Vehicle positioning and coil alignment method and system for electric vehicle wireless charging system

Abstract

The present invention relates to the technical field of wireless charging for electric vehicles, and in particular to a vehicle positioning and coil alignment method and system for a wireless charging system for electric vehicles. In the present invention, vehicle geometric feature information and positioning identification information are used to obtain on-board charging coil position information and ground discharge coil position information, enabling the entire positioning and alignment process to be carried out based on the actual vehicle appearance and identification. Vehicle sway information is combined with an associated feature database for analysis to obtain vehicle sway cause information. Based on the vehicle sway cause information, a charging coil position compensation amount can be specifically calculated to compensate for charging coil position detection deviations caused by factors such as vehicle sway. The calculated charging coil position compensation amount is used to correct the on-board charging coil position information, and the vehicle is guided based on the corrected charging coil position information and the ground discharge coil position information, ensuring accurate alignment between the on-board charging coil and the ground discharge coil.

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 for a wireless charging system of an electric vehicle. Background Art

[0002] With technological advancements and improvements in living standards, energy consumption has increased significantly. In recent years, my country has consistently adhered to the concept of green environmental protection and promoted low-carbon energy conservation. Under the dual pressures of environmental pollution and energy shortages, the promotion of electric vehicles to replace fuel vehicles has become a major direction for future development. Electric vehicles, with their environmentally friendly and low-noise advantages, have become a key component of the global automotive market. However, as the electric vehicle market expands, traditional charging methods suffer from slow charging speeds, short driving ranges, and difficulty finding a seat during peak charging times. Wireless charging technology, however, differs from traditional charging methods in that it utilizes electromagnetic technology to charge devices remotely, eliminating the need for wires or charging stations. Wireless charging technology is based on wireless power transmission, converting electrical energy into energy sources such as light and electromagnetic energy to achieve power transmission.

[0003] Currently, wireless charging technologies are 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 achieving 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 electrical energy. If the vehicle position is inaccurate, the receiving coil and the transmitting coil cannot be well aligned, resulting in a significant decrease in the magnetic field coupling efficiency. The existing vehicle positioning method is to use a visual sensor installed on the vehicle to obtain image information of the vehicle and the charging device, and through image processing algorithms, identify the vehicle's outline, 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 parking, 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 capturing images of the vehicle's surroundings and then identifying landmarks in the images. When the vehicle shakes, the images captured by the sensor will appear blurred, distorted, or the relative positions of 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] Acquiring historical status information of the vehicle and constructing a correlation feature database based on the historical status information of the vehicle;

[0009] Acquiring vehicle shaking information from a vehicle inertial sensor, and acquiring vehicle shaking cause information based on the vehicle shaking information and a correlation feature database;

[0010] Obtaining a charging coil position compensation amount based on the vehicle shaking inducement information, and obtaining charging coil corrected position information based on the on-board charging coil position information and the charging coil position compensation amount;

[0011] Obtaining the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and obtaining a 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 a 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 based on 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 obtaining vehicle historical status information and constructing a correlation feature database based on the vehicle historical status information includes:

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

[0017] Obtaining 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 obtaining vehicle shaking cause information based on the vehicle shaking information and the associated feature database includes:

[0021] 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;

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

[0026] Vehicle inertia information is acquired according to the second tag information and the third tag information.

[0027] Preferably, the step of obtaining a charging coil position compensation amount according to the vehicle shaking inducement information, and obtaining charging coil corrected position information according to the on-board charging coil position information and the charging coil position compensation amount includes:

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

[0029] Obtaining vehicle acceleration, average speed, vehicle turning radius, steering angle, and friction coefficient based on the vehicle inertia information;

[0030] Obtaining vehicle feature point information of the vehicle geometric feature information, and obtaining vehicle mass, connection part elastic coefficient and damping coefficient based on 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 charging coil corrected position information.

