CN113910930A - Electric vehicle wireless charging guiding and positioning method, electronic equipment and storage medium - Google Patents

Electric vehicle wireless charging guiding and positioning method, electronic equipment and storage medium Download PDF

Info

Publication number
CN113910930A
CN113910930A CN202111261920.5A CN202111261920A CN113910930A CN 113910930 A CN113910930 A CN 113910930A CN 202111261920 A CN202111261920 A CN 202111261920A CN 113910930 A CN113910930 A CN 113910930A
Authority
CN
China
Prior art keywords
signal
coordinates
sensor
signal transmitting
wireless charging
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN202111261920.5A
Other languages
Chinese (zh)
Other versions
CN113910930B (en
Inventor
谢芳
牛段段
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongfeng Nissan Passenger Vehicle Co
Original Assignee
Dongfeng Nissan Passenger Vehicle Co
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 Dongfeng Nissan Passenger Vehicle Co filed Critical Dongfeng Nissan Passenger Vehicle Co
Priority to CN202111261920.5A priority Critical patent/CN113910930B/en
Publication of CN113910930A publication Critical patent/CN113910930A/en
Application granted granted Critical
Publication of CN113910930B publication Critical patent/CN113910930B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • 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
    • 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
    • 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
    • Y02T90/14—Plug-in electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a wireless charging guiding and positioning method for an electric automobile, electronic equipment and a storage medium, wherein the method comprises the following steps: controlling a signal transmitting sensor on the vehicle to transmit a signal, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle; receiving signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor; determining coordinates of the signal transmitting sensors in a ground coordinate system as signal transmitting sensor coordinates according to the distance between the signal transmitting sensors and each signal receiving sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors; acquiring a transmitting coil coordinate of a wireless charging transmitting coil positioned on the ground coordinate system; and guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and is easy to realize.

