Vehicle position detection system and method

Abstract

The application provides a vehicle position detection system and method, and relates to the technical field of wireless charging.The system comprises an energy receiving device and an energy sending device.The energy receiving device comprises a beacon module arranged on the same horizontal plane of an energy receiving coil of the energy receiving device.The energy sending device comprises a beacon induction module arranged on the side of an energy sending coil of the energy sending device close to the energy receiving coil, a first coordinate module, a second coordinate module and a position acquisition module connected in sequence, and the first coordinate module is further connected with the beacon induction module.A beacon magnetic field is generated through the beacon module, the beacon induction module senses the beacon magnetic field, outputs a plurality of induction voltages, and the first coordinate module, the second coordinate module and the position acquisition module are connected in sequence to obtain the position offset result of the energy receiving coil based on the energy sending coil according to the plurality of induction voltages.The application improves the position detection precision of the energy receiving coil during wireless charging of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the wireless charging technical field, especially to a vehicle position detection system and method. BACKGROUND

[0002] Wireless power transfer (WPT) is widely concerned by the academic circles due to its convenience, safety and good research prospects. The wireless charging technology for electric vehicles is one of the most promising applications of WPT, and the efficiency and power of the wireless charging for electric vehicles are greatly affected by the offset of the electric vehicle.

[0003] In the prior art, the offset of the electric vehicle is detected based on an active beacon. The beacon coil outputs an induced voltage according to the charging magnetic field of the energy transmitting coil of the energy transmitting device, and the position of the beacon coil is determined, so as to obtain the offset of the energy receiving coil of the electric vehicle. Although the position of the energy receiving coil of the electric vehicle can be detected by the prior art, the power voltage fluctuation in the prior art usually causes the charging magnetic field to fluctuate, so that the induced voltage output by the beacon coil changes, and the position detection accuracy of the energy receiving coil is low. SUMMARY

[0004] The main purpose of the present application is to provide a vehicle position detection system and method, which aims to solve the technical problem of low position detection accuracy of the energy receiving coil caused by the fluctuation of the charging magnetic field during the wireless charging of the electric vehicle.

[0005] To achieve the above purpose, the technical scheme is adopted as follows:

[0006] In a first aspect, the present application provides a vehicle position detection system, which comprises an energy receiving device and an energy transmitting device.

[0007] The energy receiving device comprises:

[0008] A beacon module is arranged on the same horizontal plane of the energy receiving coil of the energy receiving device, and is used to generate a beacon magnetic field.

[0009] The energy transmitting device comprises:

[0010] A beacon induction module is arranged on the side of the energy transmitting coil of the energy transmitting device close to the energy receiving coil, and is used to induce the beacon magnetic field through a plurality of detection coils, generate an induced electromotive force, and output a plurality of induced voltages.

[0011] A first coordinate module is connected with the beacon induction module, and is used to determine a target detection coil according to the plurality of induced voltages, obtain a target coordinate of the target detection coil in a preset coordinate system, and the preset coordinate system is a two-dimensional coordinate system constructed according to the plane where the energy transmitting coil is located.

[0012] The second coordinate module is connected with the first coordinate module, and is configured to obtain a beacon coordinate of the beacon module based on a preset coordinate system according to the target coordinate.

[0013] The position acquisition module is connected with the second coordinate module, and is configured to obtain a position offset result of the energy receiving coil based on the energy sending coil according to the beacon coordinate and a position relationship between the beacon module and the energy receiving coil.

[0014] Optionally, the beacon induction module comprises:

[0015] The detection coil array comprises a preset number of detection coils arranged on the same horizontal plane, and each detection coil is connected with the first coordinate module.

[0016] Optionally, the beacon module comprises:

[0017] The first beacon unit is arranged at one end of the first side of the energy receiving coil, and is configured to generate a first beacon magnetic field.

[0018] The second beacon unit is arranged at the other end of the first side, and is configured to generate a second beacon magnetic field.

[0019] The beacon induction module is further configured to generate an induced electromotive force according to the first beacon magnetic field, output a plurality of first induced voltages, and generate an induced electromotive force according to the second beacon magnetic field, output a plurality of second induced voltages.

[0020] The first coordinate module is further configured to determine a first target detection coil according to the plurality of first induced voltages, and obtain a first target coordinate of the first target detection coil in the preset coordinate system; and

[0021] determine a second target detection coil according to the plurality of second induced voltages, and obtain a second target coordinate of the second target detection coil in the preset coordinate system.

[0022] The second coordinate module is further configured to obtain a first beacon coordinate of the first beacon unit based on the preset coordinate system according to the first target coordinate; and

[0023] obtain a second beacon coordinate of the second beacon unit based on the preset coordinate system according to the second target coordinate.

[0024] The position acquisition module is further configured to obtain an offset angle of the energy receiving coil based on the preset coordinate system and a center coordinate of a center of the energy receiving coil based on the preset coordinate system according to the first beacon coordinate, the second beacon coordinate and the position relationship, so as to obtain the position offset result.

[0025] Optionally, the system further comprises:

[0026] The first driving module is connected to the first beacon unit and is used to generate a first driving signal based on the received control signal, thereby driving the first beacon unit to generate a first beacon magnetic field.

[0027] The second drive module, connected to the second beacon unit, is used to generate a second drive signal based on the received control signal, thereby driving the second beacon unit to generate a second beacon magnetic field.

[0028] Optionally, the first beacon unit includes:

[0029] beacon coil L B1 and beacon coil L B2 They are respectively located at both ends of the second side adjacent to the first side;

[0030] beacon coil L B1 The lead-in end and beacon coil L B2 The input ends of all are connected to the first drive module, and the beacon coil L B1 The lead-out terminal and the beacon coil L B2 The lead-out terminals are connected;

[0031] The second beacon unit includes:

[0032] beacon coil L B3 and beacon coil L B4 They are respectively set at both ends of the third side opposite to the second side;

[0033] beacon coil L B3 The lead-in end and beacon coil L B4 The input ends of all are connected to the second drive module, and the beacon coil L B3 The lead-out terminal and the beacon coil L B4 The lead-out end is connected.

[0034] Optionally,

[0035] The first coordinate module is also used to obtain the first target detection coil and the first target coordinates based on the first target voltage, which is greater than the preset effective voltage among a plurality of first induced voltages;

[0036] The second coordinate module is further configured to acquire the induced voltages corresponding to the four detection coils adjacent to the first target detection coil, thereby obtaining four first adjacent voltages, wherein the four adjacent detection coils are respectively located in the X-axis direction and Y-axis direction of the first target detection coil based on a preset coordinate system; and,

[0037] The first beacon coordinate weights are obtained based on the first target voltage and the four first adjacent voltages;

[0038] The coordinates of the first beacon are obtained based on the weight of the first beacon coordinates and the coordinates of the first target.

[0039] Optionally,

[0040] The first coordinate module is further configured to obtain a second target detection coil and a second target coordinate according to a second target voltage greater than the preset effective voltage in the plurality of second induced voltages.

