit 6 stores in advance the installation position of the positioning mark post P on the map, and grasps the current location of the moving vehicle M based on a GPS (Global Positioning System) signal and other wireless information in addition to the speed sensor 4. Then, when the moving vehicle M approaches the positioning mark post P, acquisition of the power feeding travel distance K may be automatically started.

(2) Further, instead of starting the acquisition of the power supply travel distance K based on the operation instruction of the driver, when the camera 3 captures the mark post P, the acquisition of the power supply travel distance K is automatically started. Good.

(3) In the above embodiment, the mark post P is provided on the front side of each of the power feeding coils L1 to L4 in the traveling direction, but the present invention is not limited to this. For example, the mark post P may be provided in the same manner as the feeding coil L4 positioned closest to the moving vehicle M.

(4) In the above embodiment, the power feeding location is grasped by the moving vehicle M by transmitting the power feeding location from the beacon p2 to the moving vehicle M, but the present invention is not limited to this. For example, a display unit that displays an image indicating the power feeding location on the positioning mark post P may be provided, and the moving vehicle M may grasp the power feeding location by capturing the image with the camera 3.

(5) In the above-described embodiment, the power supply travel distance K is acquired by capturing the surrounding image including the mark post P with the camera 3, but the present invention is not limited to this. For example, instead of the camera 3, a laser sensor may be employed, and the power feeding travel distance K may be acquired based on the detection result of the positioning mark post P by the laser sensor.

(6) In the above embodiment, one positioning mark post P is provided for the four feeding coils L1 to L4, but the present invention is not limited to this. For example, one positioning mark post P may be provided for one power supply coil L1.

(7) In the said embodiment, although the electric power feeding distance K was displayed on the touchscreen 7, this invention is not limited to this. Instead of the power supply travel distance K, for example, the operation time to the power supply location may be displayed. In addition to the feeding distance K and the driving time, necessary operations and the like may be displayed. That is, the support information based on the power supply travel distance K may be information that supports driving to the power supply location.

(8) In the above embodiment, the power supply travel distance K is displayed on the touch panel 7, but the present invention is not limited to this. For example, a speaker may be provided in the moving vehicle M, and the power feeding travel distance K may be notified by voice to the speaker.

  A ... Moving vehicle power feeding system, P ... Positioning mark post, L1 to L4 ... Power feeding coil, C ... Control device, M ... Moving vehicle, U ... Vehicle device, 1 ... Power receiving coil, 2 ... Communication unit, 3 ... Camera, 4 ... speed sensor, 5 ... distance calculation unit, 6 ... control unit, 7 ... touch panel, D ... road

Claims (4)

A mobile vehicle power supply system that performs non-contact power supply to a mobile vehicle,
Power supply means provided at a place where the moving vehicle can stop;
A positioning mark provided at a position away from the power supply means by a first distance ;
A power receiving means which is provided in the mobile vehicle and receives power from the power feeding means;
A distance specifying means provided in the moving vehicle, wherein the second distance between the moving vehicle and the positioning mark is specified by detecting the positioning mark, and based on the first distance and the second distance. Te, a distance specifying means for specifying a distance between the moving vehicle and said power supply means,
A mobile vehicle power supply system comprising: a travel support unit that supports travel of the mobile vehicle to the power supply unit based on a distance between the power supply unit specified by the distance specifying unit and the mobile vehicle. .   The moving vehicle according to claim 1, wherein the distance specifying unit captures a surrounding image of the moving vehicle with a camera and calculates a distance between the power feeding unit and the moving vehicle based on the surrounding image. Power supply system. A mobile vehicle power supply system in which a plurality of the power supply means are provided, and one positioning mark is provided at a position away from the power supply means by a certain distance,
A power feeding location notifying means for notifying the moving vehicle as a power feeding location of the power feeding means that the moving vehicle is not stopped;
The distance specifying means, according to claim 1 or 2, characterized in that to calculate a distance to the feeding place on the basis of the previous SL feeding field office notified the feed location from the notification means and detection result of the positioning marks The mobile vehicle power feeding system described.   4. The mobile vehicle power supply system according to claim 1, wherein the travel support unit displays a driving support image indicating a distance between the power supply unit and the mobile vehicle on a display unit. 5.

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