Description

Electric vehicle wireless charging guiding and positioning method, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of automobiles, in particular to a wireless charging guiding and positioning method for an electric automobile, electronic equipment and a storage medium.
Background
Along with the continuous development of the charging technology, the wireless charging technology of the electric vehicle becomes mature day by day, and the premise of realizing the high-efficiency charging function of the electric vehicle is that the position of a vehicle-mounted end coil is aligned with that of a ground end coil, and the wireless charging guiding and positioning function is one of the main modes for realizing the alignment of the vehicle end coil and the ground end coil. The technology that can realize wireless guide location that charges is few at present, and comparatively complicated.
The main technology at present is realized by performing RSSI calibration calculation through a transmitting module and a receiving module of an antenna, and the technology is complex. The technology comprises a primary charging coil, a plurality of transmitting antennas, a transmitting antenna control module, a secondary charging coil, a plurality of receiving antennas and a receiving antenna control module. The transmitting antenna is connected with the transmitting antenna control module through a wire harness; the plurality of transmitting antennas transmit beacon signals under the driving of the transmitting antenna control module, and the receiving antenna control module receives the beacon signals and measures the signal strength RSSI; and the vehicle-mounted equipment calls a preset equal RSSI value function curve according to the signal intensity and guides the vehicle-mounted equipment to be coincided and positioned with the central point of the ground equipment.
However, the conventional guiding method is complex and difficult to implement.
Disclosure of Invention
In view of the above, it is necessary to provide an electric vehicle wireless charging guidance positioning method, an electronic device, and a storage medium, for solving the technical problem that the existing electric vehicle wireless charging guidance technology is complex.
The invention provides a wireless charging guiding and positioning method for an electric automobile, which comprises the following steps:
controlling a signal transmitting sensor on the vehicle to transmit a signal, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle;
receiving signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor;
determining coordinates of the signal transmitting sensors in a ground coordinate system as signal transmitting sensor coordinates according to the distance between the signal transmitting sensors and each signal receiving sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors;
acquiring a transmitting coil coordinate of a wireless charging transmitting coil positioned on the ground coordinate system;
and guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
Furthermore, the plurality of signal receiving sensors are located on the same straight line, the position of one of the signal receiving sensors is used as an origin of the ground coordinate system, the straight line where the plurality of signal receiving sensors are located is used as a first axis of the ground coordinate system, a straight line which is perpendicular to the first axis and passes through the origin is used as a second axis of the ground coordinate system, and the coordinates of each signal receiving sensor in the ground coordinate system are determined based on the distance between each signal receiving sensor and the origin.
Furthermore, the determining, according to the distance between the signal transmitting sensor and each signal receiving sensor, the coordinates of the signal transmitting sensor in the ground coordinate system as the coordinates of the signal transmitting sensor specifically includes:
combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, determining a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system by every two distances, and determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated.
Further, the combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, where every two distances determine a coordinate value of the signal transmitting sensors to be calculated in the ground coordinate system, and the determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated specifically includes:
selecting a minimum distance from the distances between the signal transmitting sensor and the signal receiving sensor as a reference distance, and using the distances except the reference distance as auxiliary distances;
and respectively calculating the reference distance and each auxiliary distance to obtain a plurality of coordinate values to be calculated of the signal emission sensor in the ground coordinate system, and calculating weighted values of the plurality of coordinate values to be calculated to obtain the coordinates of the signal emission sensor.
Still further, the calculating a weighted value of the plurality of coordinate values to be calculated to obtain the coordinates of the signal emission sensor specifically includes:
sorting a plurality of the auxiliary distances;
and determining the percentage weight of each coordinate value to be calculated, wherein for the two coordinate values to be calculated, the percentage weight of the coordinate value to be calculated obtained by calculating the shorter auxiliary distance is more than or equal to the percentage weight of the coordinate value to be calculated obtained by calculating the longer auxiliary distance.
Further, the guiding and positioning of the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically includes:
and displaying a parking prompt according to the difference value of the signal transmitting sensor coordinate and the transmitting coil coordinate until the signal transmitting sensor coordinate is consistent with the transmitting coil coordinate.
Furthermore, the guiding and positioning of the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically includes:
and automatically parking the vehicle according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
Still further, still include:
when the coordinates of the signal transmitting sensor are consistent with those of the transmitting coil and the two sides of the vehicle are parallel to the two sides of the parking space, calculating the coordinates of the wireless charging receiving coil in the ground coordinate system according to the coordinates of the signal transmitting sensor as receiving coil coordinates;
and performing secondary guiding and positioning on the vehicle according to the coordinates of the receiving coil and the coordinates of the transmitting coil.
The present invention provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the wireless charging guidance positioning method for electric vehicles as described above.
The invention provides a storage medium, which stores computer instructions for executing all the steps of the wireless charging guiding and positioning method for the electric vehicle as described above when a computer executes the computer instructions.
According to the invention, the coordinates of the signal transmitting sensor in a ground coordinate system are determined as the coordinates of the signal transmitting sensor through the distance between the signal transmitting sensor and each signal receiving sensor, and the vehicle is guided and positioned according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and is easy to realize.
The guide positioning of the invention adopts a multipoint positioning method based on ultrasonic waves, and has no EMC interference on the whole vehicle, safe and reliable detection scheme, higher detection precision and lower scheme cost.
Drawings
Fig. 1 is a flowchart illustrating a method for guiding and positioning an electric vehicle for wireless charging according to the present invention;