[0036] Preferably, the step of obtaining the static charging coil position information based on the charging coil corrected position information and the ground discharge coil position information includes:

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

[0038] Acquiring 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 based on the distance information, and acquire vehicle movement information based on the speed suggestion information and movement time information;

[0041] Acquiring route information and vehicle posture information based on the direction information, and acquiring vehicle guidance information based on 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 obtaining a position offset value according to the static charging coil position information and the ground discharge coil position information includes:

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

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

[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. The calculation formula of the position offset value is:

[0047]

[0048] Where 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, configured to acquire image information from a vehicle visual sensor, and acquire vehicle geometric feature information and positioning identification information based on the image information, wherein the vehicle geometric feature information includes vehicle contour information and vehicle feature point information;

[0051] A second acquisition module is configured 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, configured to obtain historical status information of a vehicle and construct a correlation feature database based on the historical status information of the vehicle;

[0053] an extraction module, configured to obtain vehicle shaking information from a vehicle inertial sensor, and obtain vehicle shaking cause information based on the vehicle shaking information and a correlation feature database;

[0054] a correction module, configured to obtain a charging coil position compensation amount based on the vehicle shaking inducement information, and obtain charging coil correction position information based on 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 based on the charging coil corrected position information and the ground discharge coil position information, and obtain a position offset value based on the static charging coil position information and the ground discharge coil position information;

[0056] A judging module, configured to judge 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 a 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 based on 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 acquiring unit is 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, configured to obtain first tag information in a correlation feature database using the shake amplitude information;

[0062] A second extraction unit is used to obtain second tag information in a correlation feature database using the shaking frequency information;

[0063] a third extraction unit, configured to obtain third tag information in a correlation feature database using the shaking direction information;

[0064] A second acquiring unit is configured to acquire driving road condition information based on the first marking information and the third marking information.

[0065] The third acquiring unit is configured 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, comprising 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 having a computer program stored thereon, which implements the steps of the above-mentioned method for improving the security of the encryption chip when the computer program is executed by a processor.

[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 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 correlation feature database is constructed according to the vehicle historical status information. The vehicle shaking information is combined with the correlation feature database for analysis, so as to fully and deeply understand the root cause of the vehicle shaking, thereby obtaining the vehicle shaking inducement information. According to the vehicle shaking inducement information, the charging coil position compensation amount can be calculated in a targeted manner to make up 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. , 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, 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 1 is a flow chart of a method according to 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 This is a schematic diagram of the internal structure of a computer device according to an embodiment of the present application.

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

[0073] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended 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 vision 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. Acquire historical status information of the vehicle and construct a correlation feature database based on the historical status information of the vehicle;

[0078] S4. Obtaining vehicle shaking information from a vehicle inertial sensor, and obtaining vehicle shaking cause information based on the vehicle shaking information and a correlation feature database;

[0079] S5. Obtaining a charging coil position compensation amount based on the vehicle shaking inducement information, and obtaining charging coil corrected position information based on the on-board charging coil position information and the charging coil position compensation amount;

