JP6065394B2 - Mobile vehicle power supply system and mobile vehicle - 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, the parking assist device recognizes the position of the power transmission unit from an image around the vehicle photographed by the camera, guides the vehicle toward the power transmission unit, and guides the vehicle based on the power received by the power reception unit. .

JP2011-188679A

  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.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to appropriately detect the position of the power feeding coil and suppress the positional deviation between the ground power feeding coil and the vehicle power receiving coil. And

  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 having a fixed positional relationship with the power feeding means, a position specifying means provided on the moving vehicle and specifying the positional relationship of the power feeding means with respect to the moving vehicle by detecting the positioning mark, and the position specifying means And a travel support means for supporting travel to the power supply means of the moving vehicle based on the positional relationship of the power supply means specified by the above.

  In the present invention, as the second solving means, in the first solving means, in the rectangular place where the moving vehicle can stop, the back of the entrance of the moving vehicle set to one of a pair of short sides; A means of being provided on one of the pair of long sides is employed.

  In the present invention, as the third solving means, in the first or second solving means, the position specifying means includes two axial directions perpendicular to the width direction and the length direction in the plan view shape of the moving vehicle. A means of specifying the distance data as the positional relationship of the power supply means is adopted.

  In the present invention, as a fourth solving means, in any one of the first to third solving means, the position specifying means takes a surrounding image of the moving vehicle with a camera and supplies power based on the surrounding image. The means of specifying the positional relationship is adopted.

  In the present invention, as the fifth solving means, in any one of the first to fourth solving means, the driving support means displays a driving assistance image indicating the positional relationship of the power feeding means on the display unit. Is adopted.

  According to the present invention, since the positional relationship of the power feeding unit with respect to the moving vehicle is specified using the positioning mark, the position of the power feeding unit is appropriately detected to suppress the positional deviation between the power feeding unit and the power receiving unit of the moving vehicle. be able to.

It is a schematic diagram which shows the positional relationship of each component of the moving vehicle electric power feeding system A which concerns on one Embodiment of this invention, and the 1st, 2nd positioning post P1, P2. It is a schematic diagram which shows the example of installation of the mobile vehicle electric power feeding system A which concerns on one Embodiment of this invention. It is a block diagram which shows the principal part detailed structure 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 feeding system A according to the present embodiment includes a power feeding coil S, a first positioning post P1, a second positioning post P2, and a parking space that are fixedly provided in the parking space Ps. It consists of a moving vehicle M that enters and exits Ps. Such a moving vehicle electric power feeding system A supplies electric power (power feeding) to the moving vehicle M parked in the parking space Ps in a non-contact manner through the feeding coil S. The feeding coil S constitutes a feeding unit in the present embodiment together with a feeding circuit (not shown).

  As shown in FIG. 2, the parking space Ps is a rectangular area provided in a parking lot of a shopping center, for example, and has a size that allows one mobile vehicle M to park. As shown in FIGS. 1 and 2, the parking space Ps has one of a pair of short sides set as an entrance Sn (exit exit) of the moving vehicle M. The moving vehicle M enters the parking space Ps from this entrance Sn (exit) and exits from the parking space Ps from the entrance Sn (exit).

  The feeding coil S is a helical coil having a predetermined coil diameter, and is provided in the center of the ground of the parking space Ps. The feeding coil S emits a magnetic field (feeding magnetic field) to the surroundings when AC power having a predetermined frequency is supplied from the feeding circuit. Such a feeding coil S has a posture in which the coil axis is in the vertical direction (vertical direction) so that the feeding magnetic field acts on the moving vehicle M, and is exposed to the parking space Ps or a nonmagnetic material such as plastic. Embedded in the parking space Ps in a molded state.

  As shown in FIG. 1, the first positioning post P <b> 1 is fixedly installed in the parking space Ps at the back (near the other short side) of the entrance Sn (exit exit) and includes a positioning mark Mk <b> 1. . That is, the first positioning post P1 has a fixed positional relationship with the feeding coil S described above. As shown in FIG. 1, the second positioning post P2 is fixedly installed near one of the pair of long sides in the parking space Ps, that is, near the center of the left long side, and includes a positioning mark Mk2. That is, this second positioning post P2 also has a fixed positional relationship with the feeding coil S.

