WO2011158107A1 - Système d'aide au stationnement de véhicule et véhicule électrique équipé de celui-ci - Google Patents

Système d'aide au stationnement de véhicule et véhicule électrique équipé de celui-ci Download PDF

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Publication number
WO2011158107A1
WO2011158107A1 PCT/IB2011/001381 IB2011001381W WO2011158107A1 WO 2011158107 A1 WO2011158107 A1 WO 2011158107A1 IB 2011001381 W IB2011001381 W IB 2011001381W WO 2011158107 A1 WO2011158107 A1 WO 2011158107A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
power
distance
transmitting unit
power transmitting
Prior art date
Application number
PCT/IB2011/001381
Other languages
English (en)
Inventor
Shinji Ichikawa
Yukiko Ueno
Hiroyuki Tachibana
Hiroaki Nakanishi
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Aisin Seiki Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha, Aisin Seiki Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of WO2011158107A1 publication Critical patent/WO2011158107A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • B60L53/39—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer with position-responsive activation of primary coils
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B60L2210/14—Boost converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/14—Synchronous machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • the invention relates to a vehicle parking assist system and an electric vehicle equipped with the vehicle parking assist system and, more particularly, to parking assist control for a vehicle that is able to use a power receiving unit to receive electric power, transmitted from a power transmitting unit of power feeding equipment outside the vehicle, in a noncontact manner and then store the received electric power in an electrical storage device.
  • JP-A-2007-97345 describes a parking assist system that allows easy charging.
  • the parking assist system includes a touch display and a controller.
  • the touch display includes a display unit that displays a surrounding condition of a vehicle and an input unit by which a target parking position of the vehicle is input.
  • the controller calculates a route corresponding to the target parking position to execute parking assist control.
  • the controller further executes position adjustment assist control for adjusting the position of a vehicle-side electric power exchange portion of the vehicle to the position of an apparatus-side electric power exchange portion of an apparatus installed on the ground under a predetermined condition.
  • the parking assist system further includes a back monitor that captures a surrounding condition of the vehicle. Then, when there is an identifier that indicates the apparatus-side electric power exchange portion near the target parking position in the captured surrounding condition, the controller recognizes the position of the identifier to execute position adjustment assist control.
  • the above parking assist system allows a driver to easily perform charging, and reduces the feeling of inconvenience against performing charging. As a result, this may contribute to the proliferation of a vehicle that requires charging.
  • Wireless electric power transmission that does not use a power cord or a power transmission cable has become a focus of attention as a method of feeding power from power feeding equipment to a vehicle that requires charging.
  • Three leading techniques are known as the wireless electric power transmission technique.
  • the three leading techniques are electric power transmission using electromagnetic induction, electric power transmission using a microwave and electric power transmission using a resonance method.
  • the resonance method is a non-contact electric power transmission technique such that a pair of resonators (for example, a pair of self -resonance coils) are resonated in an electromagnetic field (near field) to thereby transmit electric power via the electromagnetic field.
  • the resonance method is able to transmit large electric power of several kilowatts over a relatively long distance (for example, several meters).
  • the invention improves the accuracy of recognizing a power transmitting unit of power feeding equipment outside a vehicle by an image capturing device that captures the surroundings of the vehicle that is able to use a power receiving unit to receive electric power, transmitted from the power transmitting unit, in a noncontact manner and then stores the received electric power in an electrical storage device to thereby improve the accuracy of parking the vehicle with respect to the power feeding equipment.
  • a first aspect of the invention relates to a parking assist system for a vehicle.
  • the vehicle is able to use a power receiving unit to receive electric power, transmitted from a power transmitting unit of power feeding equipment outside the vehicle, in a noncontact manner and then store the received electric power in an electrical storage device.
  • the parking assist system includes an image capturing device and a guide control unit.
  • the image capturing device captures surroundings of the vehicle.
  • the guide control unit controls the vehicle so as to guide the vehicle toward the power transmitting unit on the basis of an image captured by the image capturing device.
  • the power transmitting unit has at least one side surface and an upper surface, both of which can be recognized by the image capturing device.
  • the guide control unit recognizes the power transmitting unit on the basis of an image of the at least one side surface of the power transmitting unit, captured by the image capturing device, when a distance between the power feeding equipment and the vehicle is longer than a predetermined first distance, and recognizes the power transmitting unit on the basis of an image of the upper surface of the power transmitting unit, captured by the image capturing device, when the distance between the power feeding equipment and the vehicle is shorter than or equal to the first distance.
  • the first distance may be a distance at which the upper surface can be more easily recognized by the image capturing device than the at least one side surface.
  • the guide control unit may control the vehicle so as to guide the vehicle to a parking frame that indicates a parking position, at which the vehicle is able to receive electric power from the power feeding equipment, when the distance between the power feeding equipment and the vehicle is longer than a predetermined second distance that is longer than the first distance.