[0080] S6. Obtaining the static charging coil position information based on the corrected charging coil position information and the ground discharge coil position information, and obtaining a position offset value based on 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 a 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 based on 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 steps S1-S7 above, with the advancement of science and technology and the improvement of human living standards, there has been a surge in energy consumption. In recent years, my country has adhered to the concept of green environmental protection and promoted low-carbon energy conservation. Under the dual pressures of environmental pollution and energy shortages, the promotion of electric vehicles to replace fuel vehicles has become a major direction for future development. Electric vehicles, with their environmentally friendly and low-noise advantages, have become a significant component of the global automotive market. As the electric vehicle market expands, traditional electric vehicle charging methods suffer from slow charging speeds, short driving ranges, and difficulty finding a seat during peak charging times. Wireless charging technology, however, differs from traditional charging methods. It is a novel charging method that uses electromagnetic technology to charge devices remotely without the need for wires or charging piles. Electromagnetic induction wireless charging, a common method in the prior art, is based on the law of electromagnetic induction. When a transmitting coil and a receiving coil are close together and aligned, an alternating magnetic field generates an induced electromotive force in the receiving coil, thereby achieving electrical energy transmission. Existing vehicle positioning methods use a visual sensor mounted on the vehicle to capture image information of the vehicle and the charging device. Using image processing algorithms, they identify the vehicle's outline, feature points, and the location markers of the charging device to determine the vehicle's position and posture 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 position and posture to change in real time, and the visual sensor usually calculates the position of the vehicle 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 position information of the on-board charging coil and the ground discharge coil is obtained based on the vehicle's geometric feature information and positioning identification information. The vehicle's 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's surface with specific geometric meanings or identifiable features. The positioning identification information generally refers to the information contained in a specific mark or feature set on the ground to assist in determining the relative position of the vehicle and the ground discharge equipment. This positioning method based on the vehicle's inherent characteristics can adapt to the characteristics of different vehicle models and ensure that the determination of the charging position is closely integrated with the actual situation of the vehicle. The positioning identification provides a clear correspondence between the vehicle and the ground equipment. The extraction of the vehicle's geometric feature information and 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 various situations such as driving and parking in the past. 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. Combining the vehicle shaking information with the correlation feature database for analysis can fully and deeply understand the root cause of the vehicle shaking, thereby obtaining the vehicle shaking inducement information. Based on the vehicle shaking inducement information, the charging coil position compensation amount can be specifically calculated to compensate for the charging position detection deviation caused by factors such as vehicle shaking. The calculated charging coil position compensation amount is used to correct the on-board charging coil position information, and further obtain the charging coil corrected position information to make the charging position more accurate. Then, based on the charging coil corrected position information and the ground discharge coil position information, the vehicle is guided to the charging area, so that the on-board The charging coil and the ground discharge coil are better aligned, and a position offset value is then calculated based on the static charging coil position information and the ground discharge coil position information. The static charging coil position information generally refers to the accurate position information of the charging coil on the vehicle when it is stationary relative to the ground discharge coil after a series of vehicle positioning, correction, and guidance processes. The position offset value can be used to measure the degree of alignment between the on-board charging coil and the ground discharge coil, intuitively reflecting the alignment between the on-board charging coil and the ground discharge coil, and providing an accurate reference standard for evaluating the alignment effect. Finally, the accuracy of the alignment between the on-board charging coil and the ground discharge coil is assessed by determining whether the offset value is greater than a preset offset value. If the offset value is not greater than the preset offset value, the on-board charging coil and the ground discharge coil are determined to be accurately aligned, and subsequent operations such as normal charging can proceed. If the offset value is greater than the preset offset value, the on-board charging coil and the ground discharge coil are determined to be inaccurately aligned. An offset adjustment value is then obtained based on 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 based on the vehicle historical status information includes:

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

[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 build a correlation feature database.

[0090] As described in the above steps S31-S34, the present invention obtains historical shaking information and historical vehicle condition information based on the vehicle's historical status information, wherein historical shaking information generally refers to the record of shaking conditions that occurred in various driving and parking states during a period of time in the past, and historical vehicle condition information generally refers to the record of information such as the actual operating status, 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 given a time dimension identifier, 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 rules of vehicle shaking in the time series can be clearly understood, and the two are organically combined through the link of time to establish an intrinsic relationship between shaking information and vehicle condition information. The connection makes each record in the database contain comprehensive information on vehicle shaking and vehicle condition at the same time point or similar time points. Constructing such a correlation feature database can more comprehensively and systematically reflect the status 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 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 based on 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, obtaining first tag information in a correlation feature database according to the shaking amplitude information;

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

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

[0096] S45. Acquire driving road condition information according to the first marking information and the second marking 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 tag information, second tag information and third tag information are respectively extracted from the associated feature database. These tag information are mapped to the 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 cause of the shaking. Road conditions are 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 conditions on the current shaking. The inertia of the vehicle will affect the shaking frequency and direction of the vehicle. It 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 on a single factor to judge the cause of the shaking is avoided, thereby more comprehensively considering various possible influencing factors.

[0099] In one embodiment, the step S5 of obtaining a charging coil position compensation amount based on the vehicle shaking inducement information, and obtaining charging coil corrected position information based on the on-board charging coil position information and the charging coil position compensation amount, includes:

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

[0101] S52. Obtaining vehicle acceleration, average speed, vehicle turning radius, steering angle, and friction coefficient based on the vehicle inertia information;