  Such positioning marks Mk1, Mk2 on the first and second positioning posts P1, P2 are unique figures that cannot exist around the parking space Ps. The positioning marks Mk1 and Mk2 may be the same or different.

  The moving vehicle M is a vehicle that is driven by a driver and travels on a road, and is, for example, an electric vehicle or a hybrid vehicle that travels using electric power as a power source. As illustrated in FIG. 3, the moving vehicle M includes a power receiving coil 1, a first camera 2, a second camera 3, a position calculation unit 4, a support image generation unit 5, and a touch panel 6. Of these components, the first camera 2, the second camera 3, and the position calculation unit 4 constitute position specifying means in the present embodiment, and the support image generation unit 5 and the touch panel 6 are implemented in the present embodiment. The travel support means in the form is configured. Although omitted in FIG. 3, 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).

  The power receiving coil 1 is provided at the bottom of the moving vehicle M so that the coil axis is in the vertical direction (vertical direction) so that the power receiving coil 1 can face the power feeding coil S. The power receiving coil 1 has substantially the same coil diameter as the power supply coil S that is ground equipment, and receives AC power in a contactless manner by being electromagnetically coupled to the power supply coil S. 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).

  The first camera 2 is provided at the rear of the moving vehicle M, captures a rear image (first surrounding image) of the moving vehicle M, and outputs it to the position calculation unit 4. For example, when the moving vehicle M travels back into the parking space Ps and enters the parking space Ps, the first camera 2 moves the rear bumper Rb of the moving vehicle M so that the first positioning post P1 is reflected in the first surrounding image. It is provided with the diagonally upward direction at the center.

  The second camera 3 is provided on the left side of the moving vehicle M, captures a left side image (second surrounding image) of the moving vehicle M, and outputs it to the position calculation unit 4. For example, when the moving vehicle M travels back into the parking space Ps and enters the parking space Ps, the second camera 3 is placed at the tip of the left side mirror Lm so that the second positioning post P2 is reflected in the second surrounding image. Is provided.

  The position calculation unit 4 is a software-type calculation device that functions based on a predetermined position calculation program. The position calculation unit 4 includes a first surrounding image input from the first camera 2 and a second input from the second camera 3. The relative position R (positional relationship) of the power feeding coil S with respect to the moving vehicle M (power receiving coil 1) is calculated based on the surrounding image of FIG. The relative position table includes the positions of the first and second positioning posts P1 and P2 (more precisely, the positions of the positioning marks Mk1 and Mk2) and the moving vehicle M (power receiving coil 1) in the first and second surrounding images. Is a data table in which a relationship with the relative position R of the feeding coil S with respect to) is stored.

  The position calculation unit 4 searches the relative position table based on the positions of the first and second positioning posts P1 and P2 (positions of the positioning marks Mk1 and Mk2) in the first and second surrounding images. The relative position R of the feeding coil S with respect to the moving vehicle M (power receiving coil 1) according to the positions of the first and second positioning posts P1, P2 (positions of the positioning marks Mk1, Mk2) is specified, and the relative position R Is output to the support image generation unit 5. The relative position R indicates the position of the feeding coil S around the power receiving coil 1 of the moving vehicle M as two-dimensional distance data on the parking space Ps (on the horizontal plane). That is, as shown in FIG. 1, the relative position R includes a distance (X-axis distance Rx) in the width direction (X-axis direction) of the moving vehicle M having a rectangular shape in plan view, and a length direction ( It consists of two distance data with a distance in the Y-axis direction (Y-axis distance Ry).

  The support image generation unit 5 is a software type control device that functions based on a predetermined vehicle control program. The position calculation unit 4 acquires the relative position R based on an operation instruction signal input from the touch panel 6. Instruct. In addition, the support image generation unit 5 generates a driving support image that supports the driver so that the power receiving coil 1 of the moving vehicle M faces the power feeding coil S based on the relative position R input from the position calculation unit 4. An image signal (support image signal) indicating the driving support image is generated and output to the touch panel 6. This driving assistance image shows, for example, a relative position R that changes as the moving vehicle M travels on a plan view centered on the moving vehicle M.

  Here, in FIG. 3, the position calculation unit 4 and the support image generation unit 5 are shown as separate functional components, but the position calculation unit 4 and the support image generation unit 5 are the same in terms of hardware. is there. That is, the position calculation unit 4 and the support image generation unit 5 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 when CPU performs the said position calculation program and vehicle control program which were memorize | stored in ROM. The detailed processing of the support image generation unit 5 will be described in the operation description to be described later.