  • the second distance may be a distance at which the at least one side surface can be recognized by the image capturing device.
  • the parking frame may be marked on a road surface.
  • the guide control unit may recognize the parking frame on the basis of the image captured by the image capturing device when the distance between the power feeding equipment and the vehicle is longer than the second distance.
  • a second aspect of the invention relates to a parking assist system for a vehicle.
  • the vehicle is able to use a power receiving unit to receive electric power, transmitted from a power transmitting unit of power feeding equipment outside the vehicle, in a noncontact manner and then store the received electric power in an electrical storage device.
  • the parking assist system includes an image capturing device and a guide control unit.
  • the image capturing device captures surroundings of the vehicle.
  • the guide control unit controls the vehicle so as to guide the vehicle toward the power transmitting unit on the basis of an image captured by the image capturing device.
  • a parking frame that indicates a parking position at which the vehicle is able to receive electric power from the power feeding equipment is marked on a road surface.
  • the guide control unit controls the vehicle so as to guide the vehicle to the parking frame recognized on the basis of the image captured by the image capturing device when a distance between the power feeding equipment and the vehicle is longer than a predetermined first distance, and recognizes the power transmitting unit on the basis of the image captured by the image capturing device when the distance between the power feeding equipment and the vehicle is shorter than or equal to the first distance.
  • the first distance may be a distance at which at least one side surface of the power transmitting unit can be recognized by the image capturing device.
  • the guide control unit may recognize the power transmitting unit on the basis of an image of at least one side surface of the power transmitting unit, captured by the image capturing device, when the distance between the power feeding equipment and the vehicle is shorter than or equal to the first distance and is longer than a second distance that is shorter than the first distance, and may recognize the power transmitting unit on the basis of an image of an upper surface of the power transmitting unit, captured by the image capturing device, when the distance between the power feeding equipment and the vehicle is shorter than or equal to the second distance.
  • the second distance may be a distance at which the upper surface can be more easily recognized by the image capturing device than the at least one side surface.
  • the power transmitting unit may include a power feeding coil and a cover.
  • the power feeding coil may be used to transmit electric power to the power receiving unit.
  • the cover may be provided so as to cover the power feeding coil from above and may have at least one side surface and an upper surface, both of which can be recognized by the image capturing device.
  • the guide control unit may recognize the power transmitting unit on the basis of an image of the cover, captured by the image capturing device.
  • the at least one side surface and upper surface of the power transmitting unit may have color differences.
  • the at least one side surface and upper surface of the cover may have color differences.
  • the at least one side surface and upper surface of the power transmitting unit may have different patterns, and the different patterns may be checkers.
  • the at least one side surface and upper surface of the cover may have different patterns, and the different patterns may be checkers.
  • a third aspect of the invention relates to an electric vehicle.
  • the electric vehicle may include: the parking assist system according to the above described first or second aspect; a power receiving unit that is configured to receive electric power, transmitted from a power transmitting unit of power feeding equipment outside the vehicle, in a noncontact manner; an electrical storage device that stores the electric power received by the power receiving unit; and a motor that receives electric power from the electrical storage device to generate driving torque.
  • the power transmitting unit may be reliably recognized on the basis of the image captured by the image capturing device irrespective of whether the distance from the vehicle to the power feeding equipment is long or short, so the accuracy of recognizing the power transmitting unit by the image capturing device is improved to thereby make it possible to improve the accuracy of parking the vehicle with respect to the power feeding equipment.
  • FIG. 1 is an overall configuration diagram of a vehicle power feeding system to which a vehicle parking assist system according to an embodiment of the invention is applied;
  • FIG. 2 is a view for illustrating the relationship between the position of a vehicle and parking assist control
  • FIG. 3 is a first view for illustrating the relationship between the position of the vehicle and parking assist control when the image of a power transmitting unit is recognized by a camera;
  • FIG. 4 is a second view for illustrating the relationship between the position of the vehicle and parking assist control when the image of the power transmitting unit is recognized by the camera;
  • FIG. 5 is an appearance view of the power transmitting unit
  • FIG. 6 is a view for illustrating the principle of electric power transmission using a resonance method
  • FIG. 7 is an overall block diagram of a hybrid vehicle that is an example of the vehicle shown in FIG. 1 ;
  • FIG. 8 is a functional block diagram of a controller shown in FIG. 7;
  • FIG. 9 is a general flowchart of parking assist control executed by the controller shown in FIG. 7;
  • FIG. 10 is a flowchart for illustrating the procedure of parking assist control based on image information, shown in FIG. 9;
  • FIG. 11 is a flowchart for illustrating the procedure of stop assist control based on a condition of received electric power, shown in FIG. 9;
  • FIG. 12 is another appearance view of the power transmitting unit.
  • FIG. 1 is an overall configuration diagram of a vehicle power feeding system to which a vehicle parking assist system according to the embodiment of the invention is applied.
