JP6350312B2 - Non-contact charging parking support device - Google Patents

Description

  The present invention relates to a non-contact charging parking assist device that automatically parks a vehicle that performs non-contact charging in a parking area provided with a non-contact charger.

  Conventionally, a technique for automatically parking a vehicle in a parking area is known. For example, in Patent Document 1, a turn pattern that can be turned is extracted based on the relative position between the current position of the vehicle and the position of the target parking frame, and the vehicle is automatically turned according to the turn pattern, and the target parking frame is obtained. A technique for parking at a position that fits in the vehicle is disclosed.

  Further, in recent years, a power storage device mounted on an electric vehicle such as a hybrid vehicle or an electric vehicle that uses an electric motor as a travel drive source is charged in a non-contact manner (that is, a non-contact charge) from an external power source regardless of a plug connection or the like. The technology to do is known. For example, Patent Document 2 discloses a technique for performing non-contact charging by transmitting high-frequency power according to the principle of electromagnetic induction from a power supply coil installed on the ground of a parking area to a power receiving coil of an electric vehicle parked in the parking area. It is disclosed.

JP 2007-125981 A JP 2014-45574 A

  When the electric vehicle that performs non-contact charging disclosed in Patent Document 2 is automatically parked in the parking area where the feeding coil is installed by the technique disclosed in Patent Document 1, the electric vehicle is stored in the parking area. Thus, it is not always possible to park the vehicle at a position where the efficiency of non-contact charging is high. This is because the efficiency of non-contact charging differs depending on the relative position between the feeding coil and the receiving coil.

  The present invention has been made in view of the above-described conventional problems, and its purpose is to contact non-contact when a vehicle that performs non-contact charging is automatically parked in a parking area provided with a non-contact charger. An object of the present invention is to provide a non-contact charging parking assist device that makes it possible to make charging efficiency higher.

First contactless charging parking assist apparatus according to the present invention is mounted non-contact contactless charger supplies power provided to the parking area from the (50) in a vehicle to perform a non-contact charging, the vehicle is parked The plug-in charger provided in the area can also be charged via the charging cable, and an automatic driving control unit (111, 111) that performs automatic driving control so that the vehicle is automatically parked in the parking area. 111c), a parking position specifying unit (105, 105d) that specifies the position of the vehicle with respect to the non-contact charger that maximizes the efficiency of non-contact charging, and a recommended parking area that is transmitted by wireless communication. A recommended parking direction acquisition unit (106) that acquires a recommended parking direction that is a parking direction, and a parking direction determination unit that determines a parking direction in the parking area of the vehicle based on the recommended parking direction acquired by the recommended parking direction acquisition unit. (1 0), and a plug-in charger position acquisition unit that acquires the installation position of the plug-in charger for parking region transmitted by wireless communication (117), parking direction determination section, a recommended parking direction acquisition unit If the acquired recommended parking direction is not limited to a specific parking direction, parking where the installation position of the plug-in charger acquired by the plug-in charger position acquisition unit and the connection position of the charging cable of the vehicle match The direction is determined as the parking direction in the parking area of the vehicle, and the automatic driving control unit performs automatic driving control so that the vehicle is parked at the position specified by the parking position specifying unit and is determined by the parking direction determining unit. Automatic driving control is performed so that the vehicle is automatically parked in the parking area in the parking direction .
A second non-contact charging parking assist apparatus according to the present invention is mounted on a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies power in a non-contact manner. It is equipped with a solar panel (30) that generates electricity by light, and an automatic operation control unit (111, 111c) that performs automatic operation control so as to automatically park the vehicle in the parking area, and efficiency of non-contact charging The parking position specifying unit (105, 105d) that specifies the position of the vehicle with respect to the non-contact charger with the maximum value and the recommended parking direction, which is a recommended parking direction to the parking area, transmitted by wireless communication A recommended parking direction acquisition unit (106) and a parking direction determination unit (110) that determines a parking direction to the parking area of the vehicle based on the recommended parking direction acquired by the recommended parking direction acquisition unit. The decision part When the recommended parking direction acquired by the recommended parking direction acquisition unit is not limited to a specific parking direction, it is estimated that the charging efficiency of the solar panel is higher when the vehicle is parked in the parking area. Is determined as the parking direction in the parking area of the vehicle, and the automatic driving control unit performs automatic driving control so that the vehicle is parked at the position specified by the parking position specifying unit and the parking direction determined by the parking direction determining unit. Automatic driving control is performed so that the vehicle is automatically parked in the parking area in the direction.
A third non-contact charging parking assist device according to the present invention is mounted on a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies electric power in a non-contact manner. Automatic driving control units (111, 111c) that perform automatic driving control to automatically park the vehicle, and parking position specifying units (105, 105) that specify the position of the vehicle with respect to the non-contact charger that maximizes the efficiency of non-contact charging. 105d) and a free space detection unit (109c) that detects whether or not there is a free space in which the vehicle is parked in the parking region, and the automatic operation control unit has a free space in which the vehicle is parked in the parking region by the free space detection unit. If it is detected that there is no space, the vehicle will wait for parking in the parking area, while if the free space detection unit detects that there is a space for parking the vehicle in the parking area, the driver gets on the vehicle. Tena Even in a state, it is characterized by performing automatic driving control so as to park the vehicle at a position specified by the parking position specifying unit of the parking area.
A fourth non-contact charging parking assist device according to the present invention is mounted on a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies electric power in a non-contact manner. Automatic driving control units (111, 111c) that perform automatic driving control to automatically park the vehicle, and parking position specifying units (105, 105) that specify the position of the vehicle with respect to the non-contact charger that maximizes the efficiency of non-contact charging. 105d), a non-contact charging efficiency specifying unit (115d) that sequentially specifies the efficiency of non-contact charging, and a non-contact charging efficiency that is sequentially specified by the non-contact charging efficiency specifying unit toward the driver of the vehicle A first notification processing unit (116d) that makes a notification prompting the driver to park the vehicle by a driving operation of the driver at a position in the parking area where the efficiency of the non-contact charging is equal to or greater than the threshold; With the above A learning unit (122) that learns the arrangement of structures around the vehicle when the vehicle is parked at a position within the parking area, and the parking position specifying unit (105d) has learned by the learning unit The position where the arrangement and the arrangement of the structures around the vehicle are the same is specified as the position of the vehicle with respect to the non-contact charger that maximizes the efficiency of non-contact charging, and the automatic operation control unit is specified by the parking position specifying unit Automatic driving control is performed so that the vehicle is parked at the position.

  According to this, since the position of the vehicle with respect to the non-contact charger specified by the parking position specifying unit is the position specified when the efficiency of non-contact charging is maximized, the automatic driving control by the automatic driving control unit performs this operation. When the vehicle is parked at the position, the efficiency of non-contact charging from the non-contact charger provided in the parking area becomes higher. As a result, when a vehicle that performs non-contact charging is automatically parked in a parking area where a non-contact charger is provided, it is possible to increase the efficiency of non-contact charging.

1 is a diagram illustrating an example of a schematic configuration of a charging parking system 100. FIG. It is a block diagram which shows an example of a schematic structure of the non-contact charge parking assistance unit. It is a block diagram which shows an example of a schematic structure of the non-contact charge parking assistance apparatus. It is a flowchart which shows an example of the flow of the non-contact charge parking assistance process in the non-contact charge parking assistance apparatus. It is a block diagram which shows an example of a schematic structure of the non-contact charge parking assistance apparatus 10a. 2 is a diagram illustrating an example of mounting a solar panel 30 in a vehicle A. FIG. It is a block diagram which shows an example of a schematic structure of the non-contact charge parking assistance apparatus 10b. It is a schematic diagram which shows the light-receiving state of the solar panel 30 when the vehicle A parks back in the parking area C. FIG. It is a schematic diagram which shows the light-receiving state of the solar panel 30 when the vehicle A parks ahead in the parking area C. FIG. It is a block diagram which shows an example of a schematic structure of the non-contact charge parking assistance apparatus 10c. 10 is a schematic diagram for explaining an outline of a flow of Modification Example 6. FIG. It is a block diagram which shows an example of a schematic structure of the non-contact charge parking assistance apparatus 10d.