fig. 2 is a schematic view illustrating an electric vehicle wireless charging guiding and positioning according to an embodiment of the invention;
FIG. 3 is a system diagram of a guidance and positioning system in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the coordinate positioning of the signal emitting sensor in accordance with the preferred embodiment of the present invention;
fig. 5 is a flowchart illustrating a wireless charging guiding and positioning method for an electric vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a multi-signal receiving sensor arrangement according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a multi-signal receiver for determining coordinates of a signal emitting sensor according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating the operation of the preferred embodiment of the present invention;
FIG. 9 is a timing diagram of the preferred embodiment of the present invention;
fig. 10 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Example one
Fig. 1 is a flowchart illustrating a method for guiding and positioning an electric vehicle wirelessly charging according to the present invention, which includes:
step S101, controlling a signal transmitting sensor on a vehicle to transmit a signal, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle;
step S102, receiving signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor;
step S103, determining the coordinates of the signal transmitting sensors in a ground coordinate system as the coordinates of the signal transmitting sensors according to the distance between the signal transmitting sensors and each signal receiving sensor, wherein the ground coordinate system is limited by a plurality of signal receiving sensors;
step S104, acquiring a transmitting coil coordinate of a wireless charging transmitting coil on the ground coordinate system;
and S105, guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
Specifically, the present invention can be applied to an Electronic Control Unit (ECU) of a vehicle. As shown in fig. 2, a wireless charging receiving coil 11 is provided on the bottom of the vehicle 1, and a signal transmitting sensor 12 is provided in the vicinity of the charging receiving coil 11. For example, if the wireless charging reception coil 11 is disposed at the rear of the vehicle, the signal transmission sensor 12 is disposed behind the charging reception coil 11, and if the wireless charging reception coil 11 is disposed at the front of the vehicle, the signal transmission sensor 12 is disposed in front of the charging reception coil 11. A wireless charging generation coil 21 and a plurality of signal reception sensors 22, 23, 24, 25 are provided on the ground.
Step S101 is executed to control the signal emitting sensor 12 on the vehicle to emit a signal, preferably, the emitted signal is an ultrasonic signal, the signal emitting sensor 12 is an ultrasonic emitting sensor, and the signal receiving sensors 22, 23, 24, 25 are ultrasonic receiving sensors. And when the signal receiving sensor receives the transmitting signal sent by the signal transmitting sensor, returning a receiving signal to the vehicle, and triggering the step S102. The vehicle determines the distance between the signal transmitting sensor and each signal receiving sensor according to the received receiving signals.
Specifically, as shown in fig. 3, the guiding and positioning system of the preferred embodiment of the present invention is shown. The whole guiding and positioning system comprises three blocks, namely a main control module 31, a transmitting module 32 and a receiving module 33, wherein the main control module comprises a USB communication function module 311, a main control circuit function module 312 and a wireless communication function module 313. The USB communication function module 311 is responsible for communicating with an external wireless charging controller via USB connection, receiving a positioning instruction, and uploading positioning information. The main control circuit function block 312 is responsible for controlling the USB communication function block 311 and the wireless communication function block 313, and processes calculating the coordinate position. The wireless communication function module 313 is responsible for performing wireless communication with the transmitting module 32 and the receiving module 33, and sending a synchronization instruction, a positioning instruction, and receiving time difference information.
The transmission module 32 includes a wireless communication function module 321, a transmission control circuit function module 322, and an ultrasonic wave transmission function module 323. The wireless communication function module 321 performs wireless communication with the main control module 31 and receives a control command thereof. The ultrasonic wave emitting function module 323, i.e., a signal emitting sensor, can generate a certain number of ultrasonic waves of 40 kHz. The transmission control circuit module 322 is responsible for controlling the wireless communication module 321 and the ultrasonic transmission module 323, and when receiving the transmission instruction from the main control module, controls the ultrasonic transmission module 323 to transmit ultrasonic waves.
The receiving module 33 includes a wireless communication function module 331, a reception control circuit function module 332, and 4 ultrasonic wave receiving function modules 333, 334, 335, 336. The wireless communication function module 331 performs wireless communication with the main control module 31, and uploads time difference information of 4 ultrasonic wave receiving function modules 333, 334, 335, and 336. The ultrasonic wave receiving function blocks 333, 334, 335, 336, that is, signal receiving sensors, can detect ultrasonic wave signals and generate trigger signals. The reception control circuit function module 332 is responsible for controlling the wireless communication function module 331 and the 4 ultrasonic wave reception function modules 333, 334, 335, and 336, and when receiving the trigger signal of the ultrasonic wave reception function module, calculates 4 time differences and uploads them. The ultrasonic waves transmitted by the transmitting module 32 carry the transmitting time of the ultrasonic waves. The reception control circuit function module 332 calculates the difference between the reception time of the received ultrasonic wave and the transmission time carried by the ultrasonic wave, and obtains the time difference for each of the ultrasonic wave reception function modules 333, 334, 335, and 336.
When the measured time from the signal transmitting sensor to the signal receiving sensor is t (seconds) and the ultrasonic wave propagation speed is v (meters per second), the distance s between the signal transmitting sensor and the signal receiving sensor is vt. In the case of a high requirement for accuracy, it is necessary to correct the ultrasonic propagation velocity by the following equation in consideration of the influence of temperature on the ultrasonic propagation velocity so as to reduce the error.
v＝331.4+0.607T；
Wherein T is the actual temperature unit, v is the propagation speed of the ultrasonic wave in the medium, and the unit is m/s.
Then, step S103 is executed, according to the triangle principle, the distance between the two signal receiving sensors and the signal transmitting sensor is selected to calculate the plane coordinate, and the position of the signal transmitting sensor relative to the signal receiving sensor is obtainedAnd (4) placing. As shown in fig. 4, the distance between the signal receiving sensors 22 and 23 and the signal transmitting sensor 12 is selected to calculate plane coordinates, and the distance between the signal receiving sensor 22 and the signal transmitting sensor 12 is L1, and the distance between the signal receiving sensor 23 and the signal transmitting sensor 12 is L2, with the signal receiving sensor 22 as a coordinate reference point (0, 0). The distance between the signal receiving sensor 22 and the signal receiving sensor 23 is A, the coordinates (X, Y) of the signal emitting sensor 12 satisfy