  • the vehicle power feeding system 10 includes a vehicle 100 and power feeding equipment 200.
  • the vehicle 100 includes a power receiving unit 110, a camera 120 and a communication unit 130.
  • the power receiving unit 110 is provided on the bottom surface of the body of the vehicle 100, and is configured to receive electric power, transmitted from a power transmitting unit 220 (described later) of the power feeding equipment 200, in a noncontact manner. More specifically, the power receiving unit 110 includes a self-resonance coil (described later), and resonates with a self-resonance coil of the power transmitting unit 220 via an electromagnetic field to thereby receive electric power from the power transmitting unit 220 in a noncontact manner.
  • the camera 120 captures the surroundings of the vehicle 100. For example, the camera 120 is provided at the rear portion of the body of the vehicle 100, and captures an image behind the vehicle in order to detect the positional relationship between the vehicle 100 and the power transmitting unit 220.
  • the communication unit 130 is a communication interface for carrying out communication between the vehicle 100 and the power feeding equipment 200.
  • the power feeding equipment 200 includes a power supply device 210, the power transmitting unit 220 and a communication unit 240.
  • the power supply device 210 for example, converts commercial alternating-current electric power, supplied from a system power supply, to high-frequency electric power and then outputs the high-frequency electric power to the power transmitting unit 220.
  • the frequency of the high-frequency electric power generated by the power supply device 210 is, for example, 1 MHz to several tens of MHz.
  • the power transmitting unit 220 is fixedly installed on the floor of a parking lot, and is configured to transmit high-frequency electric power, supplied from the power supply device 210, to the power receiving unit 110 of the vehicle 100 in a noncontact manner. More specifically, the power transmitting unit 220 includes a self-resonance coil similar to that of the power receiving unit 110 of the vehicle 100, and resonates with the self -resonance coil of the power receiving unit 110 via an electromagnetic field to thereby transmit electric power to the power receiving unit 110 in a noncontact manner.
  • the power transmitting unit 220 has at least one side surface and an upper surface that can be recognized by the camera 120 of the vehicle 100 so that the power transmitting unit 220 can be recognized by the camera 120 even when there is a distance between the vehicle 100 and the power transmitting unit 220. That is, the power transmitting unit 220 is not completely buried in the ground but has at least one side surface and an upper surface that protrude to above the ground surface.
  • the communication unit 240 is a communication interface for carrying out communication between the power feeding equipment 200 and the vehicle 100.
  • the vehicle power feeding system 10 high-frequency electric power is supplied from the power supply device 210 to the power transmitting unit 220 in the power feeding equipment 200, and the self -resonance coil of the power transmitting unit 220 resonates with the self-resonance coil of the power receiving unit 110 of the vehicle 100 via an electromagnetic field to thereby feed electric power from the power feeding equipment 200 to the vehicle 100 in a noncontact manner.
  • parking assist control that guides the vehicle 100 toward the power feeding equipment 200 (power transmitting unit 220) is executed. In the present embodiment, the parking assist control is executed in two main steps.
  • the vehicle 100 is guided toward the power feeding equipment 200 on the basis of an image captured by the camera 120.
  • the first stage based on the image captured by the camera 120 is further divided into three steps.
  • a parking frame (white line, or the like, painted on a road) provided for the power feeding equipment 200 is captured by the camera 120, and then the image of the parking frame is recognized on the basis of the captured image. Then, the route to a target parking position is calculated on the basis of the recognized image of the parking frame, and then the vehicle 100 is guided toward the power feeding equipment 200.
  • the image of the power transmitting unit 220 is recognized on the basis of the image of the side surface of the power transmitting unit 220, captured by the camera 120. Then, the route to the target parking position is calculated on the basis of the recognized image of the power transmitting unit 220, and then the vehicle 100 is guided toward the power feeding equipment 200.
  • the image of the power transmitting unit 220 is recognized on the basis of the image of the upper surface of the power transmitting unit 220, captured by the camera 120. Then, the route to the target parking position is calculated on the basis of the recognized image of the power transmitting unit 220, and then the vehicle 100 is guided toward the power feeding equipment 200.
  • the first step shifts into the second step.
  • electric power is transmitted from the power transmitting unit 220 to the power receiving unit 110, and then the vehicle is guided toward the power transmitting unit 220 on the basis of the condition of electric power received by the power receiving unit 110.
  • the distance between the power transmitting unit 220 and the power receiving unit 110 is estimated on the basis of the condition of electric power received by the power receiving unit 110, and then the position of the power receiving unit 110 is adjusted to the position of the power transmitting unit 220 on the basis of the estimated distance.
  • the magnitude of electric power transmitted from the power transmitting unit 220 in the second step is smaller than electric power supplied from the power transmitting unit 220 to the power receiving unit 110 after completion of the position adjustment between the power transmitting unit 220 and the power receiving unit 110.
