Mobile energy storage charging pile control system and method thereof

Abstract

The invention discloses a mobile energy storage charging pile control system and method, and belongs to the technical field of energy storage charging, and the system comprises a data fusion obtaining unit which is used for obtaining real-time positioning data of a preset charging pile in a preset charging place and a lineation mark of the preset charging place, and the lineation mark comprises a parking space lineation line and a parking space lineation line; the data fusion acquisition unit comprises an image acquisition module, a calculation module and a judgment module; according to the invention, the positioning data of the preset charging pile is collected in real time, the image data and the driving characteristics of the vehicle entering the preset charging place are collected based on the positioning data, and the corresponding driving trajectory can be generated according to the driving characteristics of the preset vehicle; meanwhile, the distance change between each track point in each driving track line and the adjacent parking space, the reaction distance, the braking distance and the vehicle body slope value are calculated according to a given algorithm, so that whether the preset vehicle is parked in a certain parking space or not is judged, and then the preset charging pile advances to the front of the corresponding vehicle for charging.

Description

Technical Field

[0001] The present invention relates to the technical field of energy storage and charging, and in particular to a mobile energy storage and charging pile control system and method thereof. Background Art

[0002] With the popularity of electric vehicles, the convenience of electric vehicle charging has received increasing attention, and related technical development has also been continuously progressing. Among them, mobile energy storage charging piles are a convenient device for charging electric vehicles. Mobile energy storage charging piles are equipped with energy storage battery packs. When the charging piles are connected to the power grid, the energy storage battery packs can be charged. When the charging piles are disconnected from the power grid, the electric energy stored in the energy storage battery packs can be used to charge electric vehicles.

[0003] With the continuous development of related technologies, the technical application number CN202010220024.3 provides a mobile energy storage charging pile and a control method thereof. When the mobile energy storage charging pile uses the energy storage battery pack to charge the vehicle, the technical solution can detect in real time whether the current state of charge of the energy storage battery pack of the mobile energy storage charging pile is less than the preset power threshold; if the current state of charge of the energy storage battery pack is less than the power threshold, the mobile energy storage charging pile is controlled to stop using the energy storage battery pack to charge the vehicle. This technical solution ensures that the energy storage battery pack always stores a certain amount of electrical energy by detecting the current state of charge of the energy storage battery pack in real time and stops charging when the current state of charge of the energy storage battery pack is less than the power threshold, thereby avoiding the energy storage battery pack from being in an over-discharge state and effectively extending the service life of the energy storage battery pack.

[0004] Another technical application number CN202310853427.5 provides a control system and control method for a mobile energy storage charging pile. The technical solution includes a mobile charging pile and a main control cabinet. The mobile charging pile provides mobile charging services to electric vehicles as a mobile power source. At the same time, it replenishes electric energy or performs inversion discharge to the power grid under the control of the main control cabinet for user load use, thereby realizing virtual capacity increase. The main control cabinet determines to replenish electric energy to the mobile charging pile or to store electric energy in the mobile charging pile and perform inversion discharge to the power grid for user load use based on a preset control strategy or manual instruction. This technical solution can effectively overcome the defects of the prior art that it cannot effectively meet people's needs for convenient charging and emergency power replenishment at any time, and cannot effectively reduce the operating costs of charging operators.

[0005] With the improvement of related charging facilities and in order to better meet the charging needs of car owners, many charging places have set up markings on parking spaces. These markings include parking space markings, charging pile markings and safety warning signs, so that car owners can clearly identify the charging pile parking spaces. However, under the existing technology, the intelligence level of each mobile energy storage charging pile in the charging place is low, and it does not have the function of feature recognition and analysis for the moving vehicle, and cannot independently make charging decisions for the identified vehicles. As a result, electric vehicles that drive to the charging place need to be parked in the parking space and then move the mobile energy storage charging pile to the place where the charging pile is placed to charge the vehicle, which is not conducive to improving the charging efficiency and also increases the management cost of the charging place. Summary of the invention

[0006] In view of the above problems existing in the existing energy storage and charging technology field, the present invention is proposed.

[0007] Therefore, one of the objects of the present invention is to provide a mobile energy storage charging pile control system and method thereof, which can analyze the distance change between the preset charging pile and the remaining parking spaces in the preset charging place by collecting the positioning data of the preset charging pile in real time, and collecting the image data of the vehicle entering the preset charging place and its driving characteristics based on the positioning data, and generate the corresponding driving trajectory line according to the driving characteristics of the preset vehicle, and at the same time calculate the distance change between each trajectory point in each driving trajectory line and the adjacent parking space, reaction distance, braking distance and vehicle body slope value according to a given algorithm, so as to judge whether the preset vehicle will be parked in a certain parking space, and then make the preset charging pile move to the corresponding vehicle for charging, thereby improving the intelligence and efficiency of charging.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0009] In one aspect, the present invention provides a mobile energy storage charging pile control system, comprising:

[0010] A data fusion acquisition unit, used to acquire real-time positioning data of a preset charging pile in a preset charging place, and a marking mark of the preset charging place, wherein the marking mark includes a parking space marking, and the data fusion acquisition unit includes an image acquisition module, a calculation module and a determination module;

[0011] The image acquisition module is used to acquire vehicle image data at the preset charging place, and the image acquisition module includes a CCD camera; and the vehicle corresponding to the vehicle image data is marked as a preset vehicle;

[0012] The calculation module is used to collect the change of the travel direction of the preset vehicle at the preset charging place based on the vehicle image data obtained by the image acquisition module, and calculate the distance between the preset vehicle and the parking space marking in real time according to the collection result;

[0013] The determination module is based on the distance data calculated and obtained by the calculation module, and is used to determine the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will be parked in a certain parking space, the preset charging pile moves toward the corresponding parking space; otherwise, it does not move;

[0014] A determination result fusion verification unit is used to calculate the remaining distance between the preset charging pile and the corresponding parking space when the preset charging pile moves toward the corresponding parking space, and obtain the movement state of the preset vehicle in real time during the calculation, wherein the movement state includes that the interval between the preset vehicle and the parking space is increasing. If the interval does not change in an increasing trend, the system determines that the determination result of the decision determination module is verified correctly, otherwise, it is determined to be a verification error; the determination result fusion verification unit includes a positioning data acquisition module, a data sorting and analysis module, and a division module;

[0015] The positioning data acquisition module is used to collect the positioning data of the five parking spaces closest to the preset charging pile that are not parked according to the positioning data of the preset charging pile, and the positioning data is the positioning data at the center of each parking space; and mark the positioning data as fixed positioning data;

[0016] The data sorting and analysis module is used to sort the fixed positioning data according to the distance between each fixed positioning data and the preset charging pile positioning data, and generate 5 routes according to the sorting results;

[0017] The division module is used to divide each route based on the generated 5 routes. The division method includes dividing the corresponding route into a front route, a middle route and an end route according to the route length, and judging the parking space of the preset vehicle based on the end route of each route. When the preset vehicle travels to the end route corresponding to a certain parking space, the system determines that the preset vehicle will be parked in the parking space, otherwise, no determination is made.

[0018] As a preferred solution of the present invention, five trajectory lines are generated based on the five routes, and at least six trajectory points are preset in the five trajectory lines in order from the starting point to the end point of each trajectory line, and the spacing between each trajectory point in adjacent trajectory lines is calculated according to the PurePursuit algorithm. When the preset vehicle travels between the calculated adjacent trajectory lines, the movement change of the preset vehicle is collected, and the distance change between the preset vehicle and each trajectory point in the adjacent trajectory line is calculated according to the movement change, and the calculation is obtained according to the following formula:

[0019] Among them, f o represents the fth moving distance collected for the preset vehicle in the same moving direction for the oth time;

[0020] In the formula, σ represents the time interval between different acquisitions, w o represents the wth maximum moving distance collected when the preset vehicle moves in the same moving direction for the oth time, p represents the distance change with each track point in the adjacent track line calculated according to the maximum moving distance, and x represents the distance change trend.

[0021] As a preferred solution of the present invention, based on the change trend, the movement coordinates are constructed for at least 6 movement positions of the preset vehicle collected, and the movement coordinates Δ x and Δ y The radius movement data of the preset vehicle is obtained, and three radius points are given in the radius movement data, wherein the three radius points are marked as R 1 Radius point, R 2 Radius point and R 3 Radius point, get the preset vehicle from the R 1 Radius point to the R 2 The turning angle of the radius point, and the turning arc is obtained according to the turning angle, as shown below:

[0022] Radius R = V / yawrate;

[0023] Angle θ = yawrate * t;

[0024] Wherein, yawrate represents the steering yaw rate, V represents the steering speed, and t represents the steering time obtained based on the steering speed. Then, the preset vehicle is based on the moving coordinate Δ x and Δ y The moving position deviation is expressed as:

[0025] Δ x =R*sinθ;

[0026] Δ y=RR*cosθ.

[0027] As a preferred solution of the present invention, wherein: based on the obtained turning arc, the parking space line closest to the constructed moving coordinates is divided into zones, wherein the zone division method includes dividing from the center of the parking space to the front edge and the rear edge of the parking space, marking the center to the front edge of the parking space as the front zone, and marking the center to the rear edge of the parking space as the rear zone, and when the turning arc of the preset vehicle moves toward the rear zone, the system determines that the preset vehicle will be parked in the corresponding parking space.

[0028] As a preferred solution of the present invention, when the turning arc of the preset vehicle moves toward the rear position, the travel speed of the preset vehicle and the area change of the corresponding parking space are collected at a collection period of every 2 seconds, wherein the collection method of the area change includes collecting the angle change at the center of the preset vehicle, the rear of the preset vehicle and the center of the corresponding parking space, and if the angle change increases for more than two consecutive collection periods, the system determines that the preset vehicle will leave the corresponding parking space, otherwise, it will not be determined.

[0029] As a preferred solution of the present invention, when the preset vehicle leaves the corresponding parking space, the movement characteristics and parking space characteristics of the preset vehicle are collected, and the parking space characteristics include collecting the remaining parking spaces on one side and / or both sides of the preset vehicle based on the preset vehicle, wherein the movement characteristics include collecting the speed change based on the driving trajectory of the preset vehicle, and when the speed change is in a state of continuous speed reduction, the distance change between the preset vehicle and the remaining parking spaces on one side and / or both sides is collected, and when the distance change between the preset vehicle and the remaining parking spaces on either side shows a shortening trend, the system determines that the preset vehicle will be parked in the remaining parking spaces on the corresponding side, otherwise, it will not be determined.

[0030] As a preferred solution of the present invention, the remaining parking spaces on the corresponding side of the determined parking space are marked as target parking spaces, and a two-dimensional coordinate matrix based on the target parking space and the preset vehicle is constructed. The reaction distance, braking distance and body slope value of the preset vehicle to the target parking space are preset in the two-dimensional coordinate matrix. At the same time, the center of the rear position is used as the reference point to extend outward to be parallel to the parking space line. If the reaction distance of the preset vehicle exceeds the reference point and extends outward to be parallel to the parking space line, the system determines that the body slope value of the preset vehicle when adjusting the body angle based on the target parking space will exceed the preset body slope value. In this case, the system determines that the preset vehicle cannot be completely parked in the parking space and / or the preset vehicle will leave the parking space.

[0031] As a preferred solution of the present invention, the change of the body slope value when the preset vehicle adjusts the body angle based on the target parking space is divided into a plurality of evaluation index data, the median value of the body slope is statistically calculated from the plurality of evaluation index data, the change law of the median value of the body slope to exceed the preset body slope value is analyzed, and a prediction model is generated.

[0032] On the other hand, the present invention provides a method for controlling a mobile energy storage charging pile, characterized in that it includes the following steps:

[0033] Acquire real-time positioning data of a preset charging pile in a preset charging place, and a marking mark of the preset charging place, wherein the marking mark includes a parking space marking;

[0034] Acquire vehicle image data at the preset charging location, and mark the vehicle corresponding to the vehicle image data as a preset vehicle;

[0035] Collecting the change of the traveling direction of the preset vehicle at the preset charging place, and calculating the distance between the preset vehicle and the parking space marking in real time according to the collected result;

[0036] The final parking position of the preset vehicle is judged according to the distance data. When it is determined that the preset vehicle will be parked in a certain parking space, the preset charging pile moves toward the corresponding parking space; otherwise, it does not move;

[0037] When the preset charging pile moves toward the corresponding parking space, the remaining distance between the preset charging pile and the corresponding parking space is calculated, and the moving state of the preset vehicle is obtained in real time during the calculation, wherein the moving state includes that the interval between the preset vehicle and the parking space is increasing. If the interval does not change in an increasing trend, the system determines that the determination result of the decision determination module is verified correctly, otherwise, it is determined to be a verification error;

[0038] According to the positioning data of the preset charging pile, the positioning data of the five parking spaces closest to the preset charging pile and without parked vehicles are collected, and the positioning data is the positioning data at the center of each parking space; and the positioning data is marked as fixed positioning data;

[0039] Sorting the fixed positioning data according to the distance between each fixed positioning data and the preset charging pile positioning data, and generating 5 routes according to the sorting results;

[0040] Each route is divided, and the division method includes dividing the corresponding route into a front route, a middle route and a terminal route according to the route length, and judging the parking space of the preset vehicle based on the terminal route of each route. When the preset vehicle travels to the terminal route corresponding to a certain parking space, the system determines that the preset vehicle will be parked in the parking space, otherwise, no determination is made.

[0041] Beneficial effects:

[0042] The present invention collects the positioning data of the preset charging pile in real time, and based on the positioning data, collects the image data of the vehicle entering the preset charging place and its driving characteristics, so as to analyze the change in the distance between it and the remaining parking spaces in the preset charging place, and generate a corresponding driving trajectory line according to the driving characteristics of the preset vehicle. At the same time, according to a given algorithm, the distance change between each trajectory point in each driving trajectory line and the adjacent parking space, the reaction distance, the braking distance and the body slope value can be calculated to determine whether the preset vehicle will be parked in a certain parking space. When it is determined that it will be parked in the corresponding parking space, the preset charging pile moves toward this parking space, so that the preset charging pile moves to the front of the corresponding vehicle for charging, thereby improving the intelligence and efficiency of charging and reducing the management cost of the charging place. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0044] Figure 1 It is a schematic diagram of the modular structure of a mobile energy storage charging pile control system according to an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a method flow chart of an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of the process structure of an embodiment of the present invention;

[0047] Numbers in the figure: 110 - data fusion acquisition unit; 1101 - image acquisition module; 1102 - calculation module; 1103 - determination module; 120 - determination result fusion verification unit; 1201 - positioning data acquisition module; 1202 - data sorting and analysis module; 1203 - division module. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0049] Due to the low intelligence level of the mobile energy storage charging piles in the charging sites under the existing technology, they do not have the function of feature recognition and analysis for the moving vehicles, and cannot make charging decisions for the identified vehicles independently. As a result, the electric vehicles that drive to the charging sites need the owners to park the vehicles in the parking spaces and then move the mobile energy storage charging piles to the designated places where the charging piles are placed in front of the vehicles for charging, which is not conducive to improving the charging efficiency and also increases the management cost of the charging sites.

[0050] Based on this, the present invention proposes a mobile energy storage charging pile control system and method thereof. The present application collects the positioning data of the preset charging pile in real time, and collects the image data of the vehicle entering the preset charging place and its driving characteristics based on the positioning data, so as to analyze the change in the distance between it and the remaining parking spaces in the preset charging place, and generate a corresponding driving trajectory line according to the driving characteristics of the preset vehicle. At the same time, according to a given algorithm, the distance change, reaction distance, braking distance and vehicle body slope value between each trajectory point in each driving trajectory line and the adjacent parking space are calculated to determine whether the preset vehicle will be parked in a certain parking space, and then the preset charging pile moves to the corresponding vehicle for charging, thereby improving the intelligence and efficiency of charging.

[0051] The present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0052] Reference Figures 1 to 3 , is an embodiment of the present invention, which provides a mobile energy storage charging pile control system, including:

[0053] The data fusion acquisition unit 110 is used to acquire the real-time positioning data of the preset charging pile in the preset charging place, and the line marking of the preset charging place, the line marking includes the parking space line, and the data fusion acquisition unit 110 includes an image acquisition module 1101, a calculation module 1102 and a determination module 1103;

[0054] The image acquisition module 1101 is used to acquire vehicle image data at a preset charging location, and the image acquisition module 1101 includes a CCD camera; and the vehicle corresponding to the vehicle image data is marked as a preset vehicle;

[0055] The calculation module 1102 is used to collect the change of the travel direction of the preset vehicle at the preset charging place based on the vehicle image data obtained by the image acquisition module 1101, and calculate the distance between the preset vehicle and the parking space marking in real time according to the collection result;

[0056] The determination module 1103 is used to determine the final parking position of the preset vehicle based on the distance data calculated and obtained by the calculation module 1102. When it is determined that the preset vehicle will be parked in a certain parking space, the preset charging pile moves toward the corresponding parking space; otherwise, it does not move;

[0057] The determination result fusion verification unit 120 is used to calculate the remaining distance between the preset charging pile and the corresponding parking space when the preset charging pile moves toward the corresponding parking space, and obtain the movement state of the preset vehicle in real time during the calculation. The movement state includes that the interval between the preset vehicle and the parking space is increasing. If the interval does not change in an increasing trend, the system determines that the determination result of the decision determination module is verified correctly, otherwise, it is determined to be a verification error; the determination result fusion verification unit 120 includes a positioning data acquisition module 1201, a data sorting and analysis module 1202, and a division module 1203;

[0058] The positioning data acquisition module 1201 is used to collect the positioning data of the five parking spaces closest to the preset charging pile that are not parked, and the positioning data is the positioning data at the center of each parking space; and mark the positioning data as fixed positioning data;

[0059] The data sorting and analysis module 1202 is used to sort the fixed positioning data according to the distance between each fixed positioning data and the preset charging pile positioning data, and generate 5 routes according to the sorting results;

[0060] The division module 1203 is used to divide each route based on the generated 5 routes. The division method includes dividing the corresponding route into a front route, a middle route and a terminal route according to the route length, and judging the parking space of the preset vehicle based on the terminal route of each route. When the preset vehicle travels to the terminal route corresponding to a certain parking space, the system determines that the preset vehicle will be parked in the parking space, otherwise, no determination is made;

[0061] This embodiment further illustrates that 5 trajectory lines are generated based on 5 routes. In the 5 trajectory lines, at least 6 trajectory points are preset in sequence and equidistantly from the starting point to the end point of each trajectory line, and the spacing between each trajectory point in the adjacent trajectory lines is calculated according to the Pure Pursuit algorithm. When the preset vehicle travels between the calculated adjacent trajectory lines, the movement change of the preset vehicle is collected, and the distance change between the preset vehicle and each trajectory point in the adjacent trajectory line is calculated according to the movement change, and the calculation is obtained according to the following formula:

[0062] Among them, f o represents the fth moving distance collected for the preset vehicle in the same moving direction for the oth time;

[0063] In the formula, σ represents the time interval between different acquisitions, w o represents the wth maximum moving distance collected when the preset vehicle moves in the same moving direction for the oth time, p represents the distance change with each track point in the adjacent track line calculated according to the maximum moving distance, and x represents the distance change trend;

[0064] On the basis of the above, this embodiment constructs the moving coordinates based on the change trend for at least 6 moving positions of the preset vehicle collected, and the moving coordinates Δ x and Δ y The radius movement data of the preset vehicle is obtained, and three radius points are given in the radius movement data, wherein the three radius points are marked as R 1 Radius point, R 2 Radius point and R 3 Radius point, get the preset vehicle from R 1 Radius point to R 2 The turning angle of the radius point is used to obtain the turning arc according to the turning angle, as shown below:

[0065] Radius R = V / yawrate;

[0066] Angle θ = yawrate * t;

[0067] Where yawrate represents the steering yaw rate, V represents the steering speed, and t represents the steering time obtained based on the steering speed. The vehicle is preset based on the moving coordinate Δ x and Δ y The moving position deviation is expressed as:

[0068] Δ x =R*sinθ;

[0069] Δ y =RR*cosθ.

[0070] On the basis of the above, this embodiment further divides the parking space line closest to the constructed moving coordinates based on the obtained turning arc, wherein the location division method includes dividing from the center of the parking space to the front edge and the rear edge of the parking space, marking the center to the front edge of the parking space as the front location, and marking the center to the rear edge of the parking space as the rear location. When the turning arc of the preset vehicle moves toward the rear location, the system determines that the preset vehicle will be parked in the corresponding parking space;

[0071] Specifically, in this embodiment, when the turning arc of the preset vehicle moves toward the rear position, the travel speed of the preset vehicle and the area change of the corresponding parking space are collected every 2 seconds as a collection period, wherein the collection method of the area change includes collecting the angle change at the center of the preset vehicle, the tail of the preset vehicle and the center of the corresponding parking space. If the angle change increases for more than two consecutive collection periods, the system determines that the preset vehicle will leave the corresponding parking space, otherwise, it will not be determined;

[0072] It should be further emphasized in this embodiment that when the preset vehicle leaves the corresponding parking space, the movement characteristics and parking space characteristics of the preset vehicle are collected, and the parking space characteristics include collecting the remaining parking spaces on one side and / or both sides of the preset vehicle based on the preset vehicle, wherein the movement characteristics include collecting the speed change of the preset vehicle based on the driving trajectory line, and when the speed change is in a state of continuous speed reduction, collecting the distance change between the preset vehicle and the remaining parking spaces on one side and / or both sides thereof, and when the distance change between the preset vehicle and the remaining parking spaces on any side shows a shortening trend, the system determines that the preset vehicle will be parked in the remaining parking spaces on the corresponding side, otherwise, it will not be determined;

[0073] This embodiment further marks the remaining parking spaces on the corresponding side of the determined parking space as target parking spaces, constructs a two-dimensional coordinate matrix based on the target parking space and the preset vehicle, and presets the reaction distance, braking distance and body slope value of the preset vehicle to the target parking space in the two-dimensional coordinate matrix, and at the same time, extends outward from the center of the rear position as a reference point to be parallel to the parking space line. If the reaction distance of the preset vehicle exceeds the reference point and extends outward to be parallel to the parking space line, the system determines that the body slope value of the preset vehicle when the body angle is adjusted based on the target parking space will exceed the preset body slope value. In this case, the system determines that the preset vehicle cannot be completely parked in the parking space and / or the preset vehicle will leave the parking space.

[0074] According to the actual situation in real life, the mobile energy storage charging pile itself has a large volume. Therefore, the charging places equipped with mobile energy storage charging piles are mostly horizontal parking spaces rather than longitudinal parking spaces, because longitudinal parking will result in a smaller interval between adjacent vehicles. In this case, it is not conducive to charging the mobile energy storage charging pile in the interval. In the case of horizontal parking, the mobile energy storage charging pile can charge the vehicle at the side of the vehicle, and the side end has a large movable space, which is conducive to the movement and adjustment of the mobile energy storage charging pile. Therefore, it is of practical significance to preset the reaction distance, braking distance and body slope value of the parking space for the vehicle to be marked in the two-dimensional coordinate matrix;

[0075] On the basis of the above, this embodiment divides the change in the body slope value when the body angle of the preset vehicle is adjusted based on the target parking space into several evaluation index data, calculates the median value of the body slope from the several evaluation index data, analyzes the change pattern of the median value of the body slope to exceed the preset body slope value, and generates a prediction model.

[0076] Based on the above, it can be known that the present application collects the positioning data of the preset charging pile in real time, and collects the image data of the vehicle entering the preset charging place and its driving characteristics based on the positioning data, so as to analyze the change in the distance between it and the remaining parking spaces in the preset charging place, and generate the corresponding driving trajectory line according to the driving characteristics of the preset vehicle, and at the same time calculates the distance change, reaction distance, braking distance and body slope value of each trajectory point in each driving trajectory line and the adjacent parking space according to the given algorithm, so as to judge whether the preset vehicle will be parked in a certain parking space, and then make the preset charging pile move to the corresponding vehicle for charging, thereby improving the intelligence and efficiency of charging.

[0077] In combination with the above mobile energy storage charging pile control system, this embodiment also proposes a working method of the system, as follows:

[0078] S10: Acquire real-time positioning data of a preset charging pile in a preset charging place, and a marking mark of the preset charging place, wherein the marking mark includes a parking space marking;

[0079] S20: Acquire vehicle image data at a preset charging location, and mark the vehicle corresponding to the vehicle image data as a preset vehicle;

[0080] S30: collecting the change in the travel direction of the preset vehicle at the preset charging place, and calculating the distance between the preset vehicle and the parking space marking in real time according to the collection result;

[0081] S40: judging the final parking position of the preset vehicle according to the distance data, and when it is determined that the preset vehicle will be parked in a certain parking space, the preset charging pile moves toward the corresponding parking space; otherwise, it does not move;

[