Figure BDA0003326077560000071
Solving the system of equations yields the coordinates (X1, Y1) of the signal emitting sensor 12.
Specifically, since the signal receiving sensor is matched with the signal transmitting sensor, the position of the signal receiving sensor on the ground is fixed, and therefore, the distance a between the signal sensors is fixed. Meanwhile, the received signal returned by the signal receiving sensor also includes the identifier of the signal receiving sensor, so that the signal receiving sensor corresponding to each distance can be determined, and the corresponding formula is selected to calculate the coordinates of the signal transmitting sensor 12. The ground coordinate system may be predetermined. As shown in fig. 2 and 7, when the signal receiving sensors 22, 23, 24, 25 are disposed near the bottom 201 of the parking space 2, the signal receiving sensor 22 is selected as the origin, the positive direction of the X axis is selected to be directed from the signal receiving sensor 22 to the signal receiving sensor 25, and the positive direction of the Y axis is selected to be directed from the bottom 201 of the parking space to the entrance 202 of the parking space, then the coordinates (X, Y) of the signal emitting sensor 12 satisfy L12＝X2+Y2，L22＝Y2+(A-X)2，L32＝Y2+(2A-X)2，L42＝Y2+(3A-X)2. Wherein, L1 is the position distance between the signal receiving sensor 22 and the signal emitting sensor 12, L2 is the position distance between the signal receiving sensor 23 and the signal emitting sensor 12, L3 is the position distance between the signal receiving sensor 24 and the signal emitting sensor 12, and L4 is the position distance between the signal receiving sensor 25 and the signal emitting sensor 12. For the case where vehicle 1 can enter parking space 2 only from entrance 202 of parking space 2, it may beY is defined to take a positive value.
And the relative position of the wireless charging transmitting coil and the signal receiving sensor is fixed and known, so step S104 is executed to obtain the coordinates of the wireless charging transmitting coil on the ground coordinate system, i.e. the transmitting coil coordinates. And the signal emission sensor is fixed on the vehicle body. Therefore, step S105 may guide and position the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil, so that the wireless charging transmitting coil is aligned with the wireless charging receiving coil.
According to the invention, the coordinates of the signal transmitting sensor in a ground coordinate system are determined as the coordinates of the signal transmitting sensor through the distance between the signal transmitting sensor and each signal receiving sensor, and the vehicle is guided and positioned according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and is easy to realize.
Example two
Fig. 5 is a flowchart illustrating a method for guiding and positioning an electric vehicle wirelessly charging according to an embodiment of the present invention, including:
step S501, controlling a signal transmitting sensor on the vehicle to transmit a signal, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle.
Step S502, receiving the receiving signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between the signal transmitting sensor and each signal receiving sensor.
Step S503, the signal receiving sensors are located on the same straight line, the position of one signal receiving sensor is used as an origin of the ground coordinate system, the straight line where the signal receiving sensors are located is used as a first axis of the ground coordinate system, the straight line which is perpendicular to the first axis and passes through the origin is used as a second axis of the ground coordinate system, the coordinates of each signal receiving sensor in the ground coordinate system are determined based on the distance between each signal receiving sensor and the origin, the distances between the signal transmitting sensors and the signal receiving sensors are combined in pairs, every two distances determine a coordinate value to be calculated of the signal transmitting sensor in the ground coordinate system, and the coordinates of the signal transmitting sensor are determined based on the coordinate values to be calculated.
In one embodiment, the combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, where every two distances determine a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system, and the determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated specifically includes:
selecting a minimum distance from the distances between the signal transmitting sensor and the signal receiving sensor as a reference distance, and using the distances except the reference distance as auxiliary distances;
and respectively calculating the reference distance and each auxiliary distance to obtain a plurality of coordinate values to be calculated of the signal emission sensor in the ground coordinate system, and calculating weighted values of the plurality of coordinate values to be calculated to obtain the coordinates of the signal emission sensor.
In one embodiment, the calculating a weighted value of a plurality of coordinate values to be calculated to obtain coordinates of the signal emission sensor specifically includes:
sorting a plurality of the auxiliary distances;
and determining the percentage weight of each coordinate value to be calculated, wherein for the two coordinate values to be calculated, the percentage weight of the coordinate value to be calculated obtained by calculating the shorter auxiliary distance is more than or equal to the percentage weight of the coordinate value to be calculated obtained by calculating the longer auxiliary distance.
And step S504, acquiring the coordinates of the transmitting coil of the wireless charging transmitting coil on the ground coordinate system.
And step S505, displaying a parking prompt according to the difference value between the signal transmitting sensor coordinate and the transmitting coil coordinate until the signal transmitting sensor coordinate is consistent with the transmitting coil coordinate.
Specifically, steps S501 to S503 are performed to determine the signal emission sensor coordinates. One signal transmitting sensor and one signal receiving sensor can measure the distance, but only one-dimensional space distance can be measured. Because the coordinates required by positioning are two-dimensional space, the two-dimensional coordinates of the transmitting module can be calculated according to the triangle principle through the distance between one signal transmitting sensor and two signal receiving sensors. However, since the angle of the receiving probe is only 60 degrees, a plurality of signal receiving sensors are selected to reduce the blind area range. As shown in fig. 6, according to the width of the entire vehicle: 1.6-1.8m, and a guide positioning distance requirement (guide distance >2m), preferably 4 signal receiving sensors 22, 23, 24, 25 are selected for positioning guidance.
Combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, determining a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system by every two distances, and determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated.
Specifically, the minimum distance is selected as a reference distance from the distances between the signal transmitting sensor and the signal receiving sensor, and the distances except the reference distance are used as auxiliary distances;
and respectively calculating the reference distance and each auxiliary distance to obtain a plurality of coordinate values to be calculated of the signal emission sensor in the ground coordinate system, and calculating weighted values of the plurality of coordinate values to be calculated to obtain the coordinates of the signal emission sensor.
When the whole vehicle is guided and positioned, the coil position is calculated by adopting a proportional calculation method, for example, the position state shown in fig. 7, and the corresponding calculation process is as follows:
