阅读说明：本技术 基于自动泊车的无线充电对准方法、计算机可读存储介质及系统 (Wireless charging alignment methods, computer readable storage medium and system based on automatic parking ) 是由 侯雅静 宋磊 于 2019-08-29 设计创作，主要内容包括：本发明提供一种基于自动泊车的无线充电对准方法、计算机可读存储介质及系统,其中,无线充电对准方法包括：识别无线充电停车位的辅助标识；采集车辆与无线充电位标识之间的距离数据,并将采集的距离数据进行分析处理；根据分析处理获得的数据,对车辆的行驶参数进行实时调整；当车辆与无线充电位标识之间的距离以及车身的偏移角度在标定的误差范围内时,暂停自动泊车；进行对准检查,并反馈对准结果给车辆；若反馈的对准结果在允许充电的误差范围内,则停止泊车,否则车辆继续调整位置。本发明在不增加无线充电系统硬件成本的情况下,通过无线充电系统与自动泊车系统的交互,使车辆在自动泊车的同时,实现无线充电系统的精确对准。(The present invention provides a kind of wireless charging alignment methods, computer readable storage medium and system based on automatic parking, wherein wireless charging alignment methods include: the accessory ID for identifying wireless charging parking stall；The distance between vehicle and wireless charging bit identification data are acquired, and the range data of acquisition is analyzed and processed；According to the data that analysis processing obtains, the driving parameters of vehicle are adjusted in real time；When the deviation angle of the distance between vehicle and wireless charging bit identification and vehicle body is in the error range of calibration, suspend automatic parking；Alignment inspection is carried out, and feeds back alignment result to vehicle；If the alignment result of feedback, in the error range for allowing to charge, stopping is parked, otherwise vehicle continues to adjust position.The present invention, by the interaction of wireless charging system and automated parking system, makes vehicle while automatic parking in the case where not increasing wireless charging system hardware cost, realizes precisely aligning for wireless charging system.)

1. a kind of wireless charging alignment methods based on automatic parking, which is characterized in that the wireless charging method includes:

The accessory ID that wireless charging parking stall is identified by way of image recognition receives when for wireless charging parking stall The transmitting terminal on end and the wireless charging parking stall identified, which is established, to be wirelessly connected；

The distance between vehicle and wireless charging bit identification data are acquired, automated parking system controller is according to collected distance Data adjust the driving parameters of vehicle in real time, start automatic parking；

When wireless charging bit identification enters vehicle rear camera blind area, vehicle according to preceding camera acquisition and accessory ID away from From real-time to adjust automated parking system control parameter；

When the deviation angle of the distance between vehicle and accessory ID and vehicle body is in the error range of calibration, pause is automatic It parks；

Receiving end sends registration signal to transmitting terminal, and the registration signal based on transmission carries out alignment inspection, and feeds back alignment result To vehicle；

If the alignment result of feedback, in the error range for allowing to charge, stopping is parked, otherwise vehicle continues to adjust position.

2. the wireless charging alignment methods according to claim 1 based on automatic parking, which is characterized in that the traveling of vehicle Parameter includes: the travel speed of the steering of vehicle, vehicle.

3. the wireless charging alignment methods according to claim 1 based on automatic parking, which is characterized in that image recognition The acquisition of forward and backward camera of the mode based on vehicle, range data is based on ultrasonic sensor, carries out automatic parking process and also wraps Include: when wireless charging bit identification enters vehicle rear camera blind area, vehicle determines according to preceding camera apart from accessory ID Distance, while vehicle body angle is judged by ultrasonic sensor and camera, vehicle parking parameter is adjusted in real time.

4. the wireless charging alignment methods according to claim 1 based on automatic parking, which is characterized in that the vehicle body The error of the calibration of deviation angle is at most 3 °.

5. the wireless charging alignment methods according to claim 1 based on automatic parking, which is characterized in that carry out alignment inspection It looks into and includes:

After wireless charging system transmitting terminal is connect with receiving end WIFI, receiving end sends alignment to transmitting terminal and checks request, simultaneously End DC output end is controlled and received to be shorted；After transmitting terminal, which receives alignment, checks request, transmitting terminal inverter phase angle is adjusted, at this time In transmitting end-coil and end-coil generation electric current is received, offset is bigger, the Impedance of reflection Z of transmitting terminal_GAIt is smaller, emit end-coil The electric current of middle generation is bigger, according to the size of transmitting terminal coil current, to determine receiving end and emit the degree of coupling of end-coil, To judge whether to be aligned.

6. a kind of system based on the described in any item wireless charging alignment methods of claim 1-5, which is characterized in that the system System includes: wireless charging device, automatic parking device, land marking；

The receiving end that the wireless charging device includes: the transmitting terminal for being set to ground, is set on vehicle, the automatic parking Device is set on vehicle comprising: vehicle distances detection device, image collecting device, automatic parking control device, the vehicle Distance detector acquisition range data simultaneously feeds back to automatic parking control device, and described image acquisition device acquires picture number According to and feed back to automatic parking control device, the land marking includes: the auxiliary mark being correspondingly arranged with wireless charging parking stall Knowledge, the wireless charging bit identification that transmitting terminal position is indicated in wireless charging parking stall.

7. it is according to claim 6 based on the wireless charging of automatic parking to Barebone, which is characterized in that the vehicle away from It is ultrasonic sensor from detection device, described image acquisition device is the camera of front, rear, left and right four of vehicle.

8. a kind of computer readable storage medium, which is characterized in that be stored at data on the computer readable storage medium Program is managed, the data processor is realized as described in any one in claim 1-5 based on automatic pool when being executed by processor The step of wireless charging alignment methods of vehicle.

9. it is a kind of based on the wireless charging of automatic parking to Barebone, which is characterized in that the wireless charging includes: to Barebone

Processor；

Memory is stored thereon with the computer program for running on the processor；

Wherein, it is realized when the computer program is executed by the processor as described in any one in claim 1-5 based on certainly The step of dynamic wireless charging alignment methods parked.

Technical field

The present invention relates to wireless charging technical field more particularly to a kind of wireless charging alignment sides based on automatic parking Method, computer readable storage medium and system.

Background technique

Existing electric car wired charging the problems such as there are inconvenient for use, charging gun is easy to wear, poor contact, wireless charging Power technology can provide the charging of safe and convenient for electric automobile power battery, be able to solve wired charging technology it is current present in Some shortcomings.

For wireless charging system, power supply unit, without contacting, has user certain convenience with mobile unit. One of convenience is exactly that the alignment between the vehicle end of wireless charging and power supply unit has certain flexibility.However, when depositing In big position deviation, the safety of charging and high efficiency hardly result in guarantee.If wireless charging system coil alignment is only It is extremely difficult by the manual operation of driver, it can extreme influence user experience.

Summary of the invention

The present invention is intended to provide a kind of wireless charging alignment methods based on automatic parking, computer readable storage medium and System, to overcome the deficiencies in the prior art.

In order to solve the above technical problems, the technical scheme is that

A kind of wireless charging alignment methods based on automatic parking comprising:

The accessory ID that wireless charging parking stall is identified by way of image recognition, when for wireless charging parking stall, The transmitting terminal on receiving end and the wireless charging parking stall identified, which is established, to be wirelessly connected；

The distance between vehicle and wireless charging bit identification data are acquired, automated parking system controller is according to collected Range data adjusts the driving parameters of vehicle in real time, starts automatic parking；

When wireless charging bit identification enters vehicle rear camera blind area, vehicle is acquired according to preceding camera and accessory ID Distance, in real time adjust automated parking system control parameter；

When the deviation angle of the distance between vehicle and accessory ID and vehicle body is in the error range of calibration, pause Automatic parking；

Receiving end sends registration signal to transmitting terminal, and the registration signal based on transmission carries out alignment inspection, and feeds back alignment As a result vehicle is given；

If the alignment result of feedback, in the error range for allowing to charge, stopping is parked, otherwise vehicle continues to adjust position It sets.