(Embodiment 1)
<Schematic configuration of charging parking system 100>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of a schematic configuration of a charging parking system 100 to which the present invention is applied. A charging parking system 100 shown in FIG. 1 includes a non-contact charging parking support unit 1 mounted on a vehicle A and a non-contact charger 50 provided in a parking area C surrounded by a parking frame B.

  The vehicle A is an external charging vehicle such as an electric vehicle (EV) or a plug-in hybrid vehicle (PHV) that charges a running battery with electric power supplied from the outside of the vehicle. The vehicle A receives the electric power transmitted from the non-contact charger 50 according to the principle of electromagnetic induction by the power receiving pad 20 mounted on the vehicle A, and charges the traveling battery. That is, non-contact charging is performed. The parking frame B may be a lane marking that defines a parking area, or may be a structure that defines a parking area.

  The non-contact charge parking support unit 1 provides non-contact charge parking support that automatically parks the vehicle A at a position where the efficiency of non-contact charge is higher in the parking area C where the non-contact charger 50 is provided. Do. Details of the non-contact charging parking support unit 1 will be described later.

  The power receiving pad 20 includes a power receiving coil that receives power from the non-contact charger 50 in a non-contact manner, and is provided so as to be exposed outside the vehicle at the bottom of the vehicle A. The electric power received from the non-contact charger 50 by the power receiving pad 20 is output to the traveling battery as a DC voltage by the power circuit, and the traveling battery is charged.

  The non-contact charger 50 includes a power transmission coil that transmits power in a non-contact manner, and is provided to have a height lower than the bottom of the vehicle A. A mark D (see FIG. 1) indicating that the non-contact charger 50 is a non-contact charger 50 is attached to the surface so as to be visible from the outside. The mark D shown in FIG. 1 is merely an example, and other display modes may be used.

  The non-contact charger 50 includes a communication device and performs wireless communication with the non-contact charge parking support unit 1 of the vehicle A located within the communication range. As an example, wireless communication with a communication range of a radius of about several meters to several tens of meters is performed in accordance with a wireless LAN or Bluetooth (registered trademark) standard. The non-contact charger 50 transmits parking support information for supporting parking at a position in the parking area C where the efficiency of non-contact charging is higher by wireless communication.

  As the parking support information, there are position coordinates (for example, latitude and longitude coordinates) of the non-contact charger 50 and the parking frame B, a recommended parking direction indicating a recommended parking direction, information on the mark D of the non-contact charger 50, and the like. . The parking direction may be a direction such as east, west, south, and north, or may be two types of directions such as forward parking and backward parking. In the present embodiment, the following description will be continued assuming that there are two types of directions of front parking and rear parking. The information of the mark D may be the shape, size, color, etc. of the mark D.

<Schematic configuration of the non-contact charging parking support unit 1>
As shown in FIG. 2, the non-contact charge parking support unit 1 includes a position detector 2, a front camera 6, a rear camera 7, a communication device 8, an operation input unit 9, a non-contact charge parking support device 10, a display device 11, An audio output device 12, a vehicle control ECU 13, and a battery ECU 14 are provided.

  The position detector 2 includes a GNSS receiver 3, a gyro sensor 4, and a wheel speed sensor 5, and sequentially detects the current position of the vehicle A. The current position of the vehicle A is, for example, the center position of the rear wheel axle of the vehicle A and is represented by latitude and longitude coordinates. The GNSS receiver 3 is a receiver used in a GNSS (Global Navigation Satellite System), and measures the current position of the vehicle A based on a signal received from a positioning satellite by a GNSS antenna.

  The gyro sensor 4 detects an angular velocity generated in the vehicle A. As an example, the gyro sensor 4 is a three-axis gyro sensor that detects a change speed of a yaw angle, a roll angle, and a pitch angle. The wheel speed sensor 5 sequentially outputs pulse signals corresponding to the rotation speed of the rolling wheels of the vehicle A. From the pulse signal output from the wheel speed sensor 5, the vehicle speed of the vehicle A and the travel distance of the vehicle A can be detected.

  The position detector 2 uses a dead-reckoning navigation that estimates the current position of the vehicle A based on a pulse signal output from the wheel speed sensor 5 or a yaw angle change speed (that is, a yaw rate) detected by the gyro sensor 4. It is good also as a structure which performs the dead reckoning (Dead Reckoning) which complements the positioning result by the receiver 3. FIG. Further, the position detector 2 uses a positioning method such as RTK (Realtime Kinematic) positioning that eliminates errors by radio waves received from the electronic reference point in order to increase the positioning accuracy of the current position. It is preferable.

  The front camera 6 is mounted on the vehicle A and images a region extending in a predetermined angular range in front of the vehicle A. The rear camera 7 is mounted on the vehicle A and images a region extending in a predetermined angular range behind the vehicle A. The front camera 6 and the rear camera 7 are installed so that the optical axis faces the road surface, and image an area including the road surface. The front camera 6 and the rear camera 7 correspond to the sensor of the claims.

  The communication device 8 performs wireless communication with the non-contact charger 50 and receives parking support information transmitted from the non-contact charger 50. The operation input unit 9 receives an operation input from the driver of the vehicle A, and examples of the operation input received by the operation input unit 9 include an operation input for switching the necessity of the non-contact charging parking support described above.

  The display device 11 displays text and images in accordance with instructions from the non-contact charging parking assistance device 10. For example, the display device 11 is capable of full-color display and can be configured using a liquid crystal display or the like. The display device 11 may be configured to use a display provided on an instrument panel or the like, or may be configured to use HUD (Head-Up Dispray). The audio output device 12 includes a speaker or the like, and outputs audio according to instructions from the non-contact charging parking support device 10.

  The vehicle control ECU 13 is an electronic control device that performs acceleration / deceleration control and steering control of the vehicle A. The vehicle control ECU 13 includes a steering ECU that performs steering control, an engine ECU that performs acceleration / deceleration control, a brake ECU, and the like. The battery ECU 14 monitors the SOC (State of Charge) of the battery for traveling of the vehicle A.

  As shown in FIG. 2, the non-contact charging parking support device 10 includes a position detector 2, a front camera 6, a rear camera 7, a communication device 8, an operation input unit 9, a display device 11, an audio output device 12, and vehicle control. The ECU 13 and the battery ECU 14 are connected. The non-contact charging parking assistance device 10 includes a CPU, a memory such as a ROM and a RAM, an I / O, and a bus connecting them, and executes various processes by executing a control program stored in the ROM. The details of the non-contact charging parking assistance device 10 will be described later. Note that a part or all of the functions executed by the non-contact charging parking support apparatus 10 may be configured by hardware using one or a plurality of ICs.

<Schematic structure of the non-contact charge parking assistance apparatus 10>
The non-contact charging parking assistance device 10 performs the above-described non-contact charging parking assistance. As shown in FIG. 3, the non-contact charging parking support apparatus 10 includes a vehicle position acquisition unit 101, a non-contact charger position acquisition unit 102, a relative position specification unit 103, a correspondence relationship storage unit 104, a parking position specification unit 105, and a recommendation Parking direction acquisition unit 106, parking frame position acquisition unit 107, mark information acquisition unit 108, image recognition processing unit 109, target locus setting unit 110, automatic driving control unit 111, necessity switching unit 112, charging information acquisition unit 113, start The determination part 114, the efficiency specific | specification part 115, and the alerting | reporting process part 116 are provided.

  The vehicle position acquisition unit 101 acquires the current position of the vehicle A (hereinafter referred to as vehicle position) detected by the position detector 2. The contactless charger position acquisition unit 102 acquires the position coordinates of the contactless charger 50 (hereinafter referred to as contactless charger position) in the parking support information received by the communication device 8 from the contactless charger 50.

  The relative position specifying unit 103 specifies the vehicle position with respect to the non-contact charger 50 from the vehicle position acquired by the vehicle position acquisition unit 101 and the non-contact charger position acquired by the non-contact charger position acquisition unit 102.

  The correspondence relationship storage unit 104 stores a correspondence relationship between the efficiency of contactless charging of the vehicle A from the contactless charger 50 and the vehicle position with respect to the contactless charger 50. As an example, it may be a correspondence relationship between the ratio to the theoretical maximum charging efficiency and the vehicle position with respect to the non-contact charger 50, or the received voltage at the power receiving pad 20 and the vehicle position with respect to the non-contact charger 50. It may be a correspondence relationship. The correspondence relationship may be a table, a map, or another aspect.