  The touch panel 6 is, for example, a liquid crystal display with an operation panel attached in the vicinity of the operation handle. The touch panel 6 displays the driving support image based on the support image signal input from the support image generation unit 5 and gives a driver's operation instruction. It is received and output to the support image generation unit 5 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.

  When the driver of the moving vehicle M intends to park the moving vehicle M, for example, the driver moves the moving vehicle M back and enters the parking space Ps from the entrance Sn (exit). At this time, the driver operates the touch panel 6 to request provision of a driving assistance image. When such a driving support image provision request is input from the touch panel 6 (step S1), the support image generation unit 5 instructs the position calculation unit 4 to start acquisition of the relative position R of the feeding coil S. In a state where the provision request is not input, the standby state in which the determination process in step S1 is repeated is entered. Note that the driver makes the above-described provision request when, for example, the remaining charge of the storage battery mounted on the moving vehicle M is low and external power feeding is necessary.

  When the acquisition start instruction for the relative position R is input from the support image generation unit 5, the position calculation unit 4 performs predetermined image processing on the first surrounding image input from the first camera 2, thereby The position of the first positioning post P1 (position of the positioning mark Mk1) in the surrounding image of 1 is specified, and further, the relative position table using the specified position of the first positioning post P1 (position of the positioning mark Mk1). Is determined to identify the distance (Y-axis distance Ry) in the Y-axis direction of the feeding coil S with respect to the moving vehicle M (power receiving coil 1) (step S2).

  Here, the first surrounding image captured by the first camera 2 fixed to the moving vehicle M is the first positioning post P1 when the rear portion of the moving vehicle M approaches the first positioning post P1. Will be included. That is, when the moving vehicle M is inclined at a predetermined angle or more with respect to the parking space Ps, the first positioning post P1 does not appear in the first surrounding image, but the inclination of the moving vehicle M is within the predetermined angle. In this case, the first surrounding image includes the first positioning post P1. Further, the position in the left-right direction of the first positioning post P1 (positioning mark Mk1) in the first surrounding image changes according to the position of the moving vehicle M in the width direction of the parking space Ps. The Y-axis distance Ry is determined by the position in the left-right direction of the first positioning post P1 (positioning mark Mk1) in the first surrounding image.

  Further, the position calculation unit 4 performs predetermined image processing on the second surrounding image input from the second camera 3 to thereby position the second positioning post P2 in the second surrounding image (positioning mark). The position of Mk2) is specified, and the relative position table is searched using the position of the specified second positioning post P2 (position of the positioning mark Mk2), whereby the power feeding coil for the moving vehicle M (power receiving coil 1) The distance of S in the X-axis direction (X-axis distance Rx) is specified (step S3).

  Here, the second surrounding image captured by the second camera 3 fixed to the moving vehicle M is the second when the left side mirror Lm of the moving vehicle M approaches the second positioning post P2. The positioning post P2 is included. That is, when the moving vehicle M is tilted by a predetermined angle or more with respect to the parking space Ps, or the moving vehicle M is not tilted, the second positioning post P2 and the second camera 3 of the moving vehicle M are in the parking space Ps. The second positioning post P2 does not appear in the second surrounding image when the distance between the second positioning post P2 and the second positioning post P2 is within the predetermined angle. When the distance of the moving vehicle M from the second camera 3 is within a predetermined distance, the second surrounding image includes the second positioning post P2. Further, the position of the second positioning post P2 (positioning mark Mk2) in the left-right direction in the second surrounding image changes according to the position of the moving vehicle M in the length direction of the parking space Ps. The X-axis distance Rx is determined by the left-right position of the second positioning post P2 (positioning mark Mk2) in the second surrounding image.

  Then, the position calculation unit 4 outputs the initial value of the relative position R composed of the Y-axis distance Ry and the X-axis distance Rx of the feeding coil S acquired in this way to the support image generation unit 5. As a result, the support image generation unit 5 generates a driving support image indicating the initial value input from the position calculation unit 4 and outputs it to the touch panel 6 as a support image signal. The initial value of the relative position R obtained in this way is the position of the feeding coil S immediately after the acquisition of the relative position R of the feeding coil S is started. Since the moving vehicle M is moved by the driving of the driver, the relative position R sequentially changes from the initial value every moment according to the position of the moving vehicle M.