  • the reason why electric power is transmitted from the power transmitting unit 220 in the second step is to adjust the position of the power receiving unit 110 to the position of the power transmitting unit 220, and high electric power for full-scale power feeding is not required.
  • FIG. 2 is a view for illustrating the relationship between the position of the vehicle 100 and parking assist control.
  • the parking frame 250 provided for the power feeding equipment 200 is captured by the camera 120 (not shown) provided at the rear portion of the body, and then the image of the parking frame 250 is recognized on the basis of the captured image. Then, the vehicle 100 is guided on the basis of the recognized image of the parking frame 250.
  • FIG. 3 and FIG. 4 are views for illustrating the relationship between the position of the vehicle 100 and parking assist control when the image of the power transmitting unit 220 is recognized by the camera 120.
  • the image of the power transmitting unit 220 is recognized on the basis of the image of the side surface of the power transmitting unit 220, captured by the camera 120. Then, the vehicle 100 is guided toward the power transmitting unit 220 on the basis of the recognized image of the power transmitting unit 220.
  • FIG. 5 is an appearance view of the power transmitting unit 220.
  • the power transmitting unit 220 has at least one side surface 221 and an upper surface 222, both of which can be recognized by the camera 120 of the vehicle 100 (not shown).
  • the at least one side surface 221 and the upper surface 222 for example, have color differences so that they can be recognized on the basis of the image captured by the camera 120.
  • a cover is provided so as to cover the upper portion of the self -resonance coil of the power transmitting unit 220 in order to protect the power transmitting unit 220 and then the side surface and upper surface of the cover are used instead of the side surface 221 and the upper surface 222.
  • FIG. 6 is a view for illustrating the principle of transmission of electric power using a resonance method.
  • the resonance method as in the case where two tuning forks resonate with each other, two LC resonance coils having the same natural frequency resonate with each other in an electromagnetic field (near field) to thereby transmit electric power from one of the coils to the other one of the coils.
  • a primary coil 320 is connected to a high-frequency power supply 310 to thereby supply high-frequency electric power of 1 MHz to higher than 10 MHz through electromagnetic induction to a primary self -resonance coil 330 that is magnetically coupled to the primary coil 320.
  • the primary self-resonance coil 330 is an LC resonator formed of the inductance and stray capacitance of the coil itself, and resonates via an electromagnetic field (near field) with a secondary self -resonance coil 340 having the same resonance frequency as the primary self-resonance coil 330. Then, energy (electric power) is transferred from the primary self-resonance coil 330 to the secondary self-resonance coil 340 via the electromagnetic field.
  • Energy (electric power) transferred to the secondary self -resonance coil 340 is extracted by a secondary coil 350 that is magnetically coupled to the secondary self-resonance coil 340 through electromagnetic induction, and is supplied to a load 360.
  • electric power transmission using the resonance method is achieved when the Q value that indicates the resonance strength between the primary self-resonance coil 330 and the secondary self-resonance coil 340 is, for example, higher than 100.
  • FIG. 6 Note that the correspondence relationship between FIG. 6 and FIG. 1 is that the secondary self-resonance coil 340 and the secondary coil 350 correspond to the power receiving unit 110 shown in FIG. 1 and the primary coil 320 and the primary self-resonance coil 330 correspond to the power transmitting unit 220 shown in FIG. 1.
  • FIG. 7 is an overall block diagram of a hybrid vehicle that is an example of the vehicle 100 shown in FIG. 1.
  • the vehicle 100 includes an electrical storage device 150, a system main relay SMR1, a step-up converter 162, inverters 164 and 166, motor generators 172 and 174, an engine 176, a power split device 177 and a drive wheel 178.
  • the vehicle 100 further includes a secondary self -resonance coil 112, a secondary coil 114, a rectifier 140, a DC/DC converter 142, a system main relay SMR2 and a voltage sensor 190.
  • the vehicle 100 further includes a controller 180, the camera 120, the communication unit 130, a display 182, a parking assist switch (hereinafter, also referred to as "PA switch”) 184 and a power feed request switch 186.
  • PA switch parking assist switch
  • the vehicle 100 is equipped with the engine 176 and the motor generator 174 as a power source.
  • the engine 176 and the motor generators 172 and 174 are coupled to the power split device 177. Then, the vehicle 100 is propelled by driving force generated by at least one of the engine 176 and the motor generator 174.
  • Power generated by the engine 176 is split by the power split device 177 into two paths. That is, one of the paths transmits power to the drive wheel 178, and the other one of the paths transmits power to the motor generator 172.
  • the motor generator 172 is an alternating-current rotating electrical machine, and is, for example, formed of a three-phase alternating-current synchronous motor in which a permanent magnet is embedded in a rotor.
  • the motor generator 172 generates electric power with kinetic energy of the engine 176, which is split by the power split device 177.
  • the engine 176 starts up and the motor generator 172 generates electric power to thereby charge the electrical storage device 150.