  The parking position specifying unit 105 specifies the vehicle position with respect to the non-contact charger 50 that maximizes the efficiency of non-contact charging from the correspondence relationship stored in the correspondence relationship storage unit 104. The vehicle position with respect to the non-contact charger 50 that maximizes the efficiency of non-contact charging is a target parking position (hereinafter, target parking position).

  The recommended parking direction acquisition unit 106 acquires the recommended parking direction in the parking support information received by the communication device 8 from the non-contact charger 50. The parking frame position acquisition unit 107 acquires the position coordinates of the parking frame B in the parking support information received by the communication device 8 from the non-contact charger 50.

  The mark information acquisition unit 108 acquires information on the mark D in the parking support information received by the communication device 8 from the non-contact charger 50. The image recognition processing unit 109 performs image recognition processing on the captured image captured by the front camera 6 or the rear camera 7, thereby extracting the mark D that matches the information of the mark D acquired by the mark information acquisition unit 108. Try. Further, the image recognition processing unit 109 performs an image recognition process on the captured image captured by the front camera 6 or the rear camera 7, so that an obstacle that obstructs the traveling of the vehicle A exists in the parking area C. Detect this obstacle.

  The target locus setting unit 110 includes a vehicle position with respect to the non-contact charger 50 specified by the relative position specifying unit 103, a target parking position specified by the parking position specifying unit 105, a recommended parking direction acquired by the recommended parking direction acquisition unit 106, and parking. Based on the position coordinates of the parking frame B acquired by the frame position acquisition unit 107, a target travel locus of the vehicle A is set. Specifically, from the vehicle position relative to the non-contact charger 50 specified by the relative position specifying unit 103, the target parking while entering the parking area C in the parking direction according to the recommended parking direction so that the vehicle A fits in the parking frame B. Set the target travel path so that you can park at the location.

  As an example, the target travel locus may be set as follows. First, the second half turning radius which is the turning radius in the second half route from the steered position where the vehicle A steers to the target parking position is set. The second-half turning radius is the maximum turning radius that can be entered in the parking direction according to the recommended parking direction so as to be within the parking frame B with respect to the target parking position in the parking area C. Good.

  Subsequently, a first half turning radius that is a turning radius in the first half path from the current position of the host vehicle to the steered position is set. In the present embodiment, the first-half turning radius is a radius of a circle that passes through the vehicle position with respect to the non-contact charger 50 specified by the relative position specifying unit 103 and is in contact with the second- half path that turns with the second-half turning radius. Further, the point where the first half path and the second half path are in contact is the steered position.

  The target trajectory setting unit 110 determines the parking direction based on the recommended parking direction acquired by the recommended parking direction acquisition unit 106. Therefore, the target locus setting unit 110 corresponds to a parking direction determination unit in the claims. When the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is one of front parking and rear parking, the acquired one parking direction is determined as the recommended parking direction. When the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is not limited to a specific parking direction, it may be configured to select either forward parking or backward parking. The parking direction to be selected may be set in advance, or may be configured to select the parking direction in which the length of the target travel locus is shorter.

  The automatic operation control unit 111 changes the steering angle, the brake pressure, the intake air amount, the gear ratio, etc. by transmitting an instruction signal to the vehicle control ECU 13, and the vehicle A automatically travels along the target travel locus, Control to park at the target parking position.

  The necessity switching unit 112 switches the setting of necessity / non-necessity of non-contact charging parking according to an operation input for switching necessity / non-necessity of non-contact charging parking received by the operation input unit 9. When the non-contact charging parking assistance is not received, the driver of the vehicle A manually parks the vehicle A in the parking area C. The charging information acquisition unit 113 acquires the traveling battery SOC of the vehicle A from the battery ECU 14.

  The start determination unit 114 is a communication device when the necessity switching unit 112 sets that non-contact charging parking support is necessary and the SOC of the traveling battery acquired by the charging information acquisition unit 113 does not indicate full charge. 8 starts wireless communication. Furthermore, when the image recognition processing unit 109 can extract the mark D of the non-contact charger 50, the start determination unit 114 starts the automatic driving control in the automatic driving control unit 111 and moves to the target parking position. When parking is completed, non-contact charging from the non-contact charger 50 via the power receiving pad 20 is started.

  The efficiency specifying unit 115 refers to the correspondence stored in the correspondence storage unit 104 based on the vehicle position with respect to the non-contact charger 50 specified by the relative position specifying unit 103, and performs non-contact at the vehicle position. Identify charging efficiency.

  The notification processing unit 116 causes the display device 11 and the audio output device 12 to perform notification indicating the efficiency of non-contact charging specified by the efficiency specifying unit 115. In other words, a notification indicating the efficiency of contactless charging at the current vehicle position is performed. Further, the notification processing unit 116 makes a notification indicating whether or not non-contact charging is performed depending on whether or not non-contact charging is performed. In addition, it is good also as a structure which performs the notification which shows performing non-contact charge only when performing non-contact charge.

<Non-contact charging parking support processing>
Next, an example of a flow of processing (hereinafter referred to as non-contact charging parking support processing) related to non-contact charging parking support in the non-contact charging parking support device 10 will be described using the flowchart of FIG. The flowchart of FIG. 4 may be configured to start when, for example, the necessity switching unit 112 sets that non-contact charging parking support is necessary in accordance with the operation input received by the operation input unit 9. It is assumed that the driver of the vehicle A performs an operation input indicating that non-contact charging parking assistance is required when non-contact charging parking assistance is required at the start of parking in the parking area C.

  First, in step S1, when the SOC of the traveling battery acquired by the charging information acquisition unit 113 indicates full charge (YES in S1), the non-contact charging parking support process is terminated. On the other hand, when the SOC of the traveling battery acquired by the charging information acquisition unit 113 does not indicate full charge (NO in S1), the process proceeds to step S2.

  Note that, when the vehicle is fully charged, based on the position coordinates of the parking frame B acquired by the parking frame position acquisition unit 107, the target travel that allows the vehicle A to park in the parking area C so as to fit in the parking frame B A trajectory may be set and the vehicle A may be automatically parked in the parking area C along the target travel trajectory.

  In step S <b> 2, the start determination unit 114 starts wireless communication with the communication device 8. If the non-contact charger 50 exists in the communication range, the communication device 8 performs wireless communication with the non-contact charger 50.

  In step S3, when the parking assistance information transmitted by wireless communication from the non-contact charger 50 is acquired (YES in S3), the process proceeds to step S4. On the other hand, if it has not been acquired (NO in S3), the process returns to S2 and is repeated. As an example, when each information included in the parking support information is acquired by the non-contact charger position acquisition unit 102, the recommended parking direction acquisition unit 106, the parking frame position acquisition unit 107, and the mark information acquisition unit 108, the parking support information is obtained. It shall be acquired.

  In step S4, when the recommended parking direction determined by the target locus setting unit 110 based on the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is forward parking (YES in S4), the process proceeds to step S5. . On the other hand, when the recommended parking direction is backward parking (NO in S4), the process proceeds to step S7.

  In step S5, when the image recognition processing unit 109 can extract the mark D of the non-contact charger 50 from the captured image captured by the front camera 6, that is, when the mark D is confirmed by the front camera 6 (in S5). (YES), it moves to step S9. On the other hand, if the mark D is not confirmed by the front camera 6 (NO in S5), the process proceeds to step S6. In step S6, the notification processing unit 116 notifies the display device 11 and the audio output device 12 that the mark D of the non-contact charger 50 cannot be confirmed, and returns to S5 to repeat the processing.

  In step S7 when the recommended parking direction is rear parking in S4, the mark D of the non-contact charger 50 can be extracted from the captured image captured by the rear camera 7, that is, the rear If the mark D is confirmed by the camera 7 (YES in S7), the process proceeds to step S9. On the other hand, if the mark D is not confirmed by the rear camera 7 (NO in S7), the process proceeds to step S8. In step S8, the notification processing unit 116 notifies the display device 11 and the audio output device 12 that the mark D of the non-contact charger 50 cannot be confirmed, and returns to S7 to repeat the processing.

  In step S9, the vehicle position acquisition unit 101 acquires the vehicle position. In step S10, the relative position specifying unit 103 specifies the vehicle position with respect to the non-contact charger 50 from the vehicle position acquired in S9 and the non-contact charger position in the parking assistance information acquired in S3. In step S11, the parking position specifying unit 105 specifies a target parking position where the efficiency of non-contact charging is maximized.