[0041] The second coordinate module is further configured to obtain four second adjacent voltages corresponding to four detection coils adjacent to the second target detection coil, wherein the four adjacent detection coils are located in the X-axis direction and the Y-axis direction of the second target detection coil based on the preset coordinate system; and

[0042] The second beacon coordinate weight is obtained according to the second target voltage and the four second adjacent voltages.

[0043] The second beacon coordinate is obtained according to the second beacon coordinate weight and the second target coordinate.

[0044] Optionally,

[0045] The first coordinate module is further configured to, when the first target detection coil is an edge detection coil of the detection coil array, determine a virtual voltage of a virtual detection coil adjacent to the edge detection coil in the coordinate direction according to a preset voltage query table.

[0046] The second coordinate module is further configured to obtain a first beacon coordinate weight according to the virtual voltage, the first adjacent voltage and the first target voltage.

[0047] Optionally, the system further comprises:

[0048] The voltage acquisition module is connected with the beacon induction module and the first coordinate module respectively, and is configured to acquire the plurality of induced voltages, perform voltage compensation processing, amplification processing, rectification filtering processing and analog-digital conversion processing on the plurality of induced voltages, and obtain the plurality of processed induced voltages.

[0049] The first coordinate module is further configured to obtain the target detection coil and the target coordinate according to the plurality of processed induced voltages.

[0050] In a second aspect, the present application further provides a vehicle position detection method applied to the vehicle position detection system, and the method comprises:

[0051] The beacon module arranged on the same horizontal plane of the energy receiving coil of the energy receiving device generates a beacon magnetic field;

[0052] The plurality of detection coils in the beacon induction module arranged on the side close to the energy receiving coil of the energy transmitting coil of the energy transmitting device induce the beacon magnetic field to generate an induced electromotive force and output a plurality of induced voltages;

[0053] The first coordinate module connected with the beacon induction module determines the target detection coil according to the multiple induction voltages, obtains the target coordinate of the target detection coil on the preset coordinate system, and the preset coordinate system is a two-dimensional coordinate system constructed according to the plane where the energy sending coil is located.

[0054] The second coordinate module connected with the first coordinate module obtains the beacon coordinate of the beacon module based on the preset coordinate system according to the target coordinate.

[0055] The position acquisition module connected with the second coordinate module obtains the position offset result of the energy receiving coil based on the energy sending coil according to the beacon coordinate and the positional relationship between the beacon module and the energy receiving coil.

[0056] The present application provides a kind of vehicle position detection system and method, and beacon module is generated by being arranged in the same horizontal plane of energy receiving device, and multiple detection coils in the beacon induction module of energy sending coil arranged in energy sending device output multiple induction voltages according to beacon magnetic field, then, first coordinate module determines the target coordinate of target detection coil on the two-dimensional coordinate system constructed according to the plane where the energy sending coil is located according to multiple induction voltages, and the second coordinate module obtains the beacon coordinate of the beacon module projected on the preset coordinate system according to the target coordinate, and the position acquisition module obtains the position offset result of the energy receiving coil based on the energy sending coil according to the beacon coordinate and the positional relationship between the beacon module and the energy receiving coil.

[0057] Therefore, the present application generates beacon magnetic field by beacon module, inducts beacon magnetic field by beacon induction module, obtains the beacon coordinate of beacon module projected on the two-dimensional coordinate system established based on energy sending coil, so as to obtain the position offset result of energy receiving coil relative to energy sending coil according to the beacon coordinate and the positional relationship between beacon module and energy receiving coil, realizes the offset detection of energy receiving coil relative to energy sending coil;The present application inducts stable beacon magnetic field distinguished from fluctuating charging magnetic field, obtains stable induction voltage, and detects the position of energy receiving coil, avoids the influence of induction voltage change caused by power fluctuation on the position detection precision of energy receiving coil, improves the position detection precision of energy receiving coil when vehicle is wirelessly charged. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to the structures shown in these drawings without creative labor.

[0059] Figure 1 Structure diagram of a first embodiment of the vehicle position detection system of the present application;

[0060] Figure 2 Structure diagram of the beacon module and the beacon sensing module of the vehicle position detection system in operation in an embodiment of the present application;

[0061] Figure 3 Structure diagram of the beacon module and the beacon sensing module of the vehicle position detection system in operation in another embodiment of the present application;

[0062] Figure 4 Structure diagram of the target detection coil and four adjacent detection coils in an embodiment of the present application;

[0063] Figure 5 Area diagram of the target detection coil in an embodiment of the present application;

[0064] Figure 6 Circuit principle diagram of the first driving module and the first beacon unit in an embodiment of the present application;

[0065] Figure 7 Timing diagram of an embodiment of the vehicle position detection system of the present application in operation;

[0066] Figure 8 Circuit principle diagram of the voltage collection module of the vehicle position detection system of the present application;

[0067] Figure 9 Flow diagram of an embodiment of the vehicle position detection method of the present application.

[0068] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0069] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work fall within the protection scope of the present application.

[0070] It should be understood that the specific embodiments described herein are merely used to explain the present application, and are not used to limit the present application.

[0071] In the present application, the terms "comprising", "containing" or any other similar words are intended to encompass non-exclusive inclusion, so that the device or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such device or system. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of additional identical elements in the device or system including the element.

[0072] In addition, in the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood broadly, for example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. If there is a description of "first", "second" and the like in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features.

[0073] In view of the technical problem that the position detection accuracy of the energy receiving coil is low when the existing electric vehicle is wirelessly charged, the present application provides a vehicle position detection system and method, and the general idea is as follows:

[0074] The system comprises an energy receiving device and an energy transmitting device; the energy receiving device comprises: a beacon module, arranged on the same horizontal plane of an energy receiving coil of the energy receiving device, for generating a beacon magnetic field; the energy transmitting device comprises: a beacon induction module, arranged on the side of an energy transmitting coil of the energy transmitting device close to the energy receiving coil, for inducing the beacon magnetic field through a plurality of detection coils, generating induced electromotive force, and outputting a plurality of induced voltages; a first coordinate module, connected with the beacon induction module, for determining a target detection coil according to the plurality of induced voltages, obtaining a target coordinate of the target detection coil on a preset coordinate system, and the preset coordinate system being a two-dimensional coordinate system constructed according to the plane where the energy transmitting coil is located; a second coordinate module, connected with the first coordinate module, for obtaining a beacon coordinate of the beacon module based on the preset coordinate system according to the target coordinate; and a position acquisition module, connected with the second coordinate module, for obtaining a position offset result of the energy receiving coil based on the energy transmitting coil according to the beacon coordinate and the positional relationship between the beacon module and the energy receiving coil.