  • the motor generator 174 is also an alternating-current rotating electrical machine, and is, for example, formed of a three-phase alternating-current synchronous motor in which a permanent magnet is embedded in a rotor, as in the case of the motor generator 172.
  • the motor generator 174 uses at least one of electric power stored in the electrical storage device 150 and electric power generated by the motor generator 172 to generate driving force. Then, the driving force of the motor generator 174 is transmitted to the drive wheel 178.
  • the power split device 177 is formed of a planetary gear that includes a sun gear, pinion gears, a carrier and a ring gear.
  • the pinion gears are in mesh with the sun gear and the ring gear.
  • the carrier rotatably supports the pinion gears, and is coupled to a crankshaft of the engine 176.
  • the sun gear is coupled to the rotary shaft of the motor generator 172.
  • the ring gear is coupled to the rotary shaft of the motor generator 174 and the drive wheel 178.
  • the electrical storage device 150 is a rechargeable direct-current power supply, and is, for example, formed of a secondary battery, such as a lithium ion secondary battery and a nickel metal hydride battery.
  • the electrical storage device 150 stores not only charging electric power supplied from the DC DC converter 142 but also regenerative electric power generated by the motor generator 172 or 174. Then, the electrical storage device 150 supplies the stored electric power to the step-up converter 162. Note that a large-capacitance capacitor may be used as the electrical storage device 150.
  • the system main relay SMR1 is arranged between the electrical storage device 150 and the step-up converter 162.
  • the system main relay SMR1 electrically connects the electrical storage device 150 to the step-up converter 162 when a signal SE1 from the controller 180 is activated; whereas the system main relay SMR1 breaks an electrical path between the electrical storage device 150 and the step-up converter 162 when the signal SE1 is deactivated.
  • the step-up converter 162 steps up the voltage of a positive electrode line PL2 to a voltage that is equal to or higher than a voltage output from the electrical storage device 150 on the basis of a signal PWC from the controller 180.
  • the step-up converter 162 is, for example, formed of a direct-current chopper circuit.
  • the inverters 164 and 166 are respectively provided in correspondence with the motor generators 172 and 174.
  • the inverter 164 drives the motor generator 172 on the basis of a signal PW1 from the controller 180.
  • the inverter 166 drives the motor generator 174 on the basis of a signal PWI2 from the controller 180.
  • each of the inverters 164 and 166 is, for example, formed of a three-phase bridge circuit.
  • the secondary self-resonance coil 112 is an LC resonance coil of which both ends are open (not connected).
  • the secondary self-resonance coil 112 resonates with a primary self-resonance coil (not shown) of the power feeding equipment 200 via an electromagnetic field to thereby receive electric power from the power feeding equipment 200.
  • the capacitance component of the secondary self -resonance coil 112 is a stray capacitance of the coil; however, a capacitor connected to both ends of the coil may be provided.
  • the number of turns of the secondary self-resonance coil 112 is appropriately set so as to increase a Q value (for example, Q > 100) that indicates the resonance strength between the primary self -resonance coil and the secondary self-resonance coil 112, ⁇ that indicates the degree of coupling between the primary self-resonance coil and the secondary self-resonance coil 112, and the like, on the basis of the distance between the secondary self -resonance coil 112 and the primary self-resonance coil of the power feeding equipment 200, the resonance frequency of the primary self-resonance coil and secondary self -resonance coil 112, and the like.
  • a Q value for example, Q > 100
  • the secondary coil 114 is arranged coaxially with the secondary self-resonance coil 112, and is able to be magnetically coupled to the secondary self-resonance coil 112 by means of electromagnetic induction.
  • the secondary coil 114 extracts electric power received by the secondary self-resonance coil 112 through electromagnetic induction and then outputs the extracted electric power to the rectifier 140.
  • the secondary self-resonance coil 112 and the secondary coil 114 form the power receiving unit 110 shown in FIG. 1.
  • the rectifier 140 rectifies alternating-current electric power extracted by the secondary coil 114.
  • the DC/DC converter 142 converts electric power rectified by the rectifier 140 to electric power having the voltage level of the electrical storage device 150 and then outputs the converted electric power to the electrical storage device 150.
  • the system main relay SMR2 is arranged between the DC/DC converter 142 and the electrical storage device 150.
  • the system main relay SMR2 electrically connects the electrical storage device 150 to the DC/DC converter 142 when a signal SE2 from the controller 180 is activated; whereas the system main relay SMR2 breaks an electrical path between the electrical storage device 150 and the DC/DC converter 142 when the signal SE2 is deactivated.
  • the voltage sensor 190 detects a voltage VH between the rectifier 140 and the DC/DC converter 142, and then outputs the detected voltage VH to the controller 180.
  • the display 182 receives information about an image captured by the camera 120 from the controller 180 and then displays the received image information.
  • the display of a car navigation system may be, for example, used as the display 182.