(1) the control module determines that the shortest distance corresponds to the signal receiving sensor (receiving radar) 22, and the distance between the signal receiving sensor 22 and the signal transmitting sensor (transmitting radar) 12 is L1, wherein L1 is the shortest distance, and L1 is the reference distance. The other signal receiving sensors 23, 24, and 25 are located at distances L2, L3, and L4 from the signal transmitting sensor 12, respectively, and these distances serve as auxiliary distances.
(2) Calculating the position of the signal emitting sensor through L1 and L2, and fitting a first coordinate to be calculated (X0 and Y0) of the signal emitting sensor 12;
(3) in the same method, a second coordinate to be calculated (X1, Y1) and a third coordinate to be calculated (X2, Y2) of the signal emission sensor are calculated through L1, L3 and L1, L4;
(4) since the shorter the distance, the higher the module detection accuracy, and there are detection errors in different radars, the signal emission sensor coordinates (X, Y) of the signal emission sensor 12 of the vehicle are obtained by using a proportional calculation method:
X＝X0*W0+X1*W1+X2*W2；
Y＝Y0*W0+Y1*W1+Y2*W2。
the shorter the assist distance is, the larger the corresponding percentage weight is, and the assist distance L2< L3< L4, so that the corresponding weight W0 ≧ W1 ≧ W2. For example, W0 is 50%, W1 is 25%, and W2 is 25%.
Then, step S504 acquires coordinates of the wireless charging transmission coil on the ground coordinate system as transmission coil coordinates.
As shown in fig. 2, the wireless charging transmission coil 21 is fixed on the ground, and its center is a fixed distance H2 from the X-axis of the ground coordinate system defined by the signal receiving sensor, and its center is a fixed distance W from the Y-axis. Therefore, the transmission coil coordinate of the wireless charging transmission coil 21 on the ground coordinate system is (W, H2). Since the signal transmitting sensor 12 is mated with the signal receiving sensors 22, 23, 24, 25, and the wireless charging transmitting coil 21 is fixed to the ground, the specific values of W and H2 can be fixedly set in the vehicle, i.e., the transmitting coil coordinates are held in the vehicle memory, so that the transmitting coil coordinates can be directly obtained.
Then, in step S505, a parking prompt may be displayed based on the difference between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
Since the signal transmitting sensor 12 is fixed on the vehicle, the position of the signal transmitting sensor 12 can be set, so that the connecting line of the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 is parallel to the two sides of the vehicle body. For example, the center of the wireless charging reception coil 11 and the signal transmission sensor 12 are both disposed on the central axis of the vehicle. The distance between the signal transmission sensor 12 and the center of the wireless charging reception coil 11 in the vehicle length direction is H1, so that the coordinates of the wireless charging reception coil 11 can be calculated based on the signal transmission sensor coordinates.
Since H1 is small, the coordinates of the signal transmitting sensor can be used as the coordinates of the wireless charging reception coil 11 for the sake of simplicity.
Specifically, since the distance H1 between the signal transmission sensor 12 and the center of the receiving coil 11 is small, the coordinates of the signal transmission sensor 12 can be taken as the coordinates of the receiving coil 11. And the wireless charging transmitting coil 21 is fixed on the ground, and the transmitting coil coordinate of the wireless charging transmitting coil 21 on the ground coordinate system is (W, H2). When the coordinates of the signal transmitting sensor 12 are consistent with those of the transmitting coil, the wireless charging receiving coil 11 can be ensured to be aligned with the wireless charging transmitting coil 21, and a good charging effect is achieved.
In the booting process of step S505, the coordinates (X, Y) of the signal emitting sensor are known from the results of the detection and calculation of the foregoing steps.
Meanwhile, it is known that the distance from the center point of the wireless charging receiving coil 11 to the signal transmitting sensor 12 is H1, and H1 is small, so that the signal transmitting sensor coordinates (X, Y) can be adopted as the coordinates of the center of the wireless charging receiving coil 11. The longitudinal distance between the center of the wireless charging transmitting coil 21 and the signal receiving sensor 22 is H2, and the transverse distance is W, so that the transmitting coil coordinate of the center of the wireless charging transmitting coil 21 in the ground coordinate system is (W, H2), and the relative distance vector of the wireless charging receiving coil 21 to the wireless charging transmitting coil 11 is (X3, Y3) obtained through coordinate calculation.
Accordingly, if:
x3 < 0 and Y3 > 0, the vehicle prompts the customer via DA: backing a car and driving a steering wheel to the left;
(vii) X3 > 0 and Y3 > 0, the vehicle prompting the customer through DA: backing a car and steering the wheel to the right;
(ix) X3 is 0 and Y3 > 0, the vehicle prompts the customer by DA: backing a car and aligning the steering wheel;
x3 is 0 and Y3 is 0, the vehicle prompts the customer by DA: if the vehicle is successfully positioned, please park and start charging;
optionally, when Y3 is less than 0, the DA prompts the customer to place the vehicle in the parking space and guide the vehicle again.
In the embodiment, the weighting calculation is performed based on the distances between the signal transmitting sensor and the plurality of signal receiving sensors, the coordinates of the signal transmitting sensor are determined, and the detection range is improved. Meanwhile, the vehicle is guided through the parking prompt, the driver is helped to align the wireless charging receiving coil to the wireless charging transmitting coil, and the charging efficiency is improved.
In addition, the parking guidance of the vehicle may be realized by automatic parking.
In one embodiment, the guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil specifically includes:
and automatically parking the vehicle according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
Specifically, the automatic parking is used for controlling the vehicle to turn, and the vehicle is controlled to turn towards the coordinate direction of the transmitting coil, so that the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
The embodiment controls the vehicle through automatic parking, and is more convenient.
In one embodiment, the method further comprises the following steps:
when the coordinates of the signal transmitting sensor are consistent with those of the transmitting coil and the two sides of the vehicle are parallel to the two sides of the parking space, calculating the coordinates of the wireless charging receiving coil in the ground coordinate system according to the coordinates of the signal transmitting sensor as receiving coil coordinates;
and performing secondary guiding and positioning on the vehicle according to the coordinates of the receiving coil and the coordinates of the transmitting coil.