  Then, the position calculation unit 4 repeats steps S <b> 2 and 3 at a predetermined time interval and outputs the relative position R of the feeding coil S to the support image generation unit 5. The support image generation unit 5 sequentially generates a driving support image indicating the relative position R at each time input from the position calculation unit 4 and outputs it as a support image signal to the touch panel 6 (step S4). As a result, the relative position R that sequentially changes following the initial value is sequentially displayed on the touch panel 6 in a time series on a plan view centered on the moving vehicle M.

  The driver of the moving vehicle M stops the moving vehicle M so that the power receiving coil 1 and the power feeding coil S face each other by operating the moving vehicle M with reference to such a driving assistance image. When the power feeding circuit (not shown) detects that the power receiving coil 1 is electromagnetically coupled to the power feeding coil S, the power feeding circuit starts outputting AC power to the power feeding coil S, and thereby power feeding to the moving vehicle M is started. The support image generation unit 5 of the moving vehicle M determines whether or not the power receiving coil 1 has received power from the power feeding coil S (step S5). When this determination is “Yes”, all the processes are terminated.

  Power supply from the power supply coil S, which is such ground equipment, to the moving vehicle M is terminated when the moving vehicle M moves from the parking space Ps. In other words, the feeding circuit ends the supply to the feeding coil S when the electromagnetic coupling of the receiving coil 1 with respect to the feeding coil S is canceled by the moving vehicle M starting to travel.

  According to this embodiment, since the relative position R of the feeding coil S with respect to the moving vehicle M is acquired using the first and second positioning posts P1, P2, the position of the feeding coil S is appropriately detected. Thus, the positional deviation between the power feeding coil S and the power receiving coil 1 of the moving vehicle M can be suppressed.

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 relative position R of the feeding coil S is started based on the driver's operation instruction, but the present invention is not limited to this. For example, the support image generation unit 5 stores in advance the installation positions of the first and second positioning posts P1 and P2 on the map, and based on GPS (Global Positioning System) signals and other wireless information, the current location of the moving vehicle M When the moving vehicle M approaches the first and second positioning posts P1, P2, the acquisition of the relative position R of the feeding coil S may be automatically started.

(2) Further, instead of starting acquisition of the relative position R of the feeding coil S based on the driver's operation instruction, the first camera 2 captures the position of the first positioning post P1 (positioning mark Mk1). When the second camera 3 captures the second positioning post P2 (positioning mark Mk2), the acquisition of the relative position R of the feeding coil S may be automatically started.

(3) In the said embodiment, although the 2nd positioning post P2 was provided in the center vicinity of the left long side of the parking space Ps, this invention is not limited to this. For example, the second positioning post P2 may be provided near the center of the right long side of the parking space Ps instead of near the center of the left long side of the parking space Ps. At that time, it is necessary to provide the second camera 3 on the right side mirror of the moving vehicle M. In the above embodiment, the two first and second positioning posts P1 and P2 are provided, but the number is not limited to two. For example, the second positioning post P2 may be provided on both the left and right long sides of the parking space Ps, or the first positioning post provided at the back of the entrance Sn (exit) of the parking space Ps. A plurality of P1s may be provided.

(4) In the above embodiment, the first camera 2 is provided at the rear bumper Rb of the moving vehicle M so as to be fixed, and the second camera 3 is provided at the tip of the left side mirror Lm so as to be fixed. The present invention is not limited to this. For example, one camera may be provided above the moving vehicle M, and the first and second surrounding images may be taken by changing the shooting angle of view of the camera by automatic control. That is, any number of cameras may be used as long as the first and second surrounding images including the first and second positioning posts P1 and P2 provided in the parking space Ps can be taken.

(5) In the above embodiment, the first and second cameras 2 and 3 are used to capture the first and second surrounding images including the first and second positioning posts P1 and P2, and thereby the relative position of the feeding coil S. Although the position R is acquired, the present invention is not limited to this. For example, instead of the first and second cameras 2 and 3, a laser sensor is employed, and the relative position R of the feeding coil S is determined based on the detection results of the first and second positioning posts P1 and P2 by the laser sensor. May be obtained.