  • the controller 180 generates the signals PWC, PWI1 and PWI2 for respectively driving the step-up converter 162 and the motor generators 172 and 174 on the basis of an accelerator operation amount, a vehicle speed and signals from other various sensors, and then outputs the generated signals PWC, PWI1 and PWI2 to the step-up converter 162 and the inverters 164 and 166, respectively. Then, during running of the vehicle, the controller 180 activates the signal SE1 to turn on the system main relay SMR1, and deactivates the signal SE2 to turn off the system main relay SMR2.
  • the controller 180 receives information about an image captured by the camera 120 from the camera 120, and then outputs the received image information to the display 182. Furthermore, the controller 180 receives the voltage VH, detected by the voltage sensor 190, from the voltage sensor 190. Then, the controller 180 executes parking assist control by the following method so as to guide the vehicle 100 toward the power transmitting unit 220 (FIG. 1) of the power feeding equipment 200 on the basis of these pieces of data.
  • the controller 180 transmits a power feeding command to the power feeding equipment 200 via the communication unit 130, and activates the signal SE2 to turn on the system main relay SMR2. Then, the controller 180 generates the signal PWD for driving the DC/DC converter 142, and then outputs the generated signal PWD to the DC/DC converter 142. By so doing, the power feeding equipment 200 starts charging the electrical storage device 150.
  • the PA switch 184 is a switch for the user to request parking assist that uses the camera 120 and the display 182.
  • the power feed request switch 186 is a switch for the user to request charging of the electrical storage device 150 by the power feeding equipment 200.
  • FIG. 8 is a functional block diagram of the controller 180 shown in
  • the controller 180 includes a parking assist electronic control unit (ECU) 410, a steering ECU 420, a vehicle ECU 430, a motor control ECU 440 and a charging ECU 450.
  • ECU parking assist electronic control unit
  • the parking assist ECU 410 executes parking assist control for guiding the vehicle 100 toward the power transmitting unit 220 (FIG. 1) of the power feeding equipment 200 on the basis of image information received from the camera 120.
  • the parking assist ECU 410 outputs the image information received from the camera 120 to the display 182, and recognizes the parking frame 250 (FIG. 2) or the power transmitting unit 220 on the basis of the image information. Furthermore, the parking assist ECU 410 recognizes the positional relationship (approximate distance and direction) between the vehicle 100 and the power transmitting unit 220 on the basis of the recognized image of the parking frame 250 or power transmitting unit 220.
  • the parking assist ECU 410 calculates the route to a target parking position on the basis of the recognized image of the parking frame 250 or power transmitting unit 220, outputs a reverse command to the vehicle ECU 430 so that the vehicle 100 reverses at a predetermined speed, and outputs a steering command to the steering ECU 420 so that the vehicle 100 is guided toward the power transmitting unit 220 in an appropriate direction.
  • the parking assist ECU 410 notifies the vehicle ECU 430 of that fact.
  • a position at which the power transmitting unit 220 falls outside from the capturing range of the camera 120 by a predetermined amount as a result that the vehicle 100 approaches the power transmitting unit 220 may be used as the predetermined position.
  • the steering ECU 420 actually executes automatic control over steering on the basis of the steering command from the parking assist ECU 410.
  • the vehicle ECU 430 outputs a control command to the motor control ECU 440 on the basis of the operating condition of an accelerator pedal/brake pedal, the running condition of the vehicle, and the like.
  • the vehicle ECU 430 receives a reverse command from the parking assist ECU 410, the vehicle ECU 430 generates a signal for driving the motor generator 174 (FIG. 7) so that the vehicle reverses at a predetermined speed and then outputs the signal to the motor control ECU 440.
  • the vehicle ECU 430 controls (decelerates or stops) the vehicle 100 on the basis of the condition of electric power received by the power receiving unit 110. By so doing, the position of the power receiving unit 110 is adjusted to the position of the power transmitting unit 220.
  • the vehicle ECU 430 outputs a command to decelerate or stop the vehicle 100 to the motor control ECU 440 on the basis of an estimated distance between the power transmitting unit 220 and the power receiving unit 110.
  • ECU 430 transmits a power feeding command to charge the electrical storage device 150 to the power feeding equipment 200 via the communication unit 130, and outputs a command to instruct the charging ECU 450 to start charging the electrical storage device 150 to the charging ECU 450.
  • the motor control ECU 440 controls the motor generators 172 and
  • the motor control ECU 440 generates signals for driving the motor generators 172 and 174 and the step-up converter 162 and then outputs the generated signals to the inverters 164 and 166 and the step-up converter 162, respectively.
  • the charging ECU 450 When the charging ECU 450 receives a charging start command from the vehicle ECU 430, the charging ECU 450 activates the signal SE2 output to the system main relay SMR2 to turn on the system main relay SMR2. Then, the charging ECU 450 generates a signal for driving the DC/DC converter 142 and then outputs the generated signal to the DC/DC converter 142. By so doing, the electrical storage device 150 is charged.