Preferably, wireless charging transmitting coil 21 is located within parking space 2. The signal receiving sensors 22, 23, 24, 25 are disposed near the bottom 201 of the parking space 2, and the line of the plurality of receiving sensors 22, 23, 24, 25 is parallel to the bottom 201 of the parking space 2. The signal receiving sensor 22 is selected as the origin, the positive direction of the X-axis is selected to be directed from the signal receiving sensor 22 to the signal receiving sensor 25, and the positive direction of the Y-axis is selected to be directed from the bottom 201 of the parking space to the entrance 202 of the parking space. Therefore, the Y-axis of the ground coordinate system is parallel to both sides of the parking space 2. The connecting line of the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 is parallel to the two sides of the vehicle body. The distance between the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 in the vehicle length direction is H1. Therefore, when the two sides of the vehicle 1 are parallel to the two sides of the parking space 2, the connecting line of the center of the wireless charging receiving coil 11 and the signal transmitting sensor 12 is perpendicular to the X axis of the ground coordinate system, so that the coordinate of the center of the wireless charging receiving coil 11 on the X axis is consistent with the coordinate of the signal transmitting sensor on the X axis, and the coordinate of the center of the wireless charging receiving coil 11 on the Y axis is different from the coordinate of the signal transmitting sensor on the Y axis by H1.
When the signal transmission sensor coordinates coincide with the transmission coil coordinates, the vehicle approaches the ground coil, and at this time, the center of the wireless charging reception coil 11 and the center of the wireless charging transmission coil 21 may be further aligned to improve the charging efficiency.
Specifically, the wireless charging transmitting coil 21 and the signal receiving sensor are arranged according to the position of the wireless charging receiving coil 11 of the vehicle, so as to conveniently calculate the coordinates of the wireless charging receiving coil 11.
The specific calculation method of the wireless charging receiving coil 11 is determined according to the predetermined positional relationship between the wireless charging receiving coil 11 and the signal transmitting sensor 12 and the predetermined positional relationship between the wireless charging transmitting coil 21 and the signal receiving sensor in the parking space.
For example, when the wireless charging reception coil 11 is located at the rear end of the vehicle, the signal reception sensor and the wireless charging transmission coil 21 are disposed at the bottom 201 of the parking space 2, and the signal reception sensor is closer to the bottom 201 of the parking space 2. The vehicle 1 will be parked in the parking space 2 by reversing. Therefore, if the signal transmission sensor 12 is closer to the vehicle rear end than the wireless charge reception coil 11, the coordinate of the center of the wireless charge reception coil 11 is calculated as (X, Y + H1) from the coordinates (X, Y) of the signal transmission sensor 12 when both sides of the vehicle 1 are parallel to both sides of the parking space 2. If the wireless charging reception coil 11 is closer to the rear end of the vehicle than the signal transmission sensor 12 is, when both sides of the vehicle 1 are parallel to both sides of the parking space 2, the coordinates of the center of the wireless charging reception coil 11 are calculated as (X, Y-H1) from the coordinates (X, Y) of the signal transmission sensor 12.
And taking the coordinates of the center of the wireless charging receiving coil 11 as receiving coil coordinates, and then performing secondary guiding and positioning on the vehicle according to the receiving coil coordinates and the transmitting coil coordinates. The secondary guiding and positioning mode is consistent with the guiding and positioning mode, namely a prompting mode or an automatic parking mode can be adopted, so that the coordinates of the receiving coil are consistent with those of the transmitting coil, and the center of the wireless charging receiving coil 11 is aligned with that of the wireless charging transmitting coil 21, so that the charging efficiency is improved.
In another embodiment, when the coordinates of the signal transmitting sensor are consistent with those of the transmitting coil, the vehicle approaches the ground coil, which can be detected by a small current coil through an additional short-distance positioning system, and the center of the wireless charging receiving coil 11 is aligned with the center of the wireless charging transmitting coil 21 through secondary guidance, so as to improve the charging efficiency.
Fig. 8 is a flow chart illustrating the operation of the preferred embodiment of the present invention, and the method using the system shown in fig. 3 comprises:
step S801, start-up, initialization, USB initialization "FLAG ═ 0 or 1";
step S802, after the initialization is successful, a synchronization command is executed, and after t0 is counted down, if the transmitting end, namely the transmitting module, answers in t0 and the receiving end, namely the receiving module, answers in t0, the step S803 is executed;
step S803, the transmitting terminal is informed to start transmitting, and after t0 milliseconds of countdown, if the transmitting terminal responds in t0, the time is delayed by t1, and the step S804 is executed;
step S804, informing the receiving end to transmit back the time data, and executing step S805 if the receiving end responds in t0 after t0 milliseconds are counted down;
step S805, sequentially calculating the distance between the transmitting end and the receiving end, calculating the coordinates of the vehicle, and uploading positioning data;
step 806, if a stop instruction is received, the computer is stopped, otherwise, step 802 is executed.
The guiding positioning of the embodiment adopts a multipoint positioning method based on ultrasonic waves, so that the overall positioning precision is high, and the structure is simple. The present embodiment includes a plurality of transmitting modules and receiving modules. The transmitting module is an ultrasonic transmitting radar and is positioned at a vehicle-mounted end, the receiving module is an ultrasonic receiving radar and is positioned at a ground end, and the distances between the transmitting module and each receiving module are measured through the transmitting and receiving of ultrasonic waves, so that the relative positions of the transmitting module and the receiving module are calculated.
A specific timing chart is shown in fig. 9.
EXAMPLE III
Fig. 10 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:
at least one processor 1001; and the number of the first and second groups,
a memory 1002 communicatively coupled to at least one of the processors 1001; wherein the content of the first and second substances,
the memory 1002 stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the wireless charging guidance positioning method for electric vehicles as described above.
Fig. 10 illustrates an example of one processor 1001.
The electronic device may further include: an input device 1003 and a display device 1004.
The processor 1001, the memory 1002, the input device 1003, and the display device 1004 may be connected by a bus or by another method, and are illustrated as being connected by a bus.
The memory 1002, serving as a non-volatile computer-readable storage medium, may be configured to store a non-volatile software program, a non-volatile computer-executable program, and modules, such as program instructions/modules corresponding to the wireless charging guidance positioning method for an electric vehicle in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 1001 executes various functional applications and data processing by running the nonvolatile software programs, instructions and modules stored in the memory 1002, so as to implement the wireless charging guidance positioning method for the electric vehicle in the above embodiment.
The memory 1002 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electric vehicle wireless charging guidance positioning method, and the like. Further, the memory 1002 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 1002 may optionally include memory located remotely from the processor 1001, which may be connected over a network to a device that performs the wireless charging guidance positioning method for the electric vehicle. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 1003 may receive an input of a user click and generate a signal input related to user setting and function control of the wireless charging guidance positioning method of the electric vehicle. The display device 1004 may include a display screen or the like.