[0075] Thus, the application generates a beacon magnetic field through the beacon module, induces the beacon magnetic field through the beacon induction module, obtains the beacon coordinates of the beacon module projected on the two-dimensional coordinate system established based on the energy sending coil, and thus obtains the position offset result of the energy receiving coil relative to the energy sending coil according to the beacon coordinates and the positional relationship between the beacon module and the energy receiving coil, so as to realize the detection of the offset amount of the energy receiving coil relative to the energy sending coil. The application obtains the stable induction voltage by distinguishing the stable beacon magnetic field from the fluctuating charging magnetic field, and detects the position of the energy receiving coil, thereby avoiding the influence of the fluctuation of the charging magnetic field on the induction voltage and the position detection precision of the energy receiving coil, and improving the position detection precision of the energy receiving coil during wireless charging of the vehicle.

[0076] The vehicle position detection system and method of the application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] Embodiment one

[0078] Reference Figure 1 and Figure 2 , Figure 1 Fig. 1 is a structural schematic diagram of the first embodiment of the vehicle position detection system of the application, Figure 2 Fig. 2 is a structural schematic diagram of the beacon module and the beacon induction module of the vehicle position detection system in an embodiment of the application; the embodiment provides a vehicle position detection system, which comprises an energy receiving device and an energy sending device.

[0079] The energy receiving device comprises:

[0080] a beacon module, which is arranged on the same horizontal plane of the energy receiving coil 10 of the energy receiving device and is used for generating a beacon magnetic field;

[0081] The energy sending device comprises:

[0082] a beacon induction module, which is arranged on the side close to the energy receiving coil of the energy sending coil 20 of the energy sending device and is used for inducing the beacon magnetic field through a plurality of detection coils 30, generating an induction electromotive force, and outputting a plurality of induction voltages;

[0083] a first coordinate module, which is connected with the beacon induction module and is used for determining a target detection coil according to the plurality of induction voltages, obtaining a target coordinate of the target detection coil in a preset coordinate system, and taking the two-dimensional coordinate system constructed according to the plane where the energy sending coil is located as the preset coordinate system;

[0084] a second coordinate module, which is connected with the first coordinate module and is used for obtaining the beacon coordinates of the beacon module based on the preset coordinate system according to the target coordinate;

[0085] The position acquisition module is connected with the second coordinate module, and is configured to obtain a position offset result of the energy receiving coil 10 based on the energy transmitting coil 20 according to the beacon coordinate and a position relationship between the beacon module and the energy receiving coil 10.

[0086] In the embodiment, the beacon module and the beacon induction module are wirelessly connected; the energy receiving device can be arranged on a vehicle, and the vehicle includes an electric vehicle. The energy receiving device is usually arranged at the bottom of the vehicle and includes the energy receiving coil 10 connected with the power battery of the electric vehicle. The energy transmitting device can be arranged on the ground and includes the energy transmitting coil 20 connected with the power supply. The beacon module includes a beacon coil, and the beacon induction module includes a plurality of detection coils 30. The size and structure of the beacon coil, the energy transmitting coil 20, the energy receiving coil 10, and the detection coil 30 can be designed or selected according to actual use requirements. For example, the energy transmitting coil 20 and the energy receiving coil 10 can be coils of the WPT3 and Z2 specifications specified in the SAE J2954 standard. The beacon module can be arranged around the energy receiving coil 10 and be in the same horizontal plane as the energy receiving coil. The beacon module can be connected with the vehicle-mounted system. When the vehicle-mounted system detects that the vehicle is close to the energy transmitting device, the beacon module is controlled to generate a beacon magnetic field. The beacon magnetic field can be a magnetic field different from the working frequency of the charging magnetic field, and the beacon magnetic field can be set according to actual use requirements. Preferably, the working frequency of the beacon magnetic field is 3 MHz, as shown in FIG. 1. Figure 2 As shown in FIG. 1, the beacon module can be arranged at any position of the four corners of the energy receiving coil.

[0087] Specifically, as shown in FIG. 1, the beacon induction module includes: Figure 2

[0088] The detection coil array includes a preset number of detection coils 30 arranged in an array on the same horizontal plane, and each detection coil 30 is connected with the first coordinate module.

[0089] In the embodiment, the preset number of detection coils 30 in the detection coil array can be set according to actual use requirements, and the size of the detection coil 30 can be selected according to actual use. For example, the detection coil array includes M rows and N columns of detection coils 30. The detection coils 30 at the four corners of the detection coil array can be removed according to actual use requirements. Preferably, the detection coil array includes 7 rows and 10 columns, a total of 70 or 66 detection coils 30 with a size of 63 mm x 59 mm.

[0090] In actual use, each detection coil 30 in the detection coil array can be numbered by rows and columns. The first coordinate module can determine the position of the detection coil 30 on the preset coordinate system according to the number corresponding to the received induction voltage. For example, the number of the detection coil 30 can be M-N, the number range corresponding to M is 1-7, and the number range corresponding to N is 1-10.​

[0091] It should be noted that the preset coordinate system is a virtual coordinate system constructed according to the plane where the energy transmitting coil 20 is located; the position offset result can include an offset position of the center of the energy receiving coil relative to the center of the energy transmitting coil and an offset angle of the energy receiving coil relative to the energy transmitting coil, the offset position can be determined according to the center coordinates of the center of the energy receiving coil projected on the preset coordinate system and the coordinates of the center of the energy transmitting coil on the preset coordinate system, the center coordinates can be determined according to the beacon coordinates and the positional relationship between the beacon module and the energy receiving coil, and the offset angle can be determined according to the offset angle of the center coordinates or the beacon coordinates relative to the X-axis or the Y-axis of the preset coordinate system.

[0092] For example, the preset coordinate system can be a two-dimensional coordinate system with the center of the energy transmitting coil 20 as the origin, the X-axis parallel to the long side of the detection coil array, and the Y-axis parallel to the short side of the detection coil array; or a two-dimensional coordinate system with the center of the energy transmitting coil 20 as the origin, the X-axis parallel to the short side of the detection coil array, and the Y-axis parallel to the long side of the detection coil array; at this time, the coordinates of each detection coil 30 in the preset coordinate system can be preset to represent the coordinates of the detection coil 30, and the coordinates of each detection coil 30 can be obtained after the preset coordinate system is constructed; when the vehicle is wirelessly charged, the energy receiving coil 10 and the beacon module can translate with the vehicle, the energy receiving coil 10 and the energy transmitting coil 20 coincide or partially coincide, and the beacon coordinates can be the projection coordinates of the center of the beacon module on the preset coordinate system; the offset position can be represented by the center coordinates of the center of the energy receiving coil 10 projected on the preset coordinate system, and the offset angle can be represented by the included angle between the line connecting the beacon coordinates and the center coordinates and the X-axis or the Y-axis.

[0093] In a specific implementation, when the vehicle is wirelessly charged, multiple detection coils in the detection coil array that are close to the beacon module will all generate induced voltages, at this time, one detection coil can be determined as a target detection coil in the multiple induced voltages, the coordinates of the center point of the target detection coil are obtained as target coordinates, then, the beacon coordinates are obtained according to the size relationship of the multiple induced voltages and the induced voltage of the target detection coil, combined with the target coordinates; for example, the target detection coil can be the detection coil corresponding to the maximum induced voltage in the multiple induced voltages, the beacon coordinates can be obtained according to the proportional relationship between the other induced voltages in the multiple induced voltages and the maximum induced voltage, combined with the target coordinates; or the target coordinates of the target detection coil are taken as the beacon coordinates of the beacon module.