As the improvement of the wireless charging alignment methods of the invention based on automatic parking, the range data of acquisition is carried out Analysis is handled

As the improvement of the wireless charging alignment methods of the invention based on automatic parking, the driving parameters of vehicle include: The steering of vehicle, vehicle travel speed.

As the improvement of the wireless charging alignment methods of the invention based on automatic parking, the mode of image recognition is based on vehicle Forward and backward camera, the acquisition of range data is based on ultrasonic sensor, carries out automatic parking process further include: wireless When charging bit identification enters vehicle rear camera blind area, vehicle determines the distance apart from accessory ID according to preceding camera, simultaneously Vehicle body angle is judged by ultrasonic sensor and camera, adjusts vehicle parking parameter in real time.

As the improvement of the wireless charging alignment methods of the invention based on automatic parking, the deviation angle of the vehicle body The error of calibration is at most 3 °.

As the improvement of the wireless charging alignment methods of the invention based on automatic parking, carrying out alignment inspection includes:

After wireless charging system transmitting terminal is connect with receiving end WIFI, receiving end sends alignment to transmitting terminal and checks request, End DC output end is controlled and received simultaneously to be shorted；After transmitting terminal, which receives alignment, checks request, transmitting terminal inverter phase angle is adjusted, Electric current is generated in transmitting end-coil and reception end-coil at this time, offset is bigger, the Impedance of reflection Z of transmitting terminal_GAIt is smaller, transmitting terminal The electric current generated in coil is bigger, according to the size of transmitting terminal coil current, to determine receiving end and emit the coupling of end-coil Degree, to judge whether to be aligned.

In order to solve the above technical problems, the technical scheme is that

A kind of system based on wireless charging alignment methods as described above comprising: wireless charging device, automatic parking Device, land marking；

The receiving end that the wireless charging device includes: the transmitting terminal for being set to ground, is set on vehicle, it is described automatic Parking apparatus is set on vehicle comprising: vehicle distances detection device, image collecting device, automatic parking control device, institute It states vehicle distances detection device acquisition range data and feeds back to automatic parking control device, described image acquisition device acquisition figure As data and feed back to automatic parking control device, the land marking include: be correspondingly arranged with wireless charging parking stall it is auxiliary Help mark, in wireless charging parking stall indicate transmitting terminal position wireless charging bit identification.

As the improvement of the invention based on the wireless charging of automatic parking to Barebone, the vehicle distances detection device For ultrasonic sensor, described image acquisition device is the camera of front, rear, left and right four of vehicle.

In order to solve the above technical problems, the technical scheme is that

A kind of computer readable storage medium, is stored thereon with data processor, and the data processor is processed The step of wireless charging alignment methods based on automatic parking as described above are realized when device executes.

In order to solve the above technical problems, the technical scheme is that

It is a kind of based on the wireless charging of automatic parking to Barebone comprising:

Processor；

Memory is stored thereon with the computer program for running on the processor；

Wherein, base as claimed in any one of claims 1 to 6 is realized when the computer program is executed by the processor In the wireless charging alignment methods of automatic parking the step of.

Compared with prior art, the beneficial effects of the present invention are: the wireless charging alignment of the invention based on automatic parking Method is based on automatic parking device, automatic parking is in the process on ground in the case where not increasing wireless charging system hardware cost Under the auxiliary of face mark, by the interaction of wireless charging system and automated parking system, make vehicle while automatic parking, it is real Existing wireless charging system precisely aligns.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.

Fig. 1 is the top view of land marking in the embodiment of the present invention 2；

Fig. 2 is that wireless charging alignment methods vehicle according to the present invention is parked in the signal of the state at wireless charging bit identification Figure.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

The present invention combines automatic parking with electric car wireless charging technology, automatic that electric car is guided to be moved to nothing Line charge electric system transmitting terminal alignment position, it can be achieved that wireless charging system maximum power and efficiency transmission.The present invention borrows It helps land marking to realize the alignment of wireless charging, compared to high-precision GPS locating module or LF radio-frequency module is added, carries out vehicle certainly The dynamic guidance parked.There is some superiority on the volume and weight of cost and device.