  • FIG. 9 is a general flowchart of parking assist control executed by the controller 180 shown in FIG. 7. As shown in FIG. 9, the controller 180 determines whether the PA switch 184 and the power feed request switch 186 are turned on by the user (step S10). When it is determined that these switches are not turned on (NO in step S10), the controller 180 advances the process to step S60 without executing the following series of processes.
  • step S10 When it is determined in step S10 that the PA switch 184 and the power feed request switch 186 are turned on (YES in step S10), the controller 180 executes parking assist control based on image information of the camera 120 (step S20). Note that the details of the parking assist control based on image information will be described later.
  • the controller 180 executes stop assist control based on the condition of electric power received by the power receiving unit 110 (step S30). Note that the details of the stop assist control based on the condition of received electric power will also be described later.
  • the controller 180 when the position adjustment between the power transmitting unit 220 and the power receiving unit 110 of the vehicle 100 is completed through stop assist control, the controller 180 generates a stop command and then stops the vehicle 100 (step S40). After the vehicle 100 stops, the controller 180 transmits a power feeding command to the power feeding equipment 200, and then starts charging the electrical storage device 150 by the power feeding equipment 200 (step S50).
  • FIG. 10 is a flowchart for illustrating the procedure of parking assist control based on image information, shown in FIG. 9.
  • the controller 180 recognizes the image of the parking frame 250 on the basis of the image captured by the camera 120, and then determines a parking position of the vehicle 100 on the basis of the recognized image (step SI 10). Then, the controller 180 calculates the route for guiding the vehicle 100 to the determined parking position, and executes automatic steering operation using the above described parking assist ECU 410 and steering ECU 420 on the basis of the image information of the camera 120 (step S120). During automatic steering operation, the controller 180 updates the recognized image of the parking frame 250 (step SI 30).
  • the controller 180 determines whether the distance between the power transmitting unit 220 and the vehicle 100 is shorter than a predetermined distance LI (step S140).
  • LI is set to a distance at which the side surface 221 (FIG. 5) of the power transmitting unit 220 can be recognized by the camera 120.
  • the process returns to step S130.
  • step SI 40 When it is determined in step SI 40 that the distance between the power transmitting unit 220 and the vehicle 100 is shorter than LI (YES in step S140), the controller 180 recognizes the image of the side surface 221 of the power transmitting unit 220 on the basis of the image captured by the camera 120 (step SI 50). Then, the controller 180 estimates the distance from the vehicle 100 to the power transmitting unit 220 on the basis of the size (area) of the recognized image of the side surface 221 of the power transmitting unit 220 (step S160).
  • the controller 180 determines whether the distance between the power transmitting unit 220 and the vehicle 100 is shorter than a predetermined distance L2 ( ⁇ LI) (step S170).
  • the distance L2 is set to a distance at which the upper surface 222 (FIG. 5) is more easily recognized by the camera 120 than the side surface 221 of the power transmitting unit 220.
  • the process returns to step SI 50.
  • step SI 70 When it is determined in step SI 70 that the distance between the power transmitting unit 220 and the vehicle 100 is shorter than L2 (YES in step S170), the controller 180 recognizes the image of the upper surface 222 of the power transmitting unit 220 on the basis of the image captured by the camera 120 (step SI 80). Then, the controller 180 estimates the distance from the vehicle 100 to the power transmitting unit 220 on the basis of the size (area) of the recognized image of the upper surface 222 of the power transmitting unit 220.
  • the controller 180 determines whether the distance between the power transmitting unit 220 and the vehicle 100 is shorter than a predetermined distance L3 ( ⁇ L2) (step S200).
  • L3 is set to a distance such that the power transmitting unit 220 is placed below the body of the vehicle 100 and the power transmitting unit 220 cannot be recognized by the camera 120.
  • step S200 When it is determined in step S200 that the distance between the power transmitting unit 220 and the vehicle 100 is longer than or equal to L3 (NO in step S200), the process returns to step SI 80. On the other hand, when it is determined that the distance between the power transmitting unit 220 and the vehicle 100 is shorter than L3 (YES in step S200), the process returns to the main routine shown in FIG. 9.
  • FIG. 11 is a flowchart for illustrating the procedure of stop assist control based on the condition of received electric power, shown in FIG. 9.
  • the controller 180 when the stop assist control is started, the controller 180 generates a deceleration command and then decelerates the vehicle 100 to a predetermined speed that is lower than the speed during the automatic steering operation (step S210). Subsequently, the controller 180 estimates the distance to the power transmitting unit 220 on the basis of the voltage of electric power received from the power feeding equipment 200 and indicated by the voltage detected by the voltage sensor 190 (FIG. 7) using a prepared map, or the like (step S220).