[0094] Thus, the embodiment provides a vehicle position detection system, a beacon magnetic field is generated by a beacon module, the beacon magnetic field is sensed by a beacon sensing module, a coordinate of the beacon module projected on a two-dimensional coordinate system established based on an energy sending coil is obtained, so that the offset result of the energy receiving coil relative to the energy sending coil is obtained according to the coordinate and the positional relationship between the beacon module and the energy receiving coil, and the offset amount detection of the energy receiving coil relative to the energy sending coil is realized; the embodiment distinguishes the stable beacon magnetic field from the fluctuating charging magnetic field, obtains a stable induced voltage, and performs the position detection of the energy receiving coil, avoids the influence of the fluctuation of the charging magnetic field on the induced voltage, and improves the position detection precision of the energy receiving coil during the wireless charging of the vehicle.

[0095] Embodiment two

[0096] Further, referring to Figures 2 to 7 , Figure 2 FIG. 1 is a structural schematic diagram of the beacon module and the beacon sensing module of the vehicle position detection system in operation in an embodiment of the present application, Figure 3 FIG. 2 is a structural schematic diagram of the beacon module and the beacon sensing module of the vehicle position detection system in operation in another embodiment of the present application, Figure 4 FIG. 3 is a structural schematic diagram of the target detection coil and four adjacent detection coils in an embodiment of the present application, Figure 5 FIG. 4 is a regional schematic diagram of the target detection coil in an embodiment of the present application, Figure 6 FIG. 5 is a circuit principle diagram of the first driving module and the first beacon unit in an embodiment of the present application, Figure 7 FIG. 7 is a timing diagram when the vehicle position detection system in an embodiment of the present application is in operation, the embodiment provides a vehicle position detection system based on the above embodiment one, the beacon module includes:

[0097] a first beacon unit XB1 arranged at one end of a first side of the energy receiving coil 10, used for generating a first beacon magnetic field;

[0098] a second beacon unit XB1 arranged at the other end of the first side, used for generating a second beacon magnetic field;

[0099] the beacon sensing module is further used for generating an induced electromotive force according to the first beacon magnetic field, outputting a plurality of first induced voltages, and generating an induced electromotive force according to the second beacon magnetic field, outputting a plurality of second induced voltages;

[0100] the first coordinate module is further used for determining the first target detection coil according to the plurality of first induced voltages, obtaining a first target coordinate of the first target detection coil in a preset coordinate system; and

[0101] The second target detection coil is determined according to the plurality of second induced voltages, and a second target coordinate of the second target detection coil in a preset coordinate system is obtained.

[0102] The second coordinate module is further configured to obtain a first beacon coordinate of the first beacon unit based on the preset coordinate system according to the first target coordinate; and

[0103] The second beacon coordinate of the second beacon unit based on the preset coordinate system is obtained according to the second target coordinate.

[0104] The position obtaining module is further configured to obtain an offset angle of the energy receiving coil based on the preset coordinate system and a center coordinate of the center of the energy receiving coil based on the preset coordinate system according to the first beacon coordinate, the second beacon coordinate and the position relationship, so as to obtain a position offset result.

[0105] In the embodiment, the first beacon unit XB1 and the second beacon unit XB2 can be beacon coils of the same specification; the first beacon unit XB1 and the second beacon unit XB2 are symmetrically arranged at two ends of a first side, and the first side can be any side of the energy receiving coil 10; at this time, the line connecting the center of the first beacon unit XB1 and the center of the second beacon unit XB2 is parallel to the any side. It can be understood that the first beacon unit XB1 and the second beacon unit XB2 can also be symmetrically arranged at two ends of a straight line parallel to any side of the energy receiving coil 10, or symmetrically arranged at two corners of the energy receiving coil 10; preferably, the first beacon unit XB1 and the second beacon unit XB2 are symmetrically arranged at two corners corresponding to a short side of the energy receiving coil 10.

[0106] The first target coordinate is a coordinate of a first target detection coil sensing the first beacon unit XB1 in a preset coordinate system, and the second target coordinate is a coordinate of a second target detection coil sensing the second beacon unit XB1 in the preset coordinate system; the first beacon coordinate is a coordinate of the center of the first beacon unit XB1 projected on the preset coordinate system, and the second beacon coordinate is a coordinate of the center of the second beacon unit XB1 projected on the preset coordinate system.

[0107] In the specific implementation, the first beacon magnetic field and the second beacon magnetic field are respectively generated by the first beacon unit XB1 and the second beacon unit XB2, the first beacon coordinate and the second beacon coordinate of the first beacon unit XB1 and the second beacon unit XB2 projected onto the preset coordinate system are respectively obtained, the included angle between the line connecting the centers of the first beacon unit XB1 and the second beacon unit XB1 and the X axis or the Y axis of the preset coordinate system can be obtained according to the first beacon coordinate and the second beacon coordinate, and the included angle is the offset angle of the energy receiving coil 10 relative to the energy transmitting coil; then, the middle value of the X axis coordinates of the first beacon coordinate and the second beacon coordinate and the middle value of the Y axis coordinates of the first beacon coordinate and the second beacon coordinate are taken, and the center coordinate of the center of the vehicle energy receiving coil projected onto the preset coordinate system can be obtained in combination with the offset angle.

[0108] Specifically, if the first beacon coordinate is (x'1, y'1) and the second beacon coordinate is (x'2, y'2), the offset angle θ can be obtained through Formula One; Formula One is as follows:

[0109]

[0110] Wherein, (x1, y1) and (x2, y2) are respectively the beacon coordinates of the first beacon unit XB1 and the second beacon unit XB2 when the projection of the energy receiving coil directly faces the energy transmitting coil.

[0111] Specifically, the first coordinate module is further configured to obtain a first target detection coil and a first target coordinate according to a first target voltage greater than the preset effective voltage in the plurality of first induced voltages.

[0112] The second coordinate module is further configured to obtain induced voltages corresponding to four detection coils adjacent to the first target detection coil to obtain four first adjacent voltages, wherein the four adjacent detection coils are located in the X axis direction and the Y axis direction of the first target detection coil based on the preset coordinate system; and

[0113] The first beacon coordinate weight is obtained according to the first target voltage and the four first adjacent voltages.

[0114] The first beacon coordinate is obtained according to the first beacon coordinate weight and the first target coordinate.