When the one or more modules are stored in the memory 1002 and executed by the one or more processors 1001, the method for positioning an electric vehicle wireless charging guidance is performed in any of the above-described method embodiments.
According to the invention, the coordinates of the signal transmitting sensor in a ground coordinate system are determined as the coordinates of the signal transmitting sensor through the distance between the signal transmitting sensor and each signal receiving sensor, and the vehicle is guided and positioned according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil. The invention has accurate positioning and is easy to realize.
An embodiment of the present invention provides a storage medium, which stores computer instructions for executing all the steps of the wireless charging guidance positioning method for an electric vehicle as described above when a computer executes the computer instructions.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A wireless charging guiding and positioning method for an electric vehicle is characterized by comprising the following steps:
controlling a signal transmitting sensor on the vehicle to transmit a signal, wherein the signal transmitting sensor has a fixed distance with a wireless charging receiving coil at the bottom of the vehicle;
receiving signals returned by a plurality of signal receiving sensors positioned on the ground, and determining the distance between a signal transmitting sensor and each signal receiving sensor;
determining coordinates of the signal transmitting sensors in a ground coordinate system as signal transmitting sensor coordinates according to the distance between the signal transmitting sensors and each signal receiving sensor, wherein the ground coordinate system is defined by a plurality of signal receiving sensors;
acquiring a transmitting coil coordinate of a wireless charging transmitting coil positioned on the ground coordinate system;
and guiding and positioning the vehicle according to the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil.
2. The wireless charging guiding and positioning method for the electric vehicle according to claim 1, wherein the plurality of signal receiving sensors are located on the same straight line, the position of one of the signal receiving sensors is used as an origin of the ground coordinate system, the straight line where the plurality of signal receiving sensors are located is used as a first axis of the ground coordinate system, a straight line which is perpendicular to the first axis and passes through the origin is used as a second axis of the ground coordinate system, and the coordinates of each signal receiving sensor in the ground coordinate system are determined based on the distance between each signal receiving sensor and the origin.
3. The electric vehicle wireless charging guiding and positioning method according to claim 2, wherein the determining coordinates of the signal transmitting sensors in the ground coordinate system as signal transmitting sensor coordinates according to the distance between the signal transmitting sensors and each signal receiving sensor specifically comprises:
combining the distances between the signal transmitting sensors and the signal receiving sensors in pairs, determining a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system by every two distances, and determining the coordinates of the signal transmitting sensors based on the coordinate values to be calculated.
4. The wireless charging guiding and positioning method for the electric vehicle according to claim 3, wherein the distances between the plurality of signal transmitting sensors and the plurality of signal receiving sensors are combined in pairs, every two distances determine a coordinate value to be calculated of the signal transmitting sensors in the ground coordinate system, and the coordinates of the signal transmitting sensors are determined based on the coordinate values to be calculated, which specifically comprises:
selecting a minimum distance from the distances between the signal transmitting sensor and the signal receiving sensor as a reference distance, and using the distances except the reference distance as auxiliary distances;
and respectively calculating the reference distance and each auxiliary distance to obtain a plurality of coordinate values to be calculated of the signal emission sensor in the ground coordinate system, and calculating weighted values of the plurality of coordinate values to be calculated to obtain the coordinates of the signal emission sensor.
5. The wireless charging guiding and positioning method for the electric vehicle according to claim 4, wherein the calculating a weighted value of a plurality of coordinate values to be calculated to obtain coordinates of the signal emission sensor specifically comprises:
sorting a plurality of the auxiliary distances;
and determining the percentage weight of each coordinate value to be calculated, wherein for the two coordinate values to be calculated, the percentage weight of the coordinate value to be calculated obtained by calculating the shorter auxiliary distance is more than or equal to the percentage weight of the coordinate value to be calculated obtained by calculating the longer auxiliary distance.
6. The electric vehicle wireless charging guiding and positioning method according to claim 1, wherein the guiding and positioning of the vehicle according to the signal transmitting sensor coordinates and the transmitting coil coordinates specifically comprises:
and displaying a parking prompt according to the difference value of the signal transmitting sensor coordinate and the transmitting coil coordinate until the signal transmitting sensor coordinate is consistent with the transmitting coil coordinate.
7. The electric vehicle wireless charging guiding and positioning method according to claim 1, wherein the guiding and positioning of the vehicle according to the signal transmitting sensor coordinates and the transmitting coil coordinates specifically comprises:
and automatically parking the vehicle according to the difference value between the coordinates of the signal transmitting sensor and the coordinates of the transmitting coil until the coordinates of the signal transmitting sensor are consistent with the coordinates of the transmitting coil.
8. The electric vehicle wireless charging guiding and positioning method according to claim 6 or 7, further comprising:
when the coordinates of the signal transmitting sensor are consistent with those of the transmitting coil and the two sides of the vehicle are parallel to the two sides of the parking space, calculating the coordinates of the wireless charging receiving coil in the ground coordinate system according to the coordinates of the signal transmitting sensor as receiving coil coordinates;
and performing secondary guiding and positioning on the vehicle according to the coordinates of the receiving coil and the coordinates of the transmitting coil.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the wireless charging guidance positioning method for electric vehicles according to any one of claims 1 to 8.
10. A storage medium storing computer instructions for performing all the steps of the wireless charging guidance positioning method for electric vehicles according to any one of claims 1 to 8 when the computer executes the computer instructions.
CN202111261920.5A 2021-10-28 2021-10-28 Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium Active CN113910930B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111261920.5A CN113910930B (en) 2021-10-28 2021-10-28 Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111261920.5A CN113910930B (en) 2021-10-28 2021-10-28 Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium

Publications (2)

Publication Number Publication Date
CN113910930A true CN113910930A (en) 2022-01-11
CN113910930B CN113910930B (en) 2023-12-26

Family

ID=79243392

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111261920.5A Active CN113910930B (en) 2021-10-28 2021-10-28 Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN113910930B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107394832A (en) * 2016-05-16 2017-11-24 深圳市泰金田科技有限公司 Electric automobile wireless charging is to Barebone, alignment methods and vehicle end device
CN108454420A (en) * 2017-12-07 2018-08-28 中惠创智无线供电技术有限公司 A kind of self-positioning alignment system and method for wireless charging for electric vehicle
CN109435717A (en) * 2018-12-17 2019-03-08 北华大学 A kind of electric car wireless charging positioning system
CN110058200A (en) * 2019-05-28 2019-07-26 北京有感科技有限责任公司 The position bootstrap technique and system of wireless charging vehicle
KR20200050275A (en) * 2018-11-01 2020-05-11 르노삼성자동차 주식회사 Wireless charging vehicle positioning system by triangulation based on rssi for improving charging efficiency, and method thereof
US20200161908A1 (en) * 2018-11-16 2020-05-21 Boe Technology Group Co., Ltd. Wireless charging device and charging system
US20200307403A1 (en) * 2019-04-01 2020-10-01 Valeo Schalter Und Sensoren Gmbh Wireless communication for aligning a vehicle to a wireless charger
CN113541327A (en) * 2021-06-29 2021-10-22 北京有感科技有限责任公司 Wireless charging system auxiliary function working method

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107394832A (en) * 2016-05-16 2017-11-24 深圳市泰金田科技有限公司 Electric automobile wireless charging is to Barebone, alignment methods and vehicle end device
CN108454420A (en) * 2017-12-07 2018-08-28 中惠创智无线供电技术有限公司 A kind of self-positioning alignment system and method for wireless charging for electric vehicle
KR20200050275A (en) * 2018-11-01 2020-05-11 르노삼성자동차 주식회사 Wireless charging vehicle positioning system by triangulation based on rssi for improving charging efficiency, and method thereof
US20200161908A1 (en) * 2018-11-16 2020-05-21 Boe Technology Group Co., Ltd. Wireless charging device and charging system
CN109435717A (en) * 2018-12-17 2019-03-08 北华大学 A kind of electric car wireless charging positioning system
US20200307403A1 (en) * 2019-04-01 2020-10-01 Valeo Schalter Und Sensoren Gmbh Wireless communication for aligning a vehicle to a wireless charger
CN110058200A (en) * 2019-05-28 2019-07-26 北京有感科技有限责任公司 The position bootstrap technique and system of wireless charging vehicle
CN113541327A (en) * 2021-06-29 2021-10-22 北京有感科技有限责任公司 Wireless charging system auxiliary function working method

Also Published As

Publication number Publication date
CN113910930B (en) 2023-12-26

Similar Documents

Publication Publication Date Title
JP6381749B2 (en) Guidance system and method
CN109094669B (en) Method and apparatus for evaluating articulation angle
US11619947B2 (en) Wireless communication for aligning a vehicle to a wireless charger
US8513915B2 (en) Vehicle alignment for inductive charging
CN105292017B (en) For exempting from manually to the infrared triangulation of the positioning vehicle of electric vehicle charging
US11919414B2 (en) Positioning method for inductively charging electric vehicles
CN103342101B (en) Induction type non-contact charge location alignment device and localization method thereof
CN105083046B (en) Localization by ultrasonic for charging system for motor-driven vehicle
KR101684033B1 (en) Method and system for aligning a vehicle with a wireless charging assembly
CN105291872A (en) Ultrasonic and infrared object detection for wireless charging of electric vehicles
WO2023273242A1 (en) Mounting test method and system for vehicle-mounted millimeter wave radar
US11173799B2 (en) Method for guiding a motor vehicle into a charging position at an inductive charging station, and control device and motor vehicle
US11623641B2 (en) Following target identification system and following target identification method
KR20200040147A (en) Apparatus and method for detecting mounting angle of radar
JP3594020B2 (en) Obstacle detection device
KR20200050275A (en) Wireless charging vehicle positioning system by triangulation based on rssi for improving charging efficiency, and method thereof
CN113910930B (en) Wireless charging guiding positioning method for electric automobile, electronic equipment and storage medium
CN112829622A (en) Vehicle guide alignment method, device and system and electronic equipment
CN109229015B (en) Method for realizing vehicle 360-degree obstacle alarm prompt based on ultrasonic sensor
CN209979832U (en) Position guidance system for wireless charging vehicle
JP5880859B2 (en) Parking support system and unit with positioning body
CN115472933A (en) Charging method and device of wireless vehicle-mounted VR equipment, computer equipment and medium
CN111710183A (en) Parking guide device and parking guide system
WO2021124781A1 (en) Automatic parking support system, automatic parking support program, and automatic parking support method
US20230013319A1 (en) Three-dimensional object detection device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant