Vehicle positioning and coil aligning method and system of electric vehicle wireless charging system

Abstract

The invention relates to the technical field of electric vehicle wireless charging, in particular to a vehicle positioning and coil alignment method and system of an electric vehicle wireless charging system. According to the invention, the position information of the vehicle-mounted charging coil and the position information of the ground discharging coil are obtained through the geometric feature information and the positioning identification information of the vehicle, so that the whole positioning and alignment process can be carried out based on the actual vehicle appearance and identification condition, and the vehicle shaking information and the associated feature database are combined and analyzed. According to the method, the vehicle-mounted charging coil position compensation amount can be calculated in a targeted mode according to the vehicle shaking inducement information, so that the problem of charging coil position detection deviation caused by factors such as vehicle shaking is solved, and the vehicle-mounted charging coil position information is corrected through the calculated charging coil position compensation amount. And the vehicle is guided according to the charging coil correction position information and the ground discharge coil position information, so that the vehicle-mounted charging coil and the ground discharge coil are accurately aligned.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless charging of electric vehicles, and in particular to a vehicle positioning and coil alignment method and system of a wireless charging system of an electric vehicle. Background Art

[0002] With the advancement of science and technology and the improvement of human living standards, a large amount of energy is consumed. In recent years, my country has insisted on implementing the concept of green environmental protection and promoting low-carbon energy conservation. Under the dual pressure of environmental pollution and energy shortage, promoting electric vehicles to replace fuel vehicles has become the main direction of future development. Electric vehicles have become an important part of the global automobile market with their advantages such as environmental protection and low noise. With the expansion of the electric vehicle market, traditional electric vehicle charging methods have the characteristics of slow charging speed, short driving range, and difficulty in finding a seat during peak charging. Wireless charging technology is different from traditional charging methods. It is a new charging method that does not require the use of lines and electric piles, and uses electromagnetic technology to charge devices in the air. Wireless charging technology is based on wireless power transmission, converting electrical energy into light energy, electromagnetic energy and other energy, thereby realizing power transmission.

[0003] At present, wireless charging technology is mainly divided into three categories: electromagnetic induction, electromagnetic resonance and radio waves. Among them, in electromagnetic induction wireless charging, vehicle positioning and coil alignment are prerequisites for efficient charging. The principle of electromagnetic induction wireless charging is based on the law of electromagnetic induction. When the transmitting coil and the receiving coil are close and aligned, an induced electromotive force is generated in the receiving coil through the alternating magnetic field, thereby realizing the transmission of electric energy. If the vehicle position is inaccurate, the receiving coil and the transmitting coil cannot be well aligned, which will cause a significant decrease in the magnetic field coupling efficiency. The existing vehicle positioning method is: using a visual sensor installed on the vehicle to obtain image information of the vehicle and the charging device, and through an image processing algorithm, identifying the vehicle's contour, feature points, and the location mark of the charging device, etc., to determine the position and posture of the vehicle relative to the charging device. However, during the parking process, the vehicle may shake due to factors such as uneven ground and vehicle inertia. This shaking will cause the vehicle's position and posture to change in real time. Visual sensors usually calculate the vehicle's position by taking images of the vehicle's surroundings and then identifying landmarks in the images. When the vehicle shakes, the image taken by the sensor will appear blurred or deformed, or the relative position of the landmarks will change rapidly, making the position information obtained by the positioning device inaccurate, which will affect the alignment accuracy of the receiving coil and the transmitting coil, and affect the wireless charging efficiency of electric vehicles. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle positioning and coil alignment method for an electric vehicle wireless charging system, aiming to solve the technical problems in the prior art.

[0005] The present invention provides a vehicle positioning and coil alignment method for an electric vehicle wireless charging system, comprising:

[0006] Acquire image information from a vehicle vision sensor, and acquire vehicle geometric feature information and positioning identification information based on the image information;

[0007] Acquire the position information of the ground discharge coil according to the positioning identification information, and acquire the position information of the vehicle charging coil according to the vehicle geometric feature information and the position information of the ground discharge coil;

[0008] Acquire vehicle historical status information, and construct a correlation feature database based on the vehicle historical status information;

[0009] Acquire vehicle shaking information from a vehicle inertial sensor, and acquire vehicle shaking cause information based on the vehicle shaking information and a related feature database;

[0010] Acquire a charging coil position compensation amount according to the vehicle shaking inducement information, and acquire charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount;

[0011] Acquire the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and acquire the position offset value according to the static charging coil position information and the ground discharge coil position information;

[0012] Determining whether the position offset value is greater than a preset offset value;

[0013] If the position offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned;

[0014] If the position offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, an offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned.

[0015] Preferably, the step of acquiring vehicle historical status information and constructing a correlation feature database according to the vehicle historical status information comprises:

[0016] Acquiring historical shaking information and historical vehicle condition information according to the vehicle historical state information;

[0017] Acquire first time information of the historical shaking information;

[0018] Acquire second time information of the historical vehicle condition information;

[0019] The historical shaking information and the historical vehicle condition information are matched according to the first time information and the second time information, and a correlation feature database is constructed.

[0020] Preferably, the step of acquiring vehicle shaking cause information according to the vehicle shaking information and the associated feature database comprises:

[0021] Acquire feature point information of the vehicle shaking information, wherein the feature point information includes shaking amplitude information, shaking frequency information and shaking direction information;

[0022] Acquire first tag information in an associated feature database according to the shaking amplitude information;

[0023] Acquire second tag information in the associated feature database according to the shaking frequency information;

[0024] Acquire third tag information in the associated feature database according to the shaking direction information;

[0025] Acquire driving road condition information according to the first marking information and the second marking information;

[0026] The vehicle inertia information is acquired according to the second mark information and the third mark information.

[0027] Preferably, the step of obtaining a charging coil position compensation amount according to the vehicle shaking inducement information, and obtaining a charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount comprises:

[0028] Acquire the vehicle bump frequency and vehicle bump amplitude according to the driving road condition information;

[0029] Acquire vehicle acceleration, average speed, vehicle turning radius, turning angle and friction coefficient according to the vehicle inertia information;

[0030] Acquire vehicle feature point information of the vehicle geometric feature information, and acquire vehicle mass, elastic coefficient of connection part and damping coefficient according to the vehicle feature point information;

[0031] The charging coil position compensation is calculated based on the vehicle acceleration, average speed, vehicle bump frequency, vehicle bump amplitude, vehicle steering radius, steering angle, vehicle mass, friction coefficient, connection part elastic coefficient and damping coefficient. The calculation formula is:

[0032]

[0033] Among them, m represents the vehicle mass, a represents the vehicle acceleration, k represents the elastic coefficient of the connection part, μ represents the friction coefficient, A represents the vehicle bump amplitude, θ represents the steering angle, v represents the average speed, R represents the vehicle turning radius, f represents the vehicle bump frequency, and c represents the damping coefficient. Indicates the charging coil position compensation amount;

[0034] Acquire the coordinates of the charging coil according to the position information of the vehicle-mounted charging coil;

[0035] The charging coil coordinates are corrected according to the charging coil position compensation to obtain the charging coil corrected position information.

[0036] Preferably, the step of acquiring the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information comprises:

[0037] Acquire first coordinate information according to the corrected position information of the charging coil;

[0038] Acquire second coordinate information according to the position information of the ground discharge coil;

[0039] Acquire distance information and direction information according to the first coordinate information and the second coordinate information;

[0040] Acquire speed suggestion information and movement time information according to the distance information, and acquire vehicle movement information according to the speed suggestion information and movement time information;

[0041] Acquire route information and vehicle posture information according to the direction information, and acquire vehicle guidance information according to the route information and vehicle posture information;

[0042] The static charging coil position information is acquired according to the vehicle motion information and the vehicle guidance information.

[0043] Preferably, the step of acquiring the position offset value according to the static charging coil position information and the ground discharge coil position information comprises:

[0044] Acquiring charging position coordinate information according to the static charging coil position information;

[0045] Acquiring discharge position coordinate information according to the ground discharge coil position information;

[0046] The lateral displacement, longitudinal displacement and vertical displacement are obtained according to the charging position coordinate information and the discharging position coordinate information, and the position offset value is calculated by the lateral displacement, longitudinal displacement and vertical displacement, wherein the calculation formula of the position offset value is:

[0047]

[0048] Wherein, D represents the position offset value, Δx represents the lateral displacement, Δy represents the longitudinal displacement, and Δz represents the vertical displacement.

[0049] The present application also provides a vehicle positioning and coil alignment system for an electric vehicle wireless charging system, comprising:

[0050] A first acquisition module is used to acquire image information of a vehicle visual sensor, and acquire vehicle geometric feature information and positioning identification information according to the image information, wherein the vehicle geometric feature information includes vehicle contour information and vehicle feature point information;

[0051] A second acquisition module is used to acquire the position information of the ground discharge coil according to the positioning identification information, and acquire the position information of the vehicle charging coil according to the vehicle geometric feature information and the position information of the ground discharge coil;

[0052] A construction module, used to obtain vehicle historical status information and construct a correlation feature database based on the vehicle historical status information;

[0053] An extraction module, used to obtain vehicle shaking information from a vehicle inertial sensor, and to obtain vehicle shaking cause information based on the vehicle shaking information and a related feature database;

[0054] A correction module, used to obtain a charging coil position compensation amount according to the vehicle shaking inducement information, and obtain charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount;

[0055] a calculation module, configured to obtain the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and to obtain a position offset value according to the static charging coil position information and the ground discharge coil position information;

[0056] A judging module, used for judging whether the position offset value is greater than a preset offset value;

[0057] If the position offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned;

[0058] If the position offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, an offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned.

[0059] Preferably, the extraction module comprises:

[0060] A first acquisition unit, configured to acquire feature point information of the vehicle shaking information, wherein the feature point information includes shaking amplitude information, shaking frequency information and shaking direction information;

[0061] A first extraction unit, used for obtaining first tag information in a correlation feature database using the shaking amplitude information;

[0062] A second extraction unit, used for obtaining second tag information in a correlation feature database using the shaking frequency information;

[0063] A third extraction unit, used for obtaining third tag information in a correlation feature database using the shaking direction information;

[0064] A second acquisition unit is used to acquire the driving road condition information according to the first marking information and the third marking information.

[0065] The third acquiring unit is used to acquire vehicle inertia information according to the second marking information and the third marking information.

[0066] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method for improving the security of an encryption chip when executing the computer program.

[0067] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for improving the security of an encryption chip are implemented.

[0068] The beneficial effects of the present invention are as follows: in the present invention, the vehicle-mounted charging coil position information and the ground discharge coil position information are obtained through the vehicle geometric feature information and the positioning identification information, so that the entire positioning and alignment process can be carried out based on the actual vehicle appearance and identification conditions, and a related feature database is constructed according to the vehicle historical status information. The vehicle shaking information is combined with the related feature database for analysis, so that the root cause of the vehicle shaking can be fully and deeply understood, thereby obtaining the vehicle shaking cause information. According to the vehicle shaking cause information, the charging coil position compensation amount can be calculated in a targeted manner to compensate for the problem of charging position detection deviation caused by factors such as vehicle shaking, and the vehicle-mounted charging coil position information is corrected by the calculated charging coil position compensation amount. , and then guide the vehicle according to the corrected position information of the charging coil and the position information of the ground discharge coil to achieve efficient and convenient vehicle position adjustment, and then calculate the position offset value according to the static charging coil position information and the ground discharge coil position information, and judge whether the position offset value is greater than the preset offset value. If the offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned, and subsequent operations such as normal charging can be performed; if the offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, the offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 The figure is a schematic diagram of a method flow of an embodiment of the present application.

[0070] Figure 2 Schematic diagram of the system structure of an embodiment of the present application.

[0071] Figure 3 A schematic diagram of the internal structure of a computer device according to an embodiment of the present application.

[0072] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0073] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0074] like Figure 1-Figure 3 As shown, the present application provides a vehicle positioning and coil alignment method for an electric vehicle wireless charging system, comprising:

[0075] S1. Obtain image information from a vehicle visual sensor, and obtain vehicle geometric feature information and positioning identification information based on the image information;

[0076] S2. Acquire the position information of the ground discharge coil according to the positioning identification information, and acquire the position information of the vehicle charging coil according to the vehicle geometric feature information and the position information of the ground discharge coil;

[0077] S3, obtaining vehicle historical status information, and constructing a correlation feature database based on the vehicle historical status information;

[0078] S4, obtaining vehicle shaking information from a vehicle inertial sensor, and obtaining vehicle shaking cause information according to the vehicle shaking information and a related feature database;

[0079] S5. acquiring a charging coil position compensation amount according to the vehicle shaking inducement information, and acquiring charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount;

[0080] S6. Acquire the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and acquire the position offset value according to the static charging coil position information and the ground discharge coil position information;

[0081] S7, determining whether the position offset value is greater than a preset offset value;

[0082] If the position offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned;

[0083] If the position offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, an offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned.

[0084] As described in the above steps S1-S7, with the advancement of science and technology and the improvement of human living standards, a large amount of energy is consumed. In recent years, my country has insisted on implementing the concept of green environmental protection and promoting low-carbon energy conservation. Under the dual pressure of environmental pollution and energy shortage, promoting electric vehicles to replace fuel vehicles has become the main direction of future development. Electric vehicles have become an important part of the global automobile market with their advantages such as environmental protection and low noise. With the expansion of the electric vehicle market, traditional electric vehicle charging methods have the characteristics of slow charging speed, short driving range, and difficulty in finding a seat during peak charging. Wireless charging technology is different from traditional charging methods. It is a new charging method that does not require the use of lines and electric piles, and uses electromagnetic technology to charge devices in the air. The common electromagnetic induction wireless charging in the prior art is based on the law of electromagnetic induction. When the transmitting coil and the receiving coil are close and aligned, an induced electromotive force is generated in the receiving coil through an alternating magnetic field, thereby realizing the transmission of electric energy. The existing vehicle positioning method is: using a visual sensor installed on the vehicle to obtain image information of the vehicle and the charging device, and identifying the contour, feature points and location identification of the charging device of the vehicle through an image processing algorithm, so as to determine the position and posture of the vehicle relative to the charging device. However, during the parking process of the vehicle (specifically, the process of parking the electric vehicle after moving to the charging area (including but not limited to reversing, adjusting position, etc.), which refers to the shaking or swaying of the vehicle due to uneven ground "during the parking process"), the vehicle may shake due to factors such as uneven ground and vehicle inertia. This shaking will cause the vehicle's position and posture to change in real time. Visual sensors usually calculate the vehicle's position by taking images of the vehicle's surroundings and then identifying landmarks in the image. When the vehicle shakes, the image taken by the sensor will appear blurred, deformed, or the relative position of the landmark will change rapidly, which will make the position information obtained by the positioning device inaccurate, thereby affecting the alignment accuracy of the receiving coil and the transmitting coil, and affecting the wireless charging efficiency of the electric vehicle. In the present invention, the vehicle charging coil position information and the ground discharge coil position information are obtained according to the vehicle geometric feature information and the positioning identification information, wherein the vehicle geometric feature information generally refers to the shape information formed by the boundary lines of the vehicle's overall appearance and a collection of points on the vehicle surface with specific geometric meanings or identifiability, and the positioning identification information generally refers to the information contained in the specific mark or feature set on the ground for assisting in determining the relative position of the vehicle and the ground discharge device. This positioning method based on the inherent characteristics of the vehicle itself can adapt to the characteristics of different vehicle models, ensure that the determination of the charging position is closely integrated with the actual situation of the vehicle, and the positioning identification provides a clear correspondence between the vehicle and the ground equipment. The extraction of the vehicle geometric feature information and the positioning identification information establishes basic data for subsequent steps, so that the entire positioning and alignment process can be carried out based on the actual vehicle appearance and identification conditions, thereby improving the accuracy and reliability of positioning.A correlation feature database is constructed based on the vehicle's historical status information, where the vehicle's historical status information generally refers to status data covering the vehicle's past driving, parking and other situations. The historical status information can reflect the vehicle's performance in different scenarios and enrich the understanding of vehicle behavior. The constructed correlation feature database can be used as a knowledge base, and the vehicle inertial sensor can monitor the vehicle's shaking in real time. The vehicle shaking information obtained from the vehicle inertial sensor can be used to understand whether the vehicle is currently shaking and the degree of shaking. The vehicle shaking information is combined with the correlation feature database for analysis to fully and deeply understand the root cause of the vehicle shaking, thereby obtaining the vehicle shaking cause information. The charging coil position compensation amount can be specifically calculated based on the vehicle shaking cause information to compensate for the charging position detection deviation caused by factors such as vehicle shaking. The on-board charging coil position information is corrected by the calculated charging coil position compensation amount, and the charging coil correction position information is further obtained to make the charging position more accurate. Then, the vehicle is guided to the charging area based on the charging coil correction position information and the ground discharge coil position information, so that the on-board The charging coil is better aligned with the ground discharge coil, and then the position offset value is calculated according to the static charging coil position information and the ground discharge coil position information, wherein the static charging coil position information generally refers to the accurate position information of the charging coil on the vehicle after a series of positioning, correction and guidance of the vehicle and relative to the ground discharge coil. The position offset value can be used to measure the degree of alignment between the on-board charging coil and the ground discharge coil, and can intuitively reflect the alignment of the on-board charging coil and the ground discharge coil, providing an accurate reference standard for evaluating the alignment effect. Finally, by judging whether the offset value is greater than the preset offset value, the accuracy of the alignment between the on-board charging coil and the ground discharge coil is evaluated. If the offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned, and subsequent operations such as normal charging can be performed; if the offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, the offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned. ,

[0085] In one embodiment, the step S3 of acquiring vehicle historical status information and constructing a correlation feature database according to the vehicle historical status information includes:

[0086] S31, acquiring historical shaking information and historical vehicle condition information according to the historical state information of the vehicle;

[0087] S32, obtaining first time information of the historical shaking information;

[0088] S33, obtaining second time information of the historical vehicle condition information;

[0089] S34. Match the historical shaking information and the historical vehicle condition information according to the first time information and the second time information, and construct a correlation feature database.

[0090] As described in the above steps S31-S34, in the present invention, historical shaking information and historical vehicle condition information are obtained based on the vehicle's historical state information, wherein the historical shaking information generally refers to the record of the shaking conditions that occurred in the vehicle in various driving and parking states over a period of time in the past, and the historical vehicle condition information generally refers to the record of information such as the actual operating state, working condition changes, and working environment of the vehicle during driving. By obtaining the first time information and the second time information, the historical shaking information and the historical vehicle condition information can be respectively assigned time dimension identifiers, so that the historical shaking information and the historical vehicle condition information are no longer isolated data points, but can correspond to specific time points, so that the distribution and change patterns of vehicle shaking in the time series can be clearly understood, and the two are organically combined through the bond of time, so as to establish the intrinsic relationship between the shaking information and the vehicle condition information. The connection makes each record in the database contain comprehensive information about the vehicle shaking and vehicle condition at the same time point or a similar time point. Constructing such a correlation feature database can more comprehensively and systematically reflect the state characteristics of the vehicle and its internal correlation. By analyzing the information in the database, we can deeply explore the causal relationship or correlation between vehicle shaking and vehicle condition, such as how changes in vehicle condition affect vehicle shaking, and how vehicle shaking in turn reflects certain problems with vehicle condition, etc., which helps to better understand the operation mechanism of the vehicle and provides solid data support and decision-making basis for accurately exploring the root cause of vehicle shaking. Then, according to the vehicle shaking cause information, the charging coil position compensation distance of the electric vehicle is further obtained, and then the position of the charging coil is corrected according to the charging coil position compensation distance, so as to facilitate the subsequent alignment of the charging coil and the discharge coil.

[0091] In one embodiment, the step S4 of acquiring vehicle shaking cause information according to the vehicle shaking information and the associated feature database includes:

[0092] S41, acquiring feature point information of the vehicle shaking information, wherein the feature point information includes shaking amplitude information, shaking frequency information and shaking direction information;

[0093] S42, acquiring first marking information in an associated feature database according to the shaking amplitude information;

[0094] S43, acquiring second marking information in the associated feature database according to the shaking frequency information;

[0095] S44, acquiring third tag information in the associated feature database according to the shaking direction information;

[0096] S45, acquiring driving road condition information according to the first mark information and the second mark information;

[0097] S46: Acquire vehicle inertia information according to the second marking information and the third marking information.

[0098] As described in the above steps S41-S46, in the present invention, the shaking amplitude information, shaking frequency information and shaking direction information are specifically extracted from the vehicle shaking information. These feature point information are key elements for describing the vehicle shaking state, and can comprehensively characterize the specific situation of the vehicle shaking from different dimensions. By focusing on these key feature point information, the blind processing of a large amount of complex and possibly irrelevant vehicle data is avoided, making data processing more efficient and targeted. According to the shaking amplitude information, shaking frequency information and shaking direction information, the corresponding first label information, second label information and third label information are respectively extracted from the associated feature database. These label information are mapped to different states and shaking conditions of the vehicle, and relevant information in historical situations similar to the current shaking state can be found, thereby providing clues for analyzing the shaking causes of the vehicle. The road condition is one of the important external factors that cause vehicle shaking. For example, bumpy roads, undulating roads, curves, slippery roads, etc. will cause the vehicle to shake with different amplitudes and frequencies. The first tag information and the second tag information are used to search for relevant road condition information in the associated feature database to determine the impact of the road condition on the current shaking. The inertia of the vehicle will affect the shaking frequency and direction of the vehicle, which reflects the characteristic of the vehicle maintaining its original motion state during driving. By analyzing the second tag information and the third tag information, the vehicle inertia information corresponding to the current shaking frequency and direction can be obtained from the associated feature database, thereby determining the impact of the vehicle inertia on the current shaking. By analyzing the vehicle shaking from multiple dimensions, the limitation of relying solely on a single factor to determine the cause of the shaking can be avoided, thereby more comprehensively considering various possible influencing factors.

[0099] In one embodiment, the step S5 of obtaining the charging coil position compensation amount according to the vehicle shaking inducement information, and obtaining the charging coil corrected position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount includes:

[0100] S51, acquiring a vehicle bump frequency and a vehicle bump amplitude according to the driving road condition information;

[0101] S52, acquiring vehicle acceleration, average speed, vehicle turning radius, turning angle and friction coefficient according to the vehicle inertia information;

[0102] S53, obtaining vehicle feature point information of the vehicle geometric feature information, and obtaining vehicle mass, connection part elastic coefficient and damping coefficient according to the vehicle feature point information;

[0103] S54, calculating the charging coil position compensation amount according to the vehicle acceleration, average speed, vehicle bump frequency, vehicle bump amplitude, vehicle steering radius, steering angle, vehicle mass, friction coefficient, connection part elastic coefficient and damping coefficient, wherein the calculation formula is:

[0104]

[0105] Among them, m represents the vehicle mass, a represents the vehicle acceleration, k represents the elastic coefficient of the connection part, μ represents the friction coefficient, A represents the vehicle bump amplitude, θ represents the steering angle, v represents the average speed, R represents the vehicle turning radius, f represents the vehicle bump frequency, and c represents the damping coefficient. Indicates the charging coil position compensation amount;

[0106] S55, obtaining the coordinates of the charging coil according to the position information of the vehicle-mounted charging coil;

[0107] S56. Correct the charging coil coordinates according to the charging coil position compensation to obtain corrected charging coil position information.

[0108] As described in the above steps S51-S56, in the present invention, key parameters are obtained respectively according to the driving road condition information, the vehicle inertia information and the vehicle feature point information. Among them, by obtaining the key parameters from the perspective of driving road conditions, the degree of influence of road conditions on the vehicle can be accurately grasped, which provides a basis for considering external interference factors when calculating the charging coil position compensation. By obtaining the key parameters from the perspective of vehicle inertia, the performance of the vehicle's own inertia characteristics during steering is deeply understood, and important parameters related to vehicle maneuverability are provided for accurately calculating the charging coil position compensation. By obtaining the key parameters from the perspective of the vehicle's own characteristics, the physical characteristics of the vehicle itself are comprehensively considered, which lays a solid foundation for accurately calculating the charging coil position compensation. The various parameters obtained above are comprehensively considered. Using the given calculation formula to calculate the charging coil position compensation amount can more accurately determine the charging coil position compensation amount, fully consider the various complex situations and interactions of the vehicle during actual driving, greatly improve the accuracy and reliability of the compensation amount calculation, and provide a strong guarantee for the effective correction of the charging position. Then, the charging coil coordinate amount is obtained according to the on-board charging coil position information, so as to clarify the specific position of the current charging coil in the vehicle coordinate system, which is the basis and reference point for subsequent charging position correction. Finally, the charging coil coordinate amount is corrected according to the calculated charging coil position compensation amount. Through precise position correction, the problem of inaccurate charging position detection caused by shaking of the vehicle during driving can be effectively overcome.

[0109] In one embodiment, the step S6 of acquiring the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information comprises:

[0110] S61, acquiring first coordinate information according to the corrected position information of the charging coil;

[0111] S62, acquiring second coordinate information according to the position information of the ground discharge coil;

[0112] S63, acquiring distance information and direction information according to the first coordinate information and the second coordinate information;

[0113] S64, acquiring speed suggestion information and movement time information according to the distance information, and acquiring vehicle movement information according to the speed suggestion information and movement time information;

[0114] S65, acquiring route information and vehicle posture information according to the direction information, and acquiring vehicle guidance information according to the route information and vehicle posture information;

[0115] S66. Acquire the static charging coil position information according to the vehicle motion information and the vehicle guidance information.

[0116] As described in the above steps S61-S66, in the present invention, the distance information and direction information between the vehicle-mounted charging coil and the ground discharge coil are obtained through the first coordinate information and the second coordinate information, wherein the first coordinate information refers to the specific coordinates of the vehicle-mounted charging coil after correction in a specific coordinate system, and the second coordinate information refers to the specific coordinates of the ground discharge coil in the same coordinate system. The distance information reflects the length of the straight line interval between the two, and the direction information clarifies the orientation of the vehicle-mounted charging coil relative to the ground discharge coil. Accurate distance and direction information can guide the vehicle to make precise position adjustments, so that the vehicle can move toward the discharge coil efficiently and accurately, thereby improving the alignment of the vehicle-mounted charging coil and the ground discharge coil. Efficiency and accuracy, and then a suitable driving speed recommendation can be given based on the distance and other factors that may affect the movement of the vehicle (such as road conditions, vehicle performance, etc.), and the estimated time required to travel this distance at this speed, and then the specific path that the vehicle should follow from the current position to the charging area is obtained based on the direction information, which may involve specific driving route planning such as turns, and the body angle, direction and other posture requirements that the vehicle should maintain during driving in order to align with the ground discharge coil, and the vehicle is guided to the wireless charging area based on the above information, thereby completing the positioning of the vehicle, and the static charging coil position information finally obtained refers to: the position information of the on-board charging coil after the vehicle moves into the wireless charging area and stops completely.

[0117] In one embodiment, the step S7 of acquiring the position offset value according to the static charging coil position information and the ground discharge coil position information includes:

[0118] S71, acquiring charging position coordinate information according to the static charging coil position information;

[0119] S72, acquiring discharge position coordinate information according to the ground discharge coil position information;

[0120] S73, obtaining a lateral displacement, a longitudinal displacement, and a vertical displacement according to the charging position coordinate information and the discharging position coordinate information, and calculating a position offset value by the lateral displacement, the longitudinal displacement, and the vertical displacement, wherein the calculation formula of the position offset value is:

[0121]

[0122] Wherein, D represents the position offset value, Δx represents the lateral displacement, Δy represents the longitudinal displacement, and Δz represents the vertical displacement.

[0123] As described in the above steps S71-S73, the present invention extracts charging position coordinate information from the static charging coil position information. The charging position coordinate information clarifies the specific position of the on-board charging coil when the vehicle is stationary, and the discharge position coordinate information clarifies the specific position of the ground discharge coil. The charging position coordinate information corresponds to the discharge position coordinate information. The lateral displacement, longitudinal displacement and vertical displacement are obtained respectively through the charging position coordinate information and the discharge position coordinate information. These three displacements comprehensively describe the offset of the on-board charging coil relative to the ground discharge coil in different directions. Then, the offset value is calculated according to a specific formula, and the displacements in the three directions are integrated into a single quantitative index, which is used to intuitively represent the overall offset degree of the on-board charging coil and the ground discharge coil, so as to facilitate the rapid and intuitive evaluation of the deviation degree between the on-board charging coil and the ground discharge coil, and facilitate the operator or the automatic control system to take corresponding adjustment measures according to the value to improve the charging efficiency and charging safety.

[0124] The present application also provides a vehicle positioning and coil alignment system for an electric vehicle wireless charging system, comprising:

[0125] A first acquisition module is used to acquire image information of a vehicle visual sensor, and acquire vehicle geometric feature information and positioning identification information according to the image information;

[0126] A second acquisition module is used to acquire the position information of the ground discharge coil according to the positioning identification information, and acquire the position information of the vehicle charging coil according to the vehicle geometric feature information and the position information of the ground discharge coil;

[0127] A construction module, used to obtain vehicle historical status information and construct a correlation feature database based on the vehicle historical status information;

[0128] An extraction module, used to obtain vehicle shaking information from a vehicle inertial sensor, and to obtain vehicle shaking cause information based on the vehicle shaking information and a related feature database;

[0129] A correction module, used to obtain a charging coil position compensation amount according to the vehicle shaking inducement information, and obtain charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount;

[0130] a calculation module, configured to obtain the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and to obtain a position offset value according to the static charging coil position information and the ground discharge coil position information;

[0131] A judging module, used for judging whether the position offset value is greater than a preset offset value;

[0132] If the position offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned;

[0133] If the position offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, an offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned.

[0134] In one embodiment, the extraction module comprises:

[0135] A first acquisition unit, configured to acquire feature point information of the vehicle shaking information, wherein the feature point information includes shaking amplitude information, shaking frequency information and shaking direction information;

[0136] A first extraction unit, used for obtaining first tag information in a correlation feature database using the shaking amplitude information;

[0137] A second extraction unit, used for obtaining second tag information in a correlation feature database using the shaking frequency information;

[0138] A third extraction unit, used for obtaining third tag information in a correlation feature database using the shaking direction information;

[0139] A second acquisition unit is used to acquire the driving road condition information according to the first marking information and the third marking information.

[0140] The third acquiring unit is used to acquire vehicle inertia information according to the second marking information and the third marking information.

[0141] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method for improving the security of an encryption chip when executing the computer program.

[0142] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for improving the security of an encryption chip are implemented.

[0143] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0144] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0145] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle positioning and coil alignment method for an electric vehicle wireless charging system, characterized in that: include: Acquire image information from a vehicle vision sensor, and acquire vehicle geometric feature information and positioning identification information based on the image information; Acquire the position information of the ground discharge coil according to the positioning identification information, and acquire the position information of the vehicle charging coil according to the vehicle geometric feature information and the position information of the ground discharge coil; Acquire vehicle historical status information, and construct a correlation feature database based on the vehicle historical status information; Acquire vehicle shaking information from a vehicle inertial sensor, and acquire vehicle shaking cause information based on the vehicle shaking information and a related feature database; Acquire a charging coil position compensation amount according to the vehicle shaking inducement information, and acquire charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount; Acquire the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and acquire the position offset value according to the static charging coil position information and the ground discharge coil position information; Determining whether the position offset value is greater than a preset offset value; If the position offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned; If the position offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, an offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned.

2. The vehicle positioning and coil alignment method of the electric vehicle wireless charging system according to claim 1, characterized in that: The step of obtaining the vehicle historical status information and constructing a correlation feature database according to the vehicle historical status information includes: Acquiring historical shaking information and historical vehicle condition information according to the vehicle historical state information; Acquire first time information of the historical shaking information; Acquire second time information of the historical vehicle condition information; The historical shaking information and the historical vehicle condition information are matched according to the first time information and the second time information, and a correlation feature database is constructed.

3. The vehicle positioning and coil alignment method of the electric vehicle wireless charging system according to claim 1, characterized in that: The step of acquiring vehicle shaking cause information according to the vehicle shaking information and the associated feature database comprises: Acquire feature point information of the vehicle shaking information, wherein the feature point information includes shaking amplitude information, shaking frequency information and shaking direction information; Acquire first tag information in an associated feature database according to the shaking amplitude information; Acquire second tag information in the associated feature database according to the shaking frequency information; Acquire third tag information in the associated feature database according to the shaking direction information; Acquire driving road condition information according to the first marking information and the second marking information; The vehicle inertia information is acquired according to the second mark information and the third mark information.

4. The vehicle positioning and coil alignment method of the electric vehicle wireless charging system according to claim 1, characterized in that: The step of obtaining the charging coil position compensation amount according to the vehicle shaking inducement information, and obtaining the charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount includes: Acquire the vehicle bump frequency and vehicle bump amplitude according to the driving road condition information; Acquire vehicle acceleration, average speed, vehicle turning radius, turning angle and friction coefficient according to the vehicle inertia information; Acquire vehicle feature point information of the vehicle geometric feature information, and acquire vehicle mass, elastic coefficient of connection part and damping coefficient according to the vehicle feature point information; The charging coil position compensation is calculated based on the vehicle acceleration, average speed, vehicle bump frequency, vehicle bump amplitude, vehicle steering radius, steering angle, vehicle mass, friction coefficient, connection part elastic coefficient and damping coefficient. The calculation formula is: Among them, m represents the vehicle mass, a represents the vehicle acceleration, k represents the elastic coefficient of the connection part, μ represents the friction coefficient, A represents the vehicle bump amplitude, θ represents the steering angle, v represents the average speed, R represents the vehicle turning radius, f represents the vehicle bump frequency, and c represents the damping coefficient. Indicates the charging coil position compensation amount; Acquire the coordinates of the charging coil according to the position information of the vehicle-mounted charging coil; The charging coil coordinates are corrected according to the charging coil position compensation to obtain the charging coil corrected position information.

5. The vehicle positioning and coil alignment method of the electric vehicle wireless charging system according to claim 1, characterized in that: The step of acquiring the static charging coil position information according to the charging coil correction position information and the ground discharge coil position information comprises: Acquire first coordinate information according to the corrected position information of the charging coil; Acquire second coordinate information according to the position information of the ground discharge coil; Acquire distance information and direction information according to the first coordinate information and the second coordinate information; Acquire speed suggestion information and movement time information according to the distance information, and acquire vehicle movement information according to the speed suggestion information and movement time information; Acquire route information and vehicle posture information according to the direction information, and acquire vehicle guidance information according to the route information and vehicle posture information; The static charging coil position information is acquired according to the vehicle motion information and the vehicle guidance information.

6. The vehicle positioning and coil alignment method of the electric vehicle wireless charging system according to claim 1, characterized in that: The step of obtaining the position offset value according to the static charging coil position information and the ground discharge coil position information comprises: Acquiring charging position coordinate information according to the static charging coil position information; Acquiring discharge position coordinate information according to the ground discharge coil position information; The lateral displacement, longitudinal displacement and vertical displacement are obtained according to the charging position coordinate information and the discharging position coordinate information, and the position offset value is calculated by the lateral displacement, longitudinal displacement and vertical displacement, wherein the calculation formula of the position offset value is: Wherein, D represents the position offset value, Δx represents the lateral displacement, Δy represents the longitudinal displacement, and Δz represents the vertical displacement.

7. A vehicle positioning and coil alignment system for an electric vehicle wireless charging system, characterized in that: include: A first acquisition module is used to acquire image information of a vehicle visual sensor, and acquire vehicle geometric feature information and positioning identification information according to the image information; A second acquisition module is used to acquire the position information of the ground discharge coil according to the positioning identification information, and acquire the position information of the vehicle charging coil according to the vehicle geometric feature information and the position information of the ground discharge coil; A construction module, used to obtain vehicle historical status information and construct a correlation feature database based on the vehicle historical status information; An extraction module, used to obtain vehicle shaking information from a vehicle inertial sensor, and to obtain vehicle shaking cause information based on the vehicle shaking information and a related feature database; A correction module, used to obtain a charging coil position compensation amount according to the vehicle shaking inducement information, and obtain charging coil correction position information according to the vehicle-mounted charging coil position information and the charging coil position compensation amount; a calculation module, configured to obtain the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and to obtain a position offset value according to the static charging coil position information and the ground discharge coil position information; A judging module, used for judging whether the position offset value is greater than a preset offset value; If the position offset value is not greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are accurately aligned; If the position offset value is greater than the preset offset value, it is determined that the on-board charging coil and the ground discharge coil are not accurately aligned. At this time, an offset adjustment value is obtained according to the position offset value and the preset offset value, and the vehicle is adjusted according to the offset adjustment value until the on-board charging coil and the ground discharge coil are accurately aligned.

8. The vehicle positioning and coil alignment system of the electric vehicle wireless charging system according to claim 7, characterized in that: The extraction module comprises: A first acquisition unit, configured to acquire feature point information of the vehicle shaking information, wherein the feature point information includes shaking amplitude information, shaking frequency information and shaking direction information; A first extraction unit, used for obtaining first tag information in a correlation feature database using the shaking amplitude information; A second extraction unit, used for obtaining second tag information in a correlation feature database using the shaking frequency information; A third extraction unit, used for obtaining third tag information in a correlation feature database using the shaking direction information; A second acquisition unit is used to acquire the driving road condition information according to the first marking information and the third marking information. The third acquiring unit is used to acquire vehicle inertia information according to the second marking information and the third marking information.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images