  In step S12, the target locus setting unit 110 determines the recommended parking direction and the parking frame B among the vehicle position with respect to the non-contact charger 50 identified in S10, the target parking position identified in S11, and the parking assistance information acquired in S3. A target travel locus is set based on the position coordinates. In step S <b> 13, the start determination unit 114 starts automatic driving control in the automatic driving control unit 111 that automatically parks the vehicle A at the target parking position along the target travel locus.

  In step S14, when the image recognition processing unit 109 does not detect an obstacle present in the parking area C and the vehicle A can be parked at the target parking position (YES in S14), the process proceeds to step S16. On the other hand, when the image recognition processing unit 109 detects an obstacle present in the parking area C and the vehicle A cannot be parked at the target parking position (NO in S14), the process proceeds to step S15.

  In step S15, the notification processing unit 116 causes the display device 11 and the voice output device 12 to notify that the vehicle A cannot be parked at the target parking position, and ends the non-contact charging parking support processing. Therefore, the notification processing unit 116 corresponds to a second notification processing unit in the claims. According to the process of S15, the driver of the vehicle A can recognize that the vehicle cannot be parked at the target parking position.

  Note that, when the vehicle is fully charged, based on the position coordinates of the parking frame B acquired by the parking frame position acquisition unit 107, the target travel that allows the vehicle A to park in the parking area C so as to fit in the parking frame B A trajectory may be set and the vehicle A may be automatically parked in the parking area C along the target travel trajectory.

  In step S16, when the automatic driving control unit 111 completes parking of the vehicle A at the target parking position (YES in S16), the process proceeds to step S17. On the other hand, when the parking of the vehicle A at the target parking position is not completed (NO in S16), the process of S16 is repeated. In step S17, the start determination unit 114 starts non-contact charging from the non-contact charger 50 via the power receiving pad 20, and ends the non-contact charging parking support process.

  In addition, even when the driver of the vehicle A manually parks the vehicle A in the parking area C without receiving the non-contact charging parking support, the non-contact charging parking support device 10 supports the parking at the target parking position. Also good. In this case, a difference between the vehicle position acquired by the vehicle position acquisition unit 101 and the target parking position is obtained, and the notification processing unit 116 may notify the travel distance and the traveling direction necessary to eliminate this shift. . At this time, the notification processing unit 116 may sequentially notify the current contactless charging efficiency specified by the efficiency specifying unit 115. Also, when the vehicle A is manually parked in the parking area C, if the image recognition processing unit 109 detects an obstacle present in the parking area C and cannot park at the target parking position, the notification processing unit It is preferable that 116 notifies that vehicle A cannot be parked at the target parking position.

<Summary of Embodiment 1>
According to the configuration of the first embodiment, the parking position specifying unit 105 determines the vehicle position with respect to the non-contact charger 50 that maximizes the efficiency of non-contact charging from the correspondence relationship stored in the correspondence relationship storage unit 104 (that is, Specify the target parking position. The relative position specifying unit 103 specifies the vehicle position with respect to the non-contact charger 50 from the vehicle position acquired by the vehicle position acquisition unit 101 and the non-contact charger position acquired by the non-contact charger position acquisition unit 102. To do. And since automatic driving | operation control is performed so that it parks in a target parking position from the vehicle position with respect to the non-contact charger 50 specified with the relative position specific | specification part 103, with respect to the non-contact charger 50 from which the efficiency of non-contact charge becomes the maximum It becomes possible to park the vehicle automatically. As a result, when a vehicle that performs non-contact charging is automatically parked in a parking area where a non-contact charger is provided, it is possible to increase the efficiency of non-contact charging.

(Modification 1)
In the first embodiment, the relative position specifying unit 103 is based on the position of the vehicle A acquired by the vehicle position acquisition unit 101 and the position of the non-contact charger 50 acquired by the non-contact charger position acquisition unit 102. Although the structure which pinpoints the position of the vehicle A with respect to the non-contact charger 50 was shown, it does not necessarily restrict to this. For example, the non-contact charger 50 based on the position of the non-contact charger 50 relative to the vehicle A detected using a sensor used to detect the position of the object relative to the vehicle A, such as the front camera 6 and the rear camera 7. It is good also as a structure which pinpoints the position of the vehicle A with respect to. In this case, non-contact charging is performed from the mounting position and imaging direction of the front camera 6 or the rear camera 7 that has captured the image including the mark D of the non-contact charger 50 in the vehicle A and the position of the mark D in the captured image. The position of the vehicle A with respect to the container 50 may be specified.

(Modification 2)
In Embodiment 1, although the structure which acquires the position coordinate of the parking frame B from the non-contact charger 50 via the communication apparatus 8 was shown, it does not necessarily restrict to this. For example, it is good also as a structure which acquires the position of the parking frame B using the camera which images the periphery of the vehicle A, such as the front camera 6 and the back camera 7. FIG. In this case, the image recognition processing unit 109 detects the parking frame B in the parking area C by performing image recognition processing such as known edge detection on the captured image captured by the front camera 6 or the rear camera 7. do it. Then, the position of the parking frame B relative to the vehicle A from the mounting position and imaging direction of the front camera 6 or the rear camera 7 that captured the image including the parking frame B in the vehicle A and the position of the parking frame B in the captured image. Should be specified.

(Modification 3)
In the first embodiment, at the start of parking in the parking area C, when non-contact charging parking assistance is required, an operation input indicating that non-contact charging parking assistance is required is shown. Not exclusively. For example, it is good also as a structure which performs the operation input to the effect of requiring non-contact charge parking assistance beforehand before the parking start to the parking area C. In this case, the non-contact charging parking support process may be started using another condition such as the start of wireless communication between the communication device 8 and the non-contact charger 50 as a trigger.

(Modification 4)
In addition to the non-contact charging, the vehicle A can be charged from a plug-in charger via a charging cable, and when the plug-in charger is provided in the parking area C, It is good also as a structure (henceforth, modification 4) which determines a parking direction in consideration of the installation position of the plug-in charger with respect to the parking area C, and the connection position (henceforth, charging connection position) of the charging cable of the vehicle A. .

  Below, this modification 4 is demonstrated using drawing. For convenience of explanation, members having the same functions as those shown in the drawings used in the previous description are denoted by the same reference numerals in the following description of the modified example 4, and description thereof is omitted.

  The non-contact charging parking support unit 1 of the modification 4 is the same as the non-contact charging parking support unit 1 of the first embodiment except that the non-contact charging parking support device 10a is provided instead of the non-contact charging parking support device 10. It is. The non-contact charge parking support apparatus 10a of the modification 4 is different from that of the first embodiment except that the target locus setting unit 110a is provided in place of the target locus setting unit 110 and the plug-in charger position acquisition unit 117 is provided. This is the same as the non-contact charging parking assistance device 10.

  In the modification 4, the non-contact charger 50 shall also transmit the installation position of the plug-in charger with respect to the parking area C as parking assistance information. The installation position of the plug-in charger with respect to the parking area C may be, for example, an orientation viewed from the center of the parking area C, and represents a direction such as the right side of the vehicle A when the vehicle A is parked forward in the parking area C. It may be a thing.

  Here, an example of a schematic configuration of the non-contact charging parking support apparatus 10a will be described with reference to FIG. In FIG. 5, for the sake of convenience, among the configurations included in the non-contact charging parking support device 10 a, the configurations other than the configuration different from the non-contact charging parking support device 10 of Embodiment 1 are omitted.

  The plug-in charger position acquisition unit 117 acquires the installation position of the plug-in charger with respect to the parking area C in the parking support information received by the communication device 8 from the non-contact charger 50.

  The target locus setting unit 110a is the same as the target locus setting unit 110 except that the parking direction is determined in consideration of the installation position of the plug-in charger with respect to the parking area C and the charging connection position of the vehicle A. .

  When the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is not limited to a specific parking direction, the target trajectory setting unit 110 a and the charging connection of the vehicle A and the charging connection of the vehicle A The direction in which the position matches is determined as the parking direction. The charging connection position of the vehicle A may be expressed in a direction such as the right side of the vehicle A, for example, and the target locus setting unit 110a may read the information stored in the non-volatile memory of the non-contact charging parking assist device 10.

  As an example, when the plug-in charger is installed in the parking area C on the right side of the vehicle A when the vehicle A is parked forward in the parking area C, and the charging connect position of the vehicle A is on the right side of the vehicle A, In the case of front parking, the installation position of the plug-in charger and the charging connect position are matched, so that it is determined that the front parking is performed.

  In addition, when the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is one of front parking and rear parking, the target locus setting unit 110a sets the acquired parking direction as the recommended parking direction. decide.

  According to the modified example 4, since the direction in which the installation position of the plug-in charger with respect to the parking area C and the charging connection position of the vehicle A are matched is determined as the parking direction, the target parking that maximizes the efficiency of non-contact charging While the vehicle A is automatically parked at the position, the vehicle A can be parked automatically in the parking direction in which charging via the charging cable from the plug-in charger can be received. As a result, in the parking area C, the vehicle A can receive charging from the plug-in charger while performing highly efficient non-contact charging.

(Modification 5)
In addition to non-contact charging, when the vehicle A can be charged from the solar panel 30 that is mounted on the vehicle A and generates power by sunlight, the solar panel It is good also as a structure (henceforth modification 5) which determines a parking direction in consideration of charging efficiency.

  The non-contact charging parking support unit 1 of the modification 5 is the same as the non-contact charging parking support unit 1 of the first embodiment except that the non-contact charging parking support device 10b is provided instead of the non-contact charging parking support device 10. It is. The non-contact charge parking support apparatus 10b of the modified example 5 is an embodiment except that the target locus setting unit 110b is provided instead of the target locus setting unit 110 and the photovoltaic power generation efficiency estimation information acquisition unit 118 is provided. 1 is the same as that of the non-contact charging parking assist device 10.

  The solar panel 30 is mounted on the body surface of the vehicle A. As an example, as shown in FIG. 6, the vehicle A is mounted on the surface of a roof or a trunk lid.

  In the modification 5, the non-contact charger 50 uses the parking assistance information to estimate the parking direction in which the power generation efficiency of the solar panel 30 is higher in the parking area C (hereinafter, information for estimating the solar power generation efficiency). ). As an example, the photovoltaic power generation efficiency estimation information is information in which a parking direction estimated to increase the power generation efficiency of the solar panel 30 is associated with each vehicle type and time zone.

  Next, an example of a schematic configuration of the non-contact charging parking support apparatus 10b will be described with reference to FIG. In FIG. 7, for the sake of convenience, among the configurations included in the non-contact charging parking support device 10 b, the configurations other than the configuration different from the non-contact charging parking support device 10 of the first embodiment are omitted.

  The photovoltaic power generation efficiency estimation information acquisition unit 118 acquires the photovoltaic power generation efficiency estimation information from the parking support information received by the communication device 8 from the non-contact charger 50.

  The target trajectory setting unit 110b is the same as the target trajectory setting unit 110 except that the parking direction is determined in consideration of the charging efficiency of the solar panel. The target locus setting unit 110b charges the solar panel 30 when the vehicle A is parked in the parking area C when the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is not limited to a specific parking direction. The parking direction estimated to be more efficient is determined as the parking direction.

  As an example, based on the current time and the vehicle type of the vehicle A, for the photovoltaic power generation efficiency estimation in which the parking direction estimated to increase the power generation efficiency of the solar panel 30 for each vehicle type and time zone is associated. With reference to the information, the parking direction estimated to increase the power generation efficiency of the solar panel 30 with respect to the time zone to which the current time belongs and the vehicle type of the vehicle A is obtained. And let the obtained parking direction be a parking direction estimated that the charging efficiency of the solar panel 30 becomes higher when the vehicle A is parked in the parking area C.

  The current time may be obtained from the timer of the vehicle A, and the vehicle type of the vehicle A may be read from the non-volatile memory of the non-contact charging parking assistance device 10. Good. The vehicle type information assumes that the arrangement of the solar panels 30 is different for each vehicle type, and may not be used when the arrangement of the solar panels 30 is the same regardless of the vehicle type.

  Here, an example in which the power generation efficiency of the solar panel 30 varies depending on the parking direction will be described with reference to FIGS. 8 and 9. E in FIG. 8 and FIG. 9 shows a structure existing around the parking area C, and F shows a shadow area caused by the structure E. FIG. 8 shows a light receiving state of the solar panel 30 when the vehicle A is parked rearward in the parking area C, and FIG. 9 shows light reception of the solar panel 30 when the vehicle A is parked forward in the parking area C. Indicates the state.

  As shown in FIG.8 and FIG.9, when the structure E exists in the circumference | surroundings of the parking area C, the light reception state of the solar panel 30 by the shadow of this structure E depends on whether the parking direction is forward parking or backward parking. May be different. In the modification 5, in consideration of this, the parking direction in which the power generation efficiency of the solar panel 30, that is, the charging efficiency by the solar panel 30, is estimated to be higher is determined.

  In addition, when the recommended parking direction acquired by the recommended parking direction acquisition unit 106 is one of front parking and rear parking, the target locus setting unit 110b sets the acquired parking direction as the recommended parking direction. decide.

  According to the modified example 5, since the parking direction estimated that the charging efficiency by the solar panel 30 becomes higher is determined as the parking direction, the vehicle is automatically parked at the target parking position where the efficiency of non-contact charging is maximized. Moreover, it becomes possible to park automatically in the parking direction where the charging efficiency by the solar panel 30 becomes higher. As a result, the vehicle A can receive highly efficient charging from the solar panel 30 while performing highly efficient non-contact charging in the parking area C.

  In the fifth modification, an example in which the parking direction is the two directions of the front parking and the rear parking has been described. However, more detailed directions such as four directions of east, west, south, and north may be used.

(Modification 6)
In addition, when there is no vacancy in the parking area C where the non-contact charger 50 is provided, automatic parking of the vehicle A in the parking area C is waited, and automatic parking is started when the vacancy is made. It is good also as a structure (henceforth modification 6) to be made. Moreover, in the modified example 6, when the non-contact charge from the non-contact charger 50 is completed, the vehicle A that has completed the non-contact charge is automatically parked at a parking position other than the parking area C where it should be parked. It is preferable.

  In the modified example 6, there are a parking area C where the non-contact charger 50 is provided and a parking area where the non-contact charger 50 is not provided (hereinafter referred to as a non-charge parking area) in a commercial facility or a public facility. Assuming the case, it is assumed that the parking area where the vehicle A that has completed the non-contact charging is to be parked is the non-charging parking area.

  The non-contact charging parking support unit 1 of the modification 6 is the same as the non-contact charging parking support unit 1 of the first embodiment except that the non-contact charging parking support device 10c is provided instead of the non-contact charging parking support device 10. It is. The non-contact charge parking assist device 10c of the modified example 6 includes an image recognition processor 109c, a target locus setting unit 110c, a target locus setting unit 110, an automatic driving control unit 111, an image recognition processing unit 109c, a target locus setting unit 110c, Except for the point provided with the automatic operation control part 111c and the start determination part 114c and the point provided with the post-charging parking position acquisition part 119, it is the same as that of the non-contact charge parking assistance apparatus 10 of Embodiment 1.

  In the modified example 6, the non-contact charger 50 includes, as parking assistance information, position coordinates of an uncharged parking area with a space, position coordinates of a parking frame of the non-charge parking area, and recommended parking direction of the non-charge parking area. Shall also be sent. The non-contact charger 50 may be configured to acquire information such as the position coordinates of a vacant non-charge parking area from a server device that manages parking via a network or the like.

  Here, an example of a schematic configuration of the non-contact charging parking support apparatus 10c will be described with reference to FIG. In FIG. 10, for the sake of convenience, among the configurations included in the non-contact charging parking support device 10 c, the configuration other than the configuration different from the non-contact charging parking support device 10 of the first embodiment is omitted.

  The image recognition processing unit 109c is the same as the image recognition processing unit 109 of the first embodiment except that the processing described below is performed. The image recognition processing unit 109c performs image recognition processing such as pattern matching on the captured image captured by the front camera 6 and the rear camera 7, thereby determining whether or not there is a space for parking the vehicle A in the parking area C. To detect. Therefore, the image recognition processing unit 109c corresponds to a free space detection unit in claims. As an example, when a parked vehicle is detected in the parking area C by pattern matching, it is detected that there is no vacancy, whereas when no parked vehicle is detected, it is detected that there is a vacancy.

  The image recognition processing unit 109c, for example, when an operation input indicating that contactless charging parking support is required is performed on the operation input unit 9, or when wireless communication between the communication device 8 and the contactless charger 50 is started. Thus, the detection of the vacancy for parking the vehicle A is started, and the detection may be continued until the vacancy is detected. It is preferable that the vacancy detection for parking the vehicle A is performed even when the driver gets off the vehicle A.

  The start determination unit 114c is the same as the start determination unit 114 of Embodiment 1 except that the process described below is performed. The start determination unit 114c does not start the automatic driving control in the automatic driving control unit 111 until the image recognition processing unit 109c detects an empty space in the parking region C, and automatically parks the vehicle A in the parking region C. To wait. Moreover, the start determination part 114c starts the automatic driving | operation control in the automatic driving | operation control part 111, when the empty of the parking area C is detected in the image recognition process part 109c.

  When automatic driving control is started, the vehicle A moves to a position where the efficiency of non-contact charging in the parking area C becomes higher by the processing of the automatic driving control unit 111 in the same manner as described in the first embodiment. You are parked automatically. And after parking, the non-contact charge from the non-contact charger 50 is started.

  Moreover, the start determination part 114c is the case where the SOC of the traveling battery acquired by the charge information acquisition part 113 indicates full charge after the start of the non-contact charge from the non-contact charger 50 (that is, the charge is When completed, automatic parking in the non-charge parking area is started. The post-charge parking position acquisition unit 119 is an uncharged non-chargeable piece of parking support information received by the communication device 8 from the non-contact charger 50 when automatic parking in the non-charge parking area is started. The position coordinates of the parking area, the position coordinates of the parking frame of the non-charge parking area, and the recommended parking direction of the non-charge parking area are acquired.

  The target trajectory setting unit 110c is the same as the target trajectory setting unit 110 of the first embodiment except that the processing described below is performed. The target locus setting unit 110c, when automatic parking in the non-charge parking area is started, the position coordinates of the non-charge parking area with the space acquired by the post-charge parking position acquisition unit 119, the non-charge parking area The target travel locus of the vehicle A is set in the same manner as the target locus setting unit 110 based on the position coordinates of the parking frame and the recommended parking direction of the non-charge parking area. Specifically, the target travel locus is set so that the vehicle A starts from the parking position in the area C and can park in the parking direction according to the recommended parking direction so that the vehicle A fits in the parking frame in the non-chargeable parking area.

  After the target travel locus for automatically parking in the vacant non-charge parking area is set, the automatic operation control unit 111c automatically travels along the target travel locus, and the vehicle A travels along the target travel locus. Control to park in the charge parking area. In addition, it is preferable to set it as the structure performed even if it is the state from which the driver got off from the vehicle A also about the automatic parking to the non-charging parking area from the automatic parking to the parking area C.

  Here, the outline of the flow of Modification 6 will be described with reference to FIG. A1 to A4 in FIG. 11 indicate vehicles A in different situations. Moreover, G of FIG. 11 has shown the parking frame of the non-charging parking area, and H has shown the non-charging parking area.

  First, when there is no space in the parking area C where the non-contact charger 50 is provided, the vehicle A is automatically parked in the parking area C (see A1 in FIG. 11). When the parking area C is empty, the vehicle A is automatically parked in the parking area C and non-contact charging from the non-contact charger 50 is performed (see A2 in FIG. 11). When the non-contact charging from the non-contact charger 50 is completed, the vehicle A is automatically moved from the parking area C to the empty non-charging parking area H (see A3 in FIG. 11), and the non-charging parking area H (See A4 in FIG. 11).

  According to the configuration of the modified example 6, when the parking area C where the non-contact charger 50 is provided is not vacant and the vehicle A cannot be charged immediately, the driver gets off from the vehicle A and spends time. During crushing, the vehicle A can be parked automatically in the vacant parking area C and non-contact charging can be performed. Therefore, it is not necessary for the driver to wait in the vehicle until the parking area C becomes empty.

  Further, according to the configuration of the modified example 6, after the non-contact charging is completed, the vehicle A is automatically parked in the non-charge parking area, so that after the non-contact charging is completed, the driver enters the vehicle A in the non-charge parking area. No need to move the camera.

  Moreover, in the modified example 6, when the vehicle A is automatically parked in the non-charge parking area, the non-contact charge parking support device 10c is carried by the driver of the vehicle A via a network such as the Internet or a mobile phone network. It is preferable that the terminal is notified that the charging of the vehicle A is completed or a notification that notifies the parking position of the vehicle A. In this case, the non-contact charging parking assistance device 10c may be configured to notify the portable terminal carried by the driver of the vehicle A using a communication module for telematics communication such as DCM (Data Communication Module). According to this, even when the driver who gets off the vehicle A spends away from the vehicle A, it is possible to know that the charging of the vehicle A has been completed and the parking position of the vehicle A, which is convenient for the driver of the vehicle A. Improves.

(Modification 7)
Although the structure which the communication apparatus 8 receives parking assistance information from the non-contact charger 50 was shown before, it is not necessarily restricted to this. For example, the communication device 8 may be configured to receive parking assistance information transmitted by wireless communication from a device other than the non-contact charger 50 such as a roadside device provided in the vicinity of the parking area C. In addition, the communication device 8 may receive parking support information distributed from the server device via a network such as the Internet or a mobile phone network. In this case, the communication device 8 may be configured to use a communication module for telematics communication such as DCM (Data Communication Module).

(Embodiment 2)
The present invention is not limited to the above-described embodiments and modifications, and the following second embodiment is also included in the technical scope of the present invention. Hereinafter, the second embodiment will be described with reference to the drawings.

  The non-contact charge parking support unit 1 according to the second embodiment is the same as the non-contact charge parking support unit 1 according to the first embodiment, except that the non-contact charge parking support device 10d is provided instead of the non-contact charge parking support device 10. It is. In addition, the non-contact charge parking assistance unit 1 of Embodiment 2 may be the structure which is not provided with the position detector 2, and demonstrates the case where the position detector 2 is not provided as an example below.

  In the second embodiment, it is assumed that the non-contact charger 50 transmits information (hereinafter, charging efficiency specifying information) that can specify the power to be transmitted from the non-contact charger 50. In the second embodiment, it is assumed that the contactless charger 50 is provided in a frequently used parking area such as a parking area at the home of the driver of the vehicle A.

  Here, an example of a schematic configuration of the non-contact charging parking support apparatus 10d will be described with reference to FIG. As shown in FIG. 12, the non-contact charging parking assist device 10d includes a parking position specifying unit 105d, an image recognition processing unit 109d, a target locus setting unit 110d, an automatic driving control unit 111, a necessity switching unit 112, and a charging information acquisition unit. 113, a start determination unit 114d, an efficiency specifying unit 115d, a notification processing unit 116d, a charging efficiency specifying information acquisition unit 120, a parking detection unit 121, a learning unit 122, and an arrangement storage unit 123.

  In the second embodiment, the non-contact charge parking assist device 10d parks the vehicle A at a position where the efficiency of the non-contact charge is higher by the driving operation of the vehicle A, and learns the arrangement of structures around the position. And a process (hereinafter referred to as an automatic parking stage process) relating to a stage in which parking is automatically performed using the learning result.

  First, the learning stage process will be described. For example, the trigger for starting the learning stage process may be that the operation input unit 9 accepts an operation input from the driver of the vehicle A to start the learning stage process. When the learning stage process is started, the start determination unit 114 d starts non-contact charging from the non-contact charger 50 on the power receiving pad 20.

  In the learning stage process, the charging efficiency specifying information acquisition unit 120 acquires charging efficiency specifying information received by the communication device 8 from the non-contact charger 50. The efficiency specifying unit 115d sequentially specifies the current efficiency of non-contact charging from the non-contact charger 50 based on the charging efficiency specifying information acquired by the charging efficiency specifying information acquiring unit 120. As an example, the efficiency of non-contact charging is sequentially specified from the ratio between the power actually received by the power receiving pad 20 and the power to be transmitted from the non-contact charger 50 specified from the charging efficiency specifying information. That's fine. The efficiency specifying unit 115d corresponds to the non-contact charging efficiency specifying unit in the claims.

  The notification processing unit 116d causes the display device 11 and the audio output device 12 to sequentially perform notification indicating the efficiency of non-contact charging that is sequentially specified by the efficiency specifying unit 115d. Therefore, the notification processing unit 116d corresponds to the first notification processing unit in the claims.

  The driver of the vehicle A relies on the information indicating the efficiency of the non-contact charging notified from the display device 11 and the audio output device 12 by the notification processing unit 116d, and the position in the parking area where the efficiency of the non-contact charging is equal to or higher than the threshold value. Search while manually operating. And when the position in the parking area where the efficiency of non-contact charge becomes more than a threshold is reached, vehicle A shall be parked at that position. The threshold value referred to here may be a value at which the efficiency of contactless charging can be said to be substantially maximum.

  The parking detector 121 detects that the vehicle A is parked. As an example, the detection may be based on the signal of the shift position sensor of the vehicle A. Moreover, what is necessary is just to detect whether the vehicle A parked in the parking direction of front parking and back parking based on the signal of a shift position.

  When the parking detection unit 121 detects that the vehicle A is parked, the learning unit 122 causes the image recognition processing unit 109d to acquire a captured image captured by the front camera 6 or the rear camera 7. For example, a captured image of the front camera 6 may be acquired when parking in front parking, and a captured image of the rear camera 7 may be acquired when parking in rear parking. Then, the learning unit 122 performs learning for storing the captured image acquired by the image recognition processing unit 109d in the arrangement storage unit 123 in association with the parking direction. The captured images captured by the front camera 6 and the rear camera 7 correspond to the arrangement of structures around the vehicle in the claims.

  In addition, although the structure which uses the picked-up image imaged with the front camera 6 or the back camera 7 as the arrangement | positioning of the structure around the vehicle A was shown here, it does not necessarily restrict to this. For example, as a configuration in which an arrangement of structures around the vehicle A is obtained by scanning a survey wave around the vehicle by a radar or the like mounted on the vehicle A, and the obtained arrangement of the structures is stored in the arrangement storage unit 123. Also good. In this case, the arrangement of the structures may be expressed by coordinates on a two-dimensional plane parallel to the ground plane.

  Subsequently, the automatic parking stage process will be described. As an example, the trigger for starting the automatic parking stage process is an operation indicating that non-contact charging parking assistance from the driver of the vehicle A is required by the operation input unit 9 in addition to the learning completed by the learning unit 122. It is sufficient to accept the input. In addition, in addition to the learning being completed by the learning unit 122, the communication device 8 may enter the communication range of the non-contact charger 50 and communication may be started.

  When the automatic parking stage process is started, the parking position specifying unit 105d causes the image recognition processing unit 109d to acquire a captured image captured by the front camera 6 or the rear camera 7. When the parking direction associated with the captured image stored in the arrangement storage unit 123 is forward parking, the captured image of the front camera 6 is acquired, and in the case of backward parking, the captured image of the rear camera 7 is acquired. Get it.

  And the parking position specific | specification part 105d is based on the captured image memorize | stored in the arrangement | positioning memory | storage part 123, and the captured image acquired by the image recognition process part 109d, The captured image memorize | stored in the arrangement | positioning memory | storage part 123 The position at which the arrangement of the structures included in the image and the arrangement of the structures included in the captured image acquired by the image recognition processing unit 109d are the same is specified as the vehicle position where the efficiency of non-contact charging is maximized.

  As an example, by using the image recognition processing unit 109d, a plurality of common structures are detected in the captured image stored in the arrangement storage unit 123 and the captured image acquired by the image recognition processing unit 109d. The captured image is subjected to deformation such as enlargement / reduction or rotation so that the sizes and positions of the plurality of structures coincide with each other. Then, the shift of the imaging point due to the deformation such as enlargement / reduction or rotation required to match the size and position of the structure is converted into a shift between the current position and the vehicle position where the efficiency of non-contact charging is maximized. By doing so, the vehicle position where the efficiency of non-contact charging is maximized is specified. As an example, it may be specified as a relative position with respect to the current position.

  In the case where the arrangement of the structure around the vehicle A is obtained by a radar or the like, the positional displacement of the structure on the two-dimensional plane is determined as the current position and the vehicle position where the efficiency of non-contact charging is maximized. The vehicle position where the efficiency of the non-contact charging is maximized may be specified by converting into the shift of.

  The target locus setting unit 110d sets a target travel locus for moving from the current position to the target parking position specified by the parking position specifying unit 105 based on the target parking position specified by the parking position specifying unit 105. The automatic operation control unit 111 performs control so that the vehicle A automatically travels and parks along the target travel locus set by the target locus setting unit 110d.

  Also with the configuration of the second embodiment, it is possible to automatically park the vehicle at a position where the efficiency of non-contact charging is maximized, and to increase the efficiency of non-contact charging.

(Modification 8)
In the first embodiment, the contact relationship between the efficiency of contactless charging of the vehicle A from the contactless charger 50 and the vehicle position with respect to the contactless charger 50 stored in the correspondence relationship storage unit 104 is used. Although the configuration for specifying the vehicle position where the charging efficiency is maximized is shown, the present invention is not necessarily limited thereto. For example, a configuration for identifying a vehicle position where the efficiency of non-contact charging is maximized by searching for a position where the efficiency of non-contact charging obtained as described in the second embodiment is equal to or greater than a threshold while driving automatically It is good.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Non-contact charge parking support unit, 10 Non-contact charge parking support device, 30 Solar panel, 50 Non-contact charger, 100 Charge parking support system, 101 Vehicle position acquisition part, 102 Non-contact charger position acquisition part, 103 Relative Position specifying unit, 104 Corresponding relationship storage unit, 105, 105d Parking position specifying unit, 106 Recommended parking direction acquisition unit, 109c Image recognition processing unit (free space detection unit) 110 Target locus determination unit (parking direction determination unit), 111, 111c automatic operation control unit, 115d efficiency specifying unit (non-contact charging efficiency specifying unit), 116 notification processing unit (second notification processing unit), 116d notification processing unit (first notification processing unit), 117 plug-in charger position acquisition Part, 119 parking position acquisition part after charging, 122 learning part

Claims (17)