(6) In the above embodiment, the relative position R of the feeding coil S is displayed on the touch panel 6 on a plan view centered on the moving vehicle M, but the present invention is not limited to this. Instead of the plan view showing the relative position R of the feeding coil S, for example, two-dimensional distance data showing the relative position R of the feeding coil S may be displayed as character information. That is, the support information based on the relative position R of the feeding coil S may be information that supports driving until the receiving coil 1 faces the feeding coil S.

(7) In the above embodiment, the relative position R of the feeding coil S is displayed on the touch panel 6, but the present invention is not limited to this. For example, a speaker may be provided in the moving vehicle M, and the speaker may be informed of the relative position R of the feeding coil S.

(8) In the above embodiment, the parking lot of the shopping center schematically illustrated in FIG. 2 is described as an example of a place where the moving vehicle M can stop, but the present invention is not limited to this. As a parking lot provided with the feeding coil S, the feeding circuit (not shown), the first and second positioning posts P1, P2, and the like, which are ground facilities of the mobile vehicle feeding system A, any public or private parking lot may be used. Further, the place where the moving vehicle M can stop may be a drive-through place in a store or the like in addition to a parking lot, and a stopping place of a gas station when the moving vehicle M is a hybrid vehicle.

A ... Moving vehicle feeding system, S ... Feeding coil, P1 ... first positioning post, P2 ... second positioning post, M ... moving vehicle, 1 ... power receiving coil, 2 ... first camera, 3 ... second Camera, 4 ... Position calculation unit, 5 ... Support image generation unit, 6 ... Touch panel, Ps ... Parking space, Lm ... Left side mirror, Rb ... Rear bumper, Rx ... X-axis distance, Ry ... Y-axis distance, Sn ... Approach mouth

Claims (6)

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 having a fixed positional relationship with the power supply means;
A position specifying means that is provided in the moving vehicle, and specifies a positional relationship of the power feeding means with respect to the moving vehicle by detecting the positioning mark;
Travel support means for supporting the travel of the moving vehicle up to the power supply means based on the positional relationship of the power supply means specified by the position specifying means,
The positioning mark is provided at the back of the entrance of the moving vehicle set to one of a pair of short sides and one of the pair of long sides in a rectangular place where the moving vehicle can stop,
The position specifying means includes a first camera or a first laser sensor provided at a rear portion or a front portion of the moving vehicle, and a second camera provided only at one of a left side portion and a right side portion of the moving vehicle. Or the 2nd laser sensor is included, The moving vehicle electric power feeding system characterized by the above-mentioned.   The position specifying means specifies distance data of two orthogonal axial directions of a width direction and a length direction in a plan view shape of the moving vehicle as the positional relationship of the power supply means. 2. The mobile vehicle power supply system according to 1.   3. The mobile vehicle power feeding according to claim 1, wherein the position specifying unit captures a surrounding image of the moving vehicle with a camera and specifies the positional relationship of the power feeding unit based on the surrounding image. system.   The mobile driving power supply system according to any one of claims 1 to 3, wherein the driving support means displays a driving support image indicating the positional relationship of the power supply means on a display unit.   The position specifying means includes a detection result of the first camera or the first laser sensor, a detection result of the second camera or the second laser sensor, and a relative position of the power supply means with respect to the moving vehicle. 5. The mobile vehicle power supply system according to claim 1, wherein the positional relationship of the power supply unit with respect to the mobile vehicle is specified based on a relative position table indicating the relationship between the mobile vehicle and the mobile vehicle. A moving vehicle,
Position identifying means for identifying the positional relationship of the power feeding means with respect to the moving vehicle by detecting a positioning mark in which the positional relationship with the power feeding means provided in a place where the moving vehicle can stop;
Travel support means for supporting the travel of the moving vehicle up to the power supply means based on the positional relationship of the power supply means specified by the position specifying means;
The positioning mark is provided at the back of the entrance of the moving vehicle set to one of a pair of short sides and one of the pair of long sides in a rectangular place where the moving vehicle can stop,
The position specifying means includes a first camera or a first laser sensor provided at a rear portion or a front portion of the moving vehicle, and a second camera provided only at one of a left side portion and a right side portion of the moving vehicle. Alternatively, a moving vehicle including the second laser sensor.

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