  • the controller 180 determines whether the voltage of received electric power, detected by the voltage sensor 190, exceeds a predetermined threshold (step S230). When it is determined that the voltage of the received electric power exceeds the threshold (YES in step S230), the process returns to the main routine shown in FIG. 9.
  • the parking frame 250 (FIG. 2) of the power feeding equipment 200 is recognized on the basis of the image captured by the camera 120, and then parking assist control is executed so as to guide the vehicle 100 to the parking frame 250.
  • the side surface 221 of the power transmitting unit 220 is recognized on the basis of the image captured by the camera 120.
  • the upper surface 222 of the power transmitting unit 220 is recognized. In this way, parking assist control is executed so as to guide the vehicle 100 toward the power transmitting unit 220.
  • a parking position may be reliably recognized on the basis of the image captured by the camera 120 irrespective of whether the distance from the vehicle 100 to the power feeding equipment 200 is long or short.
  • the accuracy of parking the vehicle 100 with respect to the power feeding equipment 200 improves.
  • any appearance of the power transmitting unit 220 is applicable as long as the side surface 221 and the upper surface 222 may be recognized by the camera 120.
  • the side surface 221 and the upper surface 222 may have different patterns, and may, for example, have checkers shown in FIG. 12.
  • the parking frame 250 (FIG. 2) of the power feeding equipment 200 is recognized on the basis of the image captured by the camera 120 and then parking assist control is executed so as to guide the vehicle 100 to the parking frame 250; instead, it is also applicable that the user is allowed to determine the parking position on the display 182 (FIG. 7) and then the vehicle 100 is guided to the determined parking position.
  • the camera 120 is arranged at the rear portion of the vehicle on the assumption that the vehicle 100 is reversed for parking with respect to the power feeding equipment 200; however, when the vehicle 100 is moved forward for parking with respect to the power feeding equipment 200, the camera 120 may be arranged at the front portion of the vehicle.
  • electric power is transmitted from the power feeding equipment 200 to the vehicle 100 using a resonance method in a noncontact manner; however, a method of transmitting electric power from the power feeding equipment 200 to the vehicle 100 is not necessarily limited to a resonance method.
  • Other noncontact electric power transmission methods such as electric power transmission using electromagnetic induction and electric power transmission using a microwave, may also be used.
  • the vehicle 100 is a series/parallel hybrid vehicle that uses the power split device 177 to spit the power of the engine 176 and then transmit the split power to the drive wheel 178 and the motor generator 172; instead, the aspect of the invention may also be applied to a hybrid vehicle of another type.
  • the aspect of the invention may also be applied to a so-called series hybrid vehicle that uses only the engine 176 for driving the motor generator 172 and that generates driving force for propelling the vehicle only with the motor generator 174, a hybrid vehicle that collects only regenerative energy within kinetic energy generated by the engine 176 as electric energy, a motor- assist hybrid vehicle that uses an engine as a main power source and that, where necessary, uses a motor for assisting the engine, and the like.
  • the aspect of the invention may also be applied to an electric vehicle that includes no engine 176 and that travels on only electric power or a fuel cell vehicle that further includes a fuel cell in addition to the electrical storage device 150 as a direct-current power supply.
  • the aspect of the invention may also be applied to a vehicle that includes no step-up converter 162 or a vehicle that includes no DC/DC converter 142.
  • the camera 120 corresponds to one example of an "image capturing device” according to the aspect of the invention
  • the parking assist ECU 410 and steering ECU 420 of the controller 180 form one example of a "guide control unit” according to the aspect of the invention.
  • the embodiment described above is illustrative and not restrictive in all respects.
  • the scope of the invention is defined by the appended claims rather than the above description.
  • the scope of the invention is intended to encompass all modifications within the scope of the appended claims and equivalents thereof.

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  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un organe de commande de véhicule (100) qui reconnaît un cadre de stationnement d'un équipement d'alimentation en énergie (200) sur la base d'une image capturée par une caméra (120) lorsque la distance entre l'équipement d'alimentation en énergie (200) et le véhicule (100) est supérieure à L1, reconnaît une unité de transmission d'énergie (220) sur la base d'une image d'une surface latérale de l'unité de transmission d'énergie (220) lorsque la distance est inférieure ou égale à L1 et reconnaît l'unité de transmission d'énergie (220) sur la base d'une image d'une surface supérieure de l'unité de transmission d'énergie (220) lorsque la distance est inférieure ou égale à L2 (< L1). L'organe de commande exécute ensuite la commande d'aide au stationnement sur la base de ces résultats reconnus.
PCT/IB2011/001381 2010-06-17 2011-06-16 Système d'aide au stationnement de véhicule et véhicule électrique équipé de celui-ci WO2011158107A1 (fr)

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JP2010138090A JP5010715B2 (ja) 2010-06-17 2010-06-17 車両の駐車支援装置およびそれを備える電動車両
JP2010-138090 2010-06-17

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