[0115] In the embodiment, the preset effective voltage is set according to actual use requirements, and the induced voltage with a voltage value greater than the preset effective voltage is the first target voltage of the first target detection coil closest to the first beacon unit; wherein the number of the first target detection coil can be M-N, the range corresponding to M is 1-7, the range corresponding to N is 1-10, and the first target voltage can be U M-N, the numbers of the four adjacent detection coils can be (M-1)-N, (M+1)-N, M-(N+1) and M-(N-1) respectively, and the four first adjacent voltages can be U (M-1)-N , U (M+1)-N , U M-(N+1) and U M-(N-1) , for example, as shown in FIG. 13, if the first target detection coil is the detection coil 2-2 numbered 2-2, the four adjacent detection coils are the detection coil 1-2, the detection coil 3-2, the detection coil 2-1 and the detection coil 2-3 respectively. Figure 4

[0116] It should be noted that the first beacon coordinate weight is obtained according to the first target voltage and the four first adjacent voltages, including:

[0117] The row minimum voltage U rmin is obtained according to the first target voltage and the two first adjacent voltages in the X-axis direction; the row voltage array is obtained according to the first target voltage, the two first adjacent voltages in the X-axis direction and the row minimum voltage U rmin ; the row voltage sum is obtained according to the row voltage array; the row weight array is obtained according to the row voltage array and the row voltage sum; the row minimum voltage U rmin is the induced voltage with the minimum voltage value among the first target voltage and the two first adjacent voltages in the X-axis direction; and,

[0118] The column minimum voltage U cmin is obtained according to the first target voltage and the two first adjacent voltages in the Y-axis direction; the column voltage array is obtained according to the first target voltage, the two first adjacent voltages in the Y-axis direction and the column minimum voltage U cmin ; the column voltage sum is obtained according to the column voltage array; the column weight array is obtained according to the column voltage array and the column voltage sum; the column minimum voltage U cmin is the induced voltage with the minimum voltage value among the first target voltage and the two first adjacent voltages in the Y-axis direction.

[0119] The first target weight is obtained according to the row coordinate weight array and the column coordinate weight array.

[0120] The row voltage array is [U M-(N-1) -U rmin ; U M-N -U rmin ; U M-(N+1) -U rmin ];

[0121] The row voltage sum is obtained according to the row voltage array, including: the row voltage sum is obtained according to the row voltage array by formula two; formula two is:

[0122] U r =(U​M-(N-1) -U rmin )+(U M-N -U rmin )+(U M-(N+1) -U rmin )

[0123] wherein M is a row in which the first target detection coil is located, and N is a column in which the first target detection coil is located;

[0124] According to the row voltage array and the row voltage sum, a row weight array is obtained, including:

[0125] According to the row voltage array and the row voltage sum, a row weight array [ξ r1 ; ξ r2 ; ξ r3 ] is obtained through formula three; formula three is:

[0126]

[0127] The column voltage array is [U (M-1)-N -U cmin ; U M-N -U cmin ; U (M+1)-N -U rcmin ];

[0128] According to the column voltage array, a column voltage sum is obtained, including: the column voltage sum is obtained through formula four as follows; formula four is:

[0129] U c =(U (M-1)-N -U cmin )+(U M-N -U cmin )+(U (M+1)-N -U cmin )

[0130] wherein N is a column in which the first target detection coil is located, and M is a row in which the first target detection coil is located;

[0131] According to the column voltage array and the row voltage sum, a column weight array is obtained, including:

[0132] According to the column voltage array and the column voltage sum, a column weight array [ξ c1 ; ξ c2 ; ξ c3 ] is obtained through formula five; formula five is:

[0133]

[0134] Specifically, according to the first beacon coordinate weight and the first target coordinate, a first beacon coordinate is obtained, including:

[0135] Using Formula Six, the coordinates of the first beacon are obtained based on the weight of the first beacon coordinates and the coordinates of the first target; Formula Six is:

[0136] x B1 =(x M-1 ×ξ r1 ×τ(h)+x M ×ξ r2 ×τ(h)+x M+1 ×ξ r3 ×τ(h))+r B1 ;

[0137] y B1 =(y N-1 ×ξ c1 ×τ(h)+y N ×ξ c2 ×τ(h)+x N+1 ×ξ c3 ×τ(h))+c B1 ;

[0138] Where, x M x M-1 and x M+1 The x-axis coordinates of the first target detection coil and its two adjacent detection coils along the x-axis direction are y and y, respectively. N y N-1 and y N+1 These are the Y-axis coordinates of the first target detection coil and its two adjacent detection coils along the Y-axis direction, respectively. τ(h) is the weight associated with h, where h represents the height of the energy receiving coil and the energy transmitting coil, set according to actual usage requirements. τ(h) is pre-determined based on actual requirements. B1 and c B1 The centers of the energy receiving coil and the energy transmitting coil coincide, respectively, and the offset angle between the energy receiving coil and the energy transmitting coil is zero. When the energy receiving coil is working, the average coordinate offset of the center projection of the beacon module on the preset coordinate system caused by the magnetic field of the energy receiving coil can be obtained through prior experiments.

[0139] For example, such as Figure 4 As shown, if the first target detection coil is detection coil 2-2, the coordinates of detection coil 2-2 are (150, 150), and the first target voltage is U... 2-2 Then, the two adjacent detection coils in the X-axis direction are detection coil 2-1 and detection coil 2-3, respectively. The coordinates of detection coil 2-1 are (90, 150), and the coordinates of detection coil 2-3 are (210, 150). The two first adjacent voltages in the X-axis direction are U. 2-1 and U 2-3 Then the row voltage array can be obtained as [U2-1 -U rmin ;U 2-2 -U rmin ;U 2-3 -U rmin The total line voltage is:

[0140] U r =(U 2-1 -U rmin )+(U 2-2 -U rmin )+(U 2-3 -U rmin )

[0141] The reorganization is as follows:

[0142]

[0143] Furthermore, the two adjacent detection coils in the Y-axis direction are detection coil 1-2 and detection coil 3-2, respectively. The coordinates of detection coil 1-2 are (150, 90), and the coordinates of detection coil 3-2 are (150, 210). The two first adjacent voltages in the Y-axis direction are U. 1-2 and U 3-2 Then the column voltage array can be obtained as [U 1-2 -U cmin ;U 2-2 -U cmin ;U 3-2 -U cmin The total voltage of the column is:

[0144] U c =(U 1-2 -U cmin )+(U 2-2 -U cmin )+(U 3-2 -U cmin )

[0145] The reorganization is as follows:

[0146]

[0147] Finally, substituting the row weights and column weights from the above formula into Formula 6, we obtain the first beacon coordinates of the first target beacon unit when the first target detection coil is detection coil 2-2:

[0148] (x B1 ,y B1 )=[(90ξ r1 τ(h)+150ξ r2 +210ξ r3 τ(h))+r B1 ,(90ξc1 τ(h)+150ξ c2 +210ξ c3 τ(h))+c B1 ]

[0149] Specifically,

[0150] The first coordinate module is further configured to obtain a second target detection coil and a second target coordinate according to a second target voltage greater than the preset effective voltage in the plurality of second induced voltages.

[0151] The second coordinate module is further configured to obtain four second adjacent voltages corresponding to four detection coils adjacent to the second target detection coil, wherein the four adjacent detection coils are located in an X-axis direction and a Y-axis direction of the second target detection coil based on a preset coordinate system; and

[0152] The second beacon coordinate weight is obtained according to the second target voltage and the four second adjacent voltages.

[0153] The second beacon coordinate is obtained according to the second beacon coordinate weight and the second target coordinate.

[0154] In the embodiment, the calculation method of the second beacon coordinate of the second beacon unit is the same as the calculation method of the first beacon coordinate of the first beacon unit, and the specific calculation manner can refer to the calculation method, which will not be described here.

[0155] Specifically,

[0156] The first coordinate module is further configured to, when the first target detection coil is an edge detection coil of the detection coil array, determine a virtual voltage of a virtual detection coil adjacent to the edge detection coil in the coordinate direction according to a preset voltage query table.

[0157] The second coordinate module is further configured to obtain a first beacon coordinate weight according to the virtual voltage, the first adjacent voltage and the first target voltage.

[0158] In the embodiment, as Figure 5As shown, when the vehicle is wirelessly charged, if the first target detection coil is a detection coil in region A, the beacon coordinates of the beacon module can be obtained by the above calculation method; however, when the first target detection coil is not a detection coil in region A, i.e., the first target detection coil is an edge detection coil of the detection coil array, the number of detection coils adjacent to the first target detection coil in the X-axis direction and the Y-axis direction is only two or three; at this time, 34 virtual detection coils 40 can be pre-set on the periphery of the detection coil array, and the induced voltage of the virtual detection coil 40 is a virtual voltage obtained by experiment in advance, which can be stored in a pre-set voltage query table one by one corresponding to the number of the virtual detection coil 40. When the first target detection coil is an edge detection coil of the detection coil array, the corresponding virtual voltage can be obtained by looking up the table to calculate the coordinate weight. Generally, the virtual voltage is the experimental induced voltage of the detection coil adjacent to the edge detection coil in the X-axis or Y-axis direction. The experimental induced voltage is the induced voltage output by the detection coil adjacent to the edge detection coil in the X-axis or Y-axis direction when the center projection of the beacon module coincides with the center of the edge detection coil, and the beacon module generates an induced magnetic field.

[0159] Specifically, the energy receiving device further comprises:

[0160] The first driving module is connected with the first beacon unit, and is configured to generate a first driving signal according to the received control signal, and drive the first beacon unit to generate a first beacon magnetic field;

[0161] The second driving module is connected with the second beacon unit, and is configured to generate a second driving signal according to the received control signal, and drive the second beacon unit to generate a second beacon magnetic field.

[0162] In the embodiment, the first driving module and the second driving module are also connected with the vehicle-mounted system, and are powered by a direct current power supply. When the vehicle-mounted system detects that the vehicle is close to the energy transmitting device, the vehicle-mounted system outputs a control signal to control the first driving module and the second driving module to drive the first beacon unit and the second beacon unit to generate the first beacon magnetic field and the second beacon magnetic field, respectively. It should be noted that the control signal can be sent to the first driving module first and then to the first driving module according to a pre-set time sequence. Then, the first beacon unit and the second beacon unit can generate the first beacon magnetic field and the second beacon magnetic field, respectively, in different time periods, so that the first coordinate module can distinguish the first beacon unit and the second beacon unit according to the time of receiving multiple first induced voltages and multiple second induced voltages.

[0163] Specifically, as shown in the figure, Figure 6 The first driving module includes a capacitor C BS , a capacitor C BP , an inductor LBS, a field effect transistor Q1, a field effect transistor Q2, a capacitor C1 and a capacitor C2, the capacitor C BSone end of the first beacon unit XB1, one end of the capacitor C BS one end of the inductor LBS, and one end of the capacitor C BP one end of the capacitor C BP the other end of the capacitor C1, and the positive pole of the direct current voltage E1, and the other end of the capacitor C2, the source electrode of the field effect transistor Q2, and the negative pole of the direct current voltage E1, and the source electrode of the field effect transistor Q1 and the drain electrode of the field effect transistor Q2. It should be noted that the circuit principle diagram of the second driving module is the same as that of the first driving module, which will not be described here.

[0164] In this embodiment, the working frequencies of the first beacon magnetic field and the second beacon magnetic field are the same, but different from the working frequency of the charging magnetic field. The working frequencies of the first beacon magnetic field and the second beacon magnetic field are determined by the specifications of the capacitor C BS , the capacitor C BP , the inductor LBS, and the beacon coil. Preferably, the beacon coils of the first beacon unit and the second beacon unit are both selected to be coils with a size of 20mmx20mm. At this time, the working frequencies of the first beacon magnetic field and the second beacon magnetic field can be both preset frequencies by selecting corresponding capacitors C BS , capacitors C BP , and inductors LBS. The preset frequency is 3MHz.

[0165] Specifically, as shown in Figure 2 and Figure 6 , the first beacon unit includes:

[0166] the beacon coil L B1 and the beacon coil L B2 are respectively arranged at two ends of the second side adjacent to the first side edge;

[0167] the lead-in end of the beacon coil L B1 and the lead-in end of the beacon coil L B2 are both connected with the first driving module, and the lead-out end of the beacon coil L B1 is connected with the lead-out end of the beacon coil L B2 ;

[0168] The second beacon unit includes:

[0169] the beacon coil L B3 and the beacon coil L B4 are respectively arranged at two ends of the third side opposite to the second side edge;

[0170] the lead-in end of the beacon coil LB3 The lead-in end and beacon coil L B4 The input ends of all are connected to the second drive module, and the beacon coil L B3 The lead-out terminal and the beacon coil L B4 The lead-out end is connected.

[0171] In this embodiment, as Figure 2 As shown, the first and third sides are the two long sides of the energy receiving coil, respectively. Figure 6 As shown, beacon coil L B1 Terminal 1 and capacitor C BS One end is connected to the beacon coil L. B2 Terminal 1 and capacitor C BP The other end is connected; beacon coil L B1 Lead 2 and beacon coil L B2 The leads 2 are connected to each other, which can cancel out the high induced electromotive force generated. Among them, the beacon coil L... B1 beacon coil L B2 beacon coil L B3 and beacon coil L B4 The beacon coordinates can be obtained by referring to the first beacon coordinate calculation method of the first beacon unit. The offset angle of the energy receiving coil can be obtained by the beacon coordinates of any two beacon coils according to Formula 1. In the case that the beacon module includes four beacon coils, the center coordinates of the projection of the center of the energy receiving coil onto the preset coordinate system can be obtained by the midpoint of the four beacon coordinates of the four beacon coils on the X and Y axes.

[0172] It should be said that, as Figure 7 As shown, PD indicates that the vehicle position detection system has been activated. This system is activated when the onboard system detects that the energy receiving coil is close to the energy transmitting coil. Beacon indicates that the beacon coil has been activated. T indicates the sampling time of one acquisition of the induced voltage by the first coordinate module. XB1 and XB2 represent the beacon coil L... B1 and beacon coil L B2 The working time within one sampling period of the induced voltage acquired by the first coordinate module; XB3 and 4 represent the beacon coil L. B3 and beacon coil L B4 The working time of the first coordinate module during one sampling time of acquiring the induced voltage; it can be seen that during one sampling time of the first beacon module acquiring the induced voltage, the beacon coil L B1 and beacon coil L B2 Working time and beacon coil L B3 and beacon coil L B4The working time of the first coordinate module is different; thus, the first coordinate module can identify which group of beacon coils is working at this time by identifying the different working times and working time of different beacon coils.

[0173] Embodiment three

[0174] Further, with reference to Figure 8 , Figure 8 The circuit principle diagram of the voltage acquisition module of the vehicle position detection system of the application, the embodiment provides a vehicle position detection system, based on the above embodiment one or two, the system further comprises:

[0175] The voltage acquisition module is connected with the beacon induction module and the first coordinate module respectively, and is used for acquiring multiple induction voltages, performing voltage compensation processing, amplification processing, rectification filtering processing and analog-digital conversion processing on the multiple induction voltages, and obtaining the processed multiple induction voltages.

[0176] The first coordinate module is further used for acquiring the target detection coil and the target coordinate according to the processed multiple induction voltages.

[0177] In the embodiment, as shown in Figure 8 , the voltage acquisition module comprises multiple compensation circuits 50 which are wirelessly connected with the multiple detection coils one by one, a multiplexer MUX connected with the multiple compensation circuits 50, an operational amplifier circuit 60 and a rectification filtering circuit 70 connected with the multiplexer MUX in sequence, and a digital signal processor U2 connected with the rectification filtering circuit 70, wherein the digital signal processor U2 is further connected with the first coordinate module; the compensation circuit 50 is used for performing voltage compensation processing on the induction voltage, the operational amplification processing is used for performing amplification processing on the induction voltage after voltage compensation, the rectification filtering circuit 70 is used for performing rectification filtering processing on the amplified induction voltage, and the digital signal processor U2 is used for converting the rectification filtered induction voltage into a digital signal and sending the digital signal to the first coordinate module.

[0178] The number of the compensation circuits 50 is the same as the number of the detection coils, and the compensation circuit comprises an inductor L P , a capacitor C P and a resistor R L , one end of the inductor L P is connected with one end of the capacitor C P , the other end of the capacitor C P is connected with one end of the resistor R L and the multiplexer MUX respectively, the other end of the resistor R L is connected with the other end of the inductor L P , and the inductor L P is used for inducting the detection magnetic field of the detection coil; the rectification filtering circuit 70 comprises a diode D R , a capacitor C R and a resistor RP the positive electrode of the diode D R is connected with the operational amplifier circuit 60, the negative electrode of the diode D R is connected with one end of the capacitor C R , one end of the resistor R P and the digital signal processor U2 respectively, the other end of the capacitor C R and the other end of the resistor R P are both grounded GND.

[0179] The operational amplifier circuit 60 comprises an operational amplifier U1, the first pin 1 of the operational amplifier U1 is connected with one end of the resistor R22 and one end of the capacitor C22 respectively, the other end of the capacitor C22 is connected with one end of the resistor R21 and one end of the capacitor C21 respectively, the other end of the capacitor C21 is connected with the multiplexer MUX, the other end of the resistor R22 is grounded, the other end of the resistor R21 is connected with the third pin 3 of the operational amplifier U1 and one end of the resistor R24 respectively, the other end of the resistor R24 is connected with one end of the resistor R23 and the second pin 2 of the operational amplifier U1 respectively, the other end of the resistor R23 is grounded GND, and the third pin 3 of the operational amplifier U1 is also connected with the rectifier filter circuit 70.

[0180] The rectifier filter circuit 70 comprises a diode D21, a capacitor C23 and a resistor R25, the positive electrode of the diode D21 is connected with the third pin 3 of the operational amplifier U1, the negative electrode of the diode D21 is connected with one end of the capacitor C23, one end of the resistor R25 and the digital signal processor U2 respectively, the other end of the capacitor C23 and the other end of the resistor R25 are both grounded GND.

[0181] It should be noted that the multiplexer MUX, the operational amplifier U1 and the digital signal processor U2 can be selected according to actual use requirements, and the number of the operational amplifier U1, the number of the rectifier filter circuit 70, the number of the multiplexer MUX and the number of the digital signal processor U2 are set according to actual use requirements; for example, the multiplexer MUX can be selected as the multiplexer with the model ADG1606, the operational amplifier U1 can be selected as the double-channel operational amplifier with the model OPA2355 or the single-channel operational amplifier with the model OPA355, and the digital signal processor U2 can be selected as the signal processor with the model TMS320F28035; when the number of the detection coils is 70, the number of the compensation circuits 50 is 70, the number of the multiplexers MUX, the number of the single-channel operational amplifiers U1 and the number of the rectifier filter circuits 70 are all 5, and the number of the digital signal processors U2 is 1.

[0182] The vehicle position detection system provided by the embodiment can perform voltage compensation processing, amplification processing and rectifier filter processing on the induced voltage through the voltage acquisition module, thereby improving the reliability of the acquired induced voltage.

[0183] Embodiment Four

[0184] Referring to Figure 9 , Figure 9 The flowchart is an embodiment of a vehicle position detection method, and the embodiment provides a vehicle position detection method based on the same inventive concept. The method is applied to a vehicle position detection system, and the method comprises the following steps:

[0185] In step S100, a beacon module arranged on the same horizontal plane of an energy receiving coil of an energy receiving device generates a beacon magnetic field.

[0186] In step S200, a plurality of detection coils in a beacon induction module arranged on the side close to the energy receiving coil of an energy transmitting coil of an energy transmitting device induce the beacon magnetic field to generate induced electromotive force and output a plurality of induced voltages.

[0187] In step S300, a first coordinate module connected to the beacon induction module determines a target detection coil according to the plurality of induced voltages, obtains target coordinates of the target detection coil in a preset coordinate system, and the preset coordinate system is a two-dimensional coordinate system constructed according to the plane where the energy transmitting coil is located.

[0188] In step S400, a second coordinate module connected to the first coordinate module obtains beacon coordinates of the beacon module based on the preset coordinate system according to the target coordinates.

[0189] In step S500, a position acquisition module connected to the second coordinate module obtains a position offset result of the energy receiving coil based on the energy transmitting coil according to the beacon coordinates and the positional relationship between the beacon module and the energy receiving coil.

[0190] It should be noted that the steps performed by the method of the embodiment are the same as the steps of the foregoing system embodiment, and the specific implementation manner and the technical effects that can be achieved are all referable to the foregoing embodiment, which will not be described herein.

[0191] The above is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent flow transformation based on the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A vehicle position detection system, characterized in that, The system includes an energy receiving device and an energy transmitting device; The energy receiving device includes: The beacon module is positioned on the same horizontal plane as the energy receiving coil of the energy receiving device and is used to generate a beacon magnetic field. The energy transmitting device includes: The beacon sensing module is located on the side of the energy transmitting coil of the energy transmitting device closer to the energy receiving coil. It is used to sense the beacon magnetic field through multiple detection coils, generate an induced electromotive force, and output multiple induced voltages. The first coordinate module is connected to the beacon sensing module and is used to determine the target detection coil based on the multiple induced voltages, and obtain the target coordinates of the target detection coil in a preset coordinate system. The preset coordinate system is a two-dimensional coordinate system constructed based on the plane where the energy transmitting coil is located. The second coordinate module, connected to the first coordinate module, is used to obtain the beacon coordinates of the beacon module based on the preset coordinate system according to the target coordinates; The position acquisition module, connected to the second coordinate module, is used to obtain the offset angle of the energy receiving coil based on the preset coordinate system and the center coordinate of the energy receiving coil based on the preset coordinate system according to the beacon coordinates and the positional relationship between the beacon module and the energy receiving coil, so as to obtain the position offset result of the energy receiving coil based on the energy transmitting coil.

2. The system as described in claim 1, characterized in that, The beacon sensing module includes: The detection coil array includes a preset number of detection coils arranged in an array on the same horizontal plane, and all detection coils are connected to the first coordinate module.

3. The system as described in claim 1, characterized in that, The beacon module includes: The first beacon unit is disposed at one end of the first side of the energy receiving coil and is used to generate the first beacon magnetic field. The second beacon unit is located at the other end of the first side and is used to generate the second beacon magnetic field; The beacon sensing module is also used to generate an induced electromotive force based on the first beacon magnetic field and output multiple first induced voltages, and to generate an induced electromotive force based on the second beacon magnetic field and output multiple second induced voltages. The first coordinate module is further configured to determine the first target detection coil based on the plurality of first induced voltages, thereby obtaining the first target coordinates of the first target detection coil in the preset coordinate system; and, The second target detection coil is determined based on the plurality of second induced voltages, and the second target coordinates of the second target detection coil on the preset coordinate system are obtained. The second coordinate module is further configured to obtain, based on the first target coordinates, the first beacon coordinates of the first beacon unit according to the preset coordinate system; and, Based on the second target coordinates, the second beacon coordinates of the second beacon unit based on the preset coordinate system are obtained; The location acquisition module is further configured to obtain the location offset result based on the first beacon coordinates, the second beacon coordinates, and the location relationship.

4. The system as described in claim 3, characterized in that, The system also includes: A first driving module, connected to the first beacon unit, is used to generate a first driving signal based on a received control signal, thereby driving the first beacon unit to generate the first beacon magnetic field. The second driving module, connected to the second beacon unit, is used to generate a second driving signal based on the received control signal, thereby driving the second beacon unit to generate the second beacon magnetic field.

5. The system as described in claim 4, characterized in that, The first beacon unit includes: beacon coil L B1 and beacon coil L B2 They are respectively disposed at both ends of the second side adjacent to the first side; The beacon coil L B1 The input end and the beacon coil L B2 The input ends of the beacon coil L are all connected to the first driving module. B1 The lead-out terminal is connected to the beacon coil L B2 The lead-out terminals are connected; The second beacon unit includes: beacon coil L B3 and beacon coil L B4 They are respectively set at both ends of the third side opposite to the second side; The beacon coil L B3 The input end and the beacon coil L B4 The input ends of the beacon coil L are all connected to the second driving module. B3 The lead-out terminal is connected to the beacon coil L B4 The lead-out end is connected.

6. The system as described in claim 4, characterized in that, The first coordinate module is further configured to obtain the first target detection coil and the first target coordinates based on a first target voltage that is greater than a preset effective voltage among the plurality of first induced voltages; The second coordinate module is further configured to acquire the induced voltages corresponding to four detection coils adjacent to the first target detection coil, thereby obtaining four first adjacent voltages, wherein the four adjacent detection coils are respectively located in the X-axis direction and Y-axis direction of the first target detection coil based on the preset coordinate system; and, The first beacon coordinate weights are obtained based on the first target voltage and the four first adjacent voltages; The first beacon coordinates are obtained based on the first beacon coordinate weight and the first target coordinates.

7. The system as described in claim 6, characterized in that, The first coordinate module is further configured to obtain the second target detection coil and the second target coordinates based on the second target voltage, which is greater than a preset effective voltage, among the plurality of second induced voltages; The second coordinate module is further configured to acquire the induced voltages corresponding to four detection coils adjacent to the second target detection coil, thereby obtaining four second adjacent voltages, wherein the four adjacent detection coils are respectively located in the X-axis and Y-axis directions of the second target detection coil based on the preset coordinate system; and, The second beacon coordinate weights are obtained based on the second target voltage and the four second adjacent voltages; The second beacon coordinates are obtained based on the second beacon coordinate weights and the second target coordinates.

8. The system as described in claim 6, characterized in that, The first coordinate module is further configured to, when the first target detection coil is an edge detection coil of the detection coil array, determine the virtual voltage of the virtual detection coil adjacent to the edge detection coil in the coordinate direction according to a preset voltage lookup table; The second coordinate module is further configured to obtain the first beacon coordinate weight based on the virtual voltage, the first adjacent voltage, and the first target voltage.

9. The system as described in claim 1, characterized in that, The system also includes: A voltage acquisition module is connected to the beacon sensing module and the first coordinate module respectively, and is used to acquire the multiple induced voltages, perform voltage compensation processing, amplification processing, rectification and filtering processing and analog-to-digital conversion processing on the multiple induced voltages to obtain the processed multiple induced voltages. The first coordinate module is further configured to obtain the target detection coil and the target coordinates based on the processed multiple induced voltages.

10. A vehicle position detection method, characterized in that, Applied to a vehicle position detection system, the method includes: A beacon magnetic field is generated by a beacon module positioned on the same horizontal plane as the energy receiving coil of the energy receiving device; Multiple detection coils in the beacon sensing module, located on the side of the energy transmitting coil near the energy receiving coil of the energy transmitting device, sense the beacon's magnetic field, generate an induced electromotive force, and output multiple induced voltages. The first coordinate module connected to the beacon sensing module determines the target detection coil based on the multiple induced voltages, and obtains the target coordinates of the target detection coil on a preset coordinate system, which is a two-dimensional coordinate system constructed based on the plane where the energy transmitting coil is located. The beacon coordinates of the beacon module based on the preset coordinate system are obtained by using the second coordinate module connected to the first coordinate module, according to the target coordinates; By using the position acquisition module connected to the second coordinate module, based on the beacon coordinates and the positional relationship between the beacon module and the energy receiving coil, the offset angle of the energy receiving coil based on the preset coordinate system and the center coordinate of the energy receiving coil based on the preset coordinate system are obtained, so as to obtain the position offset result of the energy receiving coil based on the energy transmitting coil.

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