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

[0103] S54. Calculate the charging coil position compensation amount 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, where 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 , correcting 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, the present invention obtains key parameters respectively based on the driving road condition information, the vehicle inertia information and the vehicle feature point information. Among them, obtaining the key parameters from the perspective of driving road conditions can accurately grasp the degree of influence of road conditions on the vehicle, and provide a basis for considering external interference factors when calculating the charging coil position compensation. Obtaining the key parameters from the perspective of vehicle inertia can deeply understand the performance of the vehicle's own inertia characteristics during steering, and provide important parameters related to vehicle controllability for accurately calculating the charging coil position compensation. Obtaining the key parameters from the perspective of the vehicle's own characteristics and comprehensively considering the vehicle's own physical characteristics lay a solid foundation for accurately calculating the charging coil position compensation. The various parameters obtained above are combined and Using a given calculation formula to calculate the charging coil position compensation amount can more accurately determine the charging coil position compensation amount, fully considering the various complex situations and interactions of the vehicle during actual driving, greatly improving the accuracy and reliability of the compensation calculation, and providing a strong guarantee for the effective correction of the charging position. Then, the charging coil coordinate amount is obtained based on 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 based on the charging coil corrected position information and the ground discharge coil position information includes:

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

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

[0112] S63. Acquire distance information and direction information according to the first coordinate information and the second coordinate information;

[0113] S64, obtaining speed suggestion information and movement time information based on the distance information, and obtaining vehicle movement information based on 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. Obtaining static charging coil position information according to the vehicle motion information and vehicle guidance information.

[0116] As described in steps S61-S66 above, the present invention uses the first coordinate information and the second coordinate information to obtain the distance information and direction information between the on-board charging coil and the ground discharge coil. The first coordinate information refers to the specific coordinates of the on-board 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 on-board charging coil relative to the ground discharge coil. Accurate distance and direction information can guide the vehicle to perform precise position adjustment, allowing the vehicle to move toward the discharge coil efficiently and accurately, thereby improving the alignment of the on-board 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 vehicle movement (such as road conditions, vehicle performance, etc.), and the estimated time required to travel the distance at this speed. Then, based on the direction information, the specific path that the vehicle should follow from the current position to the charging area is obtained, which may involve specific driving route planning such as turns, and the posture requirements such as the body angle and direction that the vehicle should maintain in order to align with the ground discharge coil during driving are obtained. Based on the above information, the vehicle is guided to the wireless charging area to complete the vehicle positioning. 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 obtaining a position offset value according to the static charging coil position information and the ground discharge coil position information includes:

[0118] S71. Acquire charging position coordinate information according to the static charging coil position information;

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

[0120] S73: Obtain a lateral displacement, a longitudinal displacement, and a vertical displacement according to the charging position coordinate information and the discharging position coordinate information, and calculate a position offset value using the lateral displacement, the longitudinal displacement, and the vertical displacement. The position offset value is calculated using the following formula:

[0121]

[0122] Where 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 steps S71-S73 above, the present invention extracts charging position coordinate information from the static charging coil position information. The charging position coordinate information specifies the specific location of the on-board charging coil when the vehicle is stationary, while the discharging position coordinate information specifies the specific location of the ground-based discharge coil. The charging position coordinate information and the discharging position coordinate information correspond to each other. The lateral, longitudinal, and vertical displacements are derived from the charging and discharging position coordinate information, respectively. These three displacements comprehensively describe the offset of the on-board charging coil relative to the ground-based discharge coil in different directions. The offset value is then calculated according to a specific formula, and the displacements in the three directions are combined into a single quantitative indicator that intuitively represents the overall offset between the on-board charging coil and the ground-based discharge coil. This facilitates a quick and intuitive assessment of the degree of deviation between the on-board charging coil and the ground-based discharge coil, allowing the operator or the automatic control system to take appropriate adjustment measures based on this value to improve charging efficiency and 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 from a vehicle visual sensor and obtain vehicle geometric feature information and positioning identification information based on the image information;

[0126] A second acquisition module is configured 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, configured to obtain historical status information of a vehicle and construct a correlation feature database based on the historical status information of the vehicle;

[0128] an extraction module, configured to obtain vehicle shaking information from a vehicle inertial sensor, and obtain vehicle shaking cause information based on the vehicle shaking information and a correlation feature database;

[0129] a correction module, configured to obtain a charging coil position compensation amount based on the vehicle shaking inducement information, and obtain charging coil correction position information based on 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 based on the charging coil corrected position information and the ground discharge coil position information, and obtain a position offset value based on the static charging coil position information and the ground discharge coil position information;

[0131] A judging module, configured to judge 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 a 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 based on 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 includes:

[0135] A first acquiring unit is 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, configured to obtain first tag information in a correlation feature database using the shake amplitude information;

[0137] A second extraction unit is used to obtain second tag information in a correlation feature database using the shaking frequency information;

[0138] a third extraction unit, configured to obtain third tag information in a correlation feature database using the shaking direction information;

[0139] A second acquiring unit is configured to acquire driving road condition information based on the first marking information and the third marking information.

[0140] The third acquiring unit is configured 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, comprising 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 having a computer program stored thereon, which implements the steps of the above-mentioned method for improving the security of the encryption chip when the computer program is executed by a processor.

[0143] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant 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 many 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).

[0144] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising 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 description 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; Acquiring historical status information of the vehicle and constructing a correlation feature database based on the historical status information of the vehicle; Acquiring vehicle shaking information from a vehicle inertial sensor, and acquiring vehicle shaking cause information based on the vehicle shaking information and a correlation feature database; Obtaining a charging coil position compensation amount based on the vehicle shaking inducement information, and obtaining charging coil corrected position information based on the on-board charging coil position information and the charging coil position compensation amount; Obtaining the static charging coil position information according to the charging coil corrected position information and the ground discharge coil position information, and obtaining a 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 a 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 based on 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 vehicle historical status information and constructing a correlation feature database based on the vehicle historical status information includes: Acquiring historical shaking information and historical vehicle condition information according to the vehicle historical state information; Obtaining 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 obtaining vehicle shaking cause information based on the vehicle shaking information and the associated feature database includes: 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; 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; Acquiring driving road condition information according to the first marking information and the second marking information; Vehicle inertia information is acquired according to the second tag information and the third tag information.

4. The vehicle positioning and coil alignment method of the electric vehicle wireless charging system according to claim 3, characterized in that: The step of obtaining a charging coil position compensation amount based on the vehicle shaking inducement information, and obtaining charging coil corrected position information based on the vehicle-mounted charging coil position information and the charging coil position compensation amount, includes: Acquiring a vehicle bump frequency and a vehicle bump amplitude according to the driving road condition information; Obtaining vehicle acceleration, average speed, vehicle turning radius, steering angle, and friction coefficient based on the vehicle inertia information; Obtaining vehicle feature point information of the vehicle geometric feature information, and obtaining vehicle mass, connection part elastic coefficient and damping coefficient based on 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 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 obtaining the static charging coil position information based on the charging coil correction position information and the ground discharge coil position information includes: Acquire first coordinate information according to the corrected position information of the charging coil; Acquiring 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 based on the distance information, and acquire vehicle movement information based on the speed suggestion information and movement time information; Acquiring route information and vehicle posture information based on the direction information, and acquiring vehicle guidance information based on 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 a position offset value according to the static charging coil position information and the ground discharge coil position information includes: Acquiring charging position coordinate information according to the static charging coil position information; Acquiring discharge position coordinate information according to the position information of the ground discharge coil; 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. The calculation formula of the position offset value is: ； Where 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 from a vehicle visual sensor and obtain vehicle geometric feature information and positioning identification information based on the image information; A second acquisition module is configured 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, configured to obtain historical status information of a vehicle and construct a correlation feature database based on the historical status information of the vehicle; an extraction module, configured to obtain vehicle shaking information from a vehicle inertial sensor, and obtain vehicle shaking cause information based on the vehicle shaking information and a correlation feature database; a correction module, configured to obtain a charging coil position compensation amount based on the vehicle shaking inducement information, and obtain charging coil correction position information based on 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 based on the charging coil corrected position information and the ground discharge coil position information, and obtain a position offset value based on the static charging coil position information and the ground discharge coil position information; A judging module, configured to judge 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 a 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 based on 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 acquiring unit is 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, configured to obtain first tag information in a correlation feature database using the shake amplitude information; A second extraction unit is used to obtain second tag information in a correlation feature database using the shaking frequency information; a third extraction unit, configured to obtain third tag information in a correlation feature database using the shaking direction information; A second acquiring unit is configured to acquire driving road condition information based on the first marking information and the third marking information. The third acquiring unit is configured 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.

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