It is installed in a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies power without contact,
The vehicle can also be charged via a charging cable from a plug-in charger provided in the parking area,
An automatic driving control unit (111, 111c) for performing automatic driving control so as to automatically park the vehicle in the parking area;
A parking position specifying unit (105, 105d) for specifying the position of the vehicle with respect to the contactless charger that maximizes the efficiency of the contactless charging ;
A recommended parking direction acquisition unit (106) for acquiring a recommended parking direction, which is a recommended parking direction to the parking area, transmitted by wireless communication;
A parking direction determination unit (110) for determining a parking direction of the vehicle in the parking area based on the recommended parking direction acquired by the recommended parking direction acquisition unit;
A plug-in charger position acquisition unit (117) that acquires an installation position of the plug-in charger with respect to the parking area transmitted by wireless communication ;
When the recommended parking direction acquired by the recommended parking direction acquisition unit is not limited to a specific parking direction, the parking direction determination unit is configured to store the plug-in charger acquired by the plug-in charger position acquisition unit. A parking direction in which an installation position and a connection position of the charging cable of the vehicle are aligned is determined as a parking direction in the parking area of the vehicle,
The automatic driving control unit performs the automatic driving control so as to park the vehicle at a position specified by the parking position specifying unit, and sets the vehicle in the parking area in a parking direction determined by the parking direction determining unit. A non-contact charging parking assist device that performs the automatic driving control so as to automatically park the vehicle. It is installed in a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies power without contact,
The vehicle is equipped with a solar panel (30) that generates power by sunlight,
An automatic driving control unit (111, 111c) for performing automatic driving control so as to automatically park the vehicle in the parking area;
A parking position specifying unit (105, 105d) for specifying the position of the vehicle with respect to the contactless charger that maximizes the efficiency of the contactless charging ;
A recommended parking direction acquisition unit (106) for acquiring a recommended parking direction, which is a recommended parking direction to the parking area, transmitted by wireless communication;
A parking direction determination unit (110) for determining a parking direction of the vehicle in the parking area based on the recommended parking direction acquired by the recommended parking direction acquisition unit ;
When the recommended parking direction acquired by the recommended parking direction acquisition unit is not limited to a specific parking direction, the parking direction determination unit is configured so that the vehicle is parked in the parking area. A parking direction estimated to be higher in charging efficiency is determined as a parking direction in the parking area of the vehicle;
The automatic driving control unit performs the automatic driving control so as to park the vehicle at a position specified by the parking position specifying unit, and sets the vehicle in the parking area in a parking direction determined by the parking direction determining unit. A non-contact charging parking assist device that performs the automatic driving control so as to automatically park the vehicle. In claim 1 or 2 ,
A free space detecting unit (109c) for detecting whether or not there is a free space for parking the vehicle in the parking region;
The automatic operation control unit waits for the vehicle to park in the parking area when the empty area detection unit detects that there is no room for parking the vehicle in the parking area, while detecting the free area. The position specified by the parking position specifying unit in the parking area even when the driver does not get on the vehicle when it is detected that there is a space for parking the vehicle in the parking area. The non-contact charging parking assist device, wherein the automatic driving control is performed so as to park the vehicle. It is installed in a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies power without contact,
An automatic driving control unit (111, 111c) for performing automatic driving control so as to automatically park the vehicle in the parking area;
A parking position specifying unit (105, 105d) for specifying the position of the vehicle with respect to the contactless charger that maximizes the efficiency of the contactless charging ;
A free space detection unit (109c) for detecting whether or not there is a free space for parking the vehicle in the parking region ,
The automatic operation control unit waits for the vehicle to park in the parking area when the empty area detection unit detects that there is no room for parking the vehicle in the parking area, while detecting the free area. The position specified by the parking position specifying unit in the parking area even when the driver does not get on the vehicle when it is detected that there is a space for parking the vehicle in the parking area. The non-contact charging parking assist device, wherein the automatic driving control is performed so as to park the vehicle. In claim 4 ,
A post-charging parking position acquisition unit (119) that acquires a parking position where the vehicle that has completed the non-contact charging is to be parked;
The automatic driving control unit performs automatic driving control so that the vehicle is parked at the parking position acquired by the post-charging parking position acquisition unit when the non-contact charging in the parking area is completed. Non-contact charging parking support device. In any one of claims 3-5,
A recommended parking direction acquisition unit (106) for acquiring a recommended parking direction, which is a recommended parking direction to the parking area, transmitted by wireless communication;
A parking direction determination unit (110) for determining a parking direction of the vehicle in the parking area based on the recommended parking direction acquired by the recommended parking direction acquisition unit;
The non-contact charging parking assist device, wherein the automatic driving control unit performs the automatic driving control so that the vehicle is automatically parked in the parking area in the parking direction determined by the parking direction determining unit. In claim 6 ,
The vehicle can also be charged via a charging cable from a plug-in charger provided in the parking area,
A plug-in charger position acquisition unit (117) for acquiring an installation position of the plug-in charger with respect to the parking area transmitted by wireless communication;
When the recommended parking direction acquired by the recommended parking direction acquisition unit is not limited to a specific parking direction, the parking direction determination unit is configured to store the plug-in charger acquired by the plug-in charger position acquisition unit. A non-contact charging parking assistance device, wherein a parking direction in which an installation position and a connection position of the charging cable of the vehicle are matched is determined as a parking direction in the parking area of the vehicle. In claim 6 ,
The vehicle is equipped with a solar panel (30) that generates power by sunlight,
When the recommended parking direction acquired by the recommended parking direction acquisition unit is not limited to a specific parking direction, the parking direction determination unit is configured so that the vehicle is parked in the parking area. A non-contact charge parking support apparatus, wherein a parking direction estimated to have a higher charging efficiency is determined as a parking direction in the parking area of the vehicle. In any one of Claims 3-8 ,
The parking position specifying unit sequentially specifies the efficiency of the non-contact charging based on information that can specify the efficiency of the non-contact charging that is sequentially transmitted from the non-contact charger. A non-contact charging parking support device, wherein the position is specified as the position of the vehicle with respect to the non-contact charger at which the efficiency of the non-contact charging is maximized. In any one of Claims 1-8 ,
A correspondence storage unit (104) that stores the correspondence between the efficiency of the contactless charging and the position of the vehicle with respect to the contactless charger;
The parking position specifying unit (105) specifies the position of the vehicle with respect to the non-contact charger that maximizes the efficiency of the non-contact charging based on the correspondence stored in the correspondence storage unit. A non-contact charging parking assist device. In claim 10 ,
A vehicle position acquisition unit (101) for acquiring the position of the vehicle;
A non-contact charger position acquisition unit (102) for acquiring the position of the non-contact charger transmitted by wireless communication;
The position of the vehicle relative to the non-contact charger is identified based on the position of the vehicle acquired by the vehicle position acquisition unit and the position of the non-contact charger acquired by the non-contact charger position acquisition unit. A relative position specifying unit (103) for
The automatic operation control unit moves the vehicle from a position of the vehicle with respect to the non-contact charger specified by the relative position specifying unit to a position of the vehicle with respect to the non-contact charger specified by the parking position specifying unit. The non-contact charging parking support apparatus, wherein the automatic driving control is performed so as to move and park the vehicle. In claim 10 ,
Relative position specification for specifying the position of the vehicle relative to the non-contact charger based on the position of the non-contact charger relative to the vehicle detected using a sensor used to detect the position of the object relative to the vehicle Part (103),
The automatic operation control unit moves the vehicle from a position of the vehicle with respect to the non-contact charger specified by the relative position specifying unit to a position of the vehicle with respect to the non-contact charger specified by the parking position specifying unit. The non-contact charging parking support apparatus, wherein the automatic driving control is performed so as to move and park the vehicle. It is installed in a vehicle that performs non-contact charging from a non-contact charger (50) that is provided in a parking area and supplies power without contact,
An automatic driving control unit (111, 111c) for performing automatic driving control so as to automatically park the vehicle in the parking area;
A parking position specifying unit (105, 105d) for specifying the position of the vehicle with respect to the contactless charger that maximizes the efficiency of the contactless charging ;
A non-contact charging efficiency specifying unit (115d) for sequentially specifying the efficiency of the non-contact charging;
Based on the efficiency of the non-contact charging sequentially specified by the non-contact charging efficiency specifying unit, the driver is positioned at a position in the parking area where the efficiency of the non-contact charging is equal to or greater than a threshold value toward the driver of the vehicle. A first notification processing unit (116d) for performing a notification prompting the user to park the vehicle by the driving operation;
A learning unit (122) that learns the arrangement of structures around the vehicle at this position when the vehicle is parked at a position in the parking area where the efficiency of the non-contact charging is equal to or greater than a threshold ;
The parking position specifying unit (105d) sets the position at which the arrangement learned by the learning unit and the arrangement of structures around the vehicle are the same to the non-contact charger that maximizes the efficiency of the non-contact charging. Identify the location of the vehicle,
The non-contact charge parking support apparatus, wherein the automatic driving control unit performs the automatic driving control so that the vehicle is parked at a position specified by the parking position specifying unit. According to claim 1 3,
A free space detecting unit (109c) for detecting whether or not there is a free space for parking the vehicle in the parking region;
The automatic operation control unit waits for the vehicle to park in the parking area when the empty area detection unit detects that there is no room for parking the vehicle in the parking area, while detecting the free area. The position specified by the parking position specifying unit in the parking area even when the driver does not get on the vehicle when it is detected that there is a space for parking the vehicle in the parking area. The non-contact charging parking assist device, wherein the automatic driving control is performed so as to park the vehicle. In claims 1-4,
A post-charging parking position acquisition unit (119) that acquires a parking position where the vehicle that has completed the non-contact charging is to be parked;
The automatic driving control unit performs automatic driving control so that the vehicle is parked at the parking position acquired by the post-charging parking position acquisition unit when the non-contact charging in the parking area is completed. Non-contact charging parking support device. In claim 14 or 15 ,
The parking position specifying unit sequentially specifies the efficiency of the non-contact charging based on information that can specify the efficiency of the non-contact charging that is sequentially transmitted from the non-contact charger. A non-contact charging parking support device, wherein the position is specified as the position of the vehicle with respect to the non-contact charger at which the efficiency of the non-contact charging is maximized. In any one of claims 1-16,
Notification indicating that the efficiency of the non-contact charging is lowered when the vehicle cannot be parked by the automatic operation control at the position of the vehicle with respect to the non-contact charger where the efficiency of the non-contact charging is maximized. The non-contact charge parking assistance apparatus characterized by including the 2nd alerting | reporting process part (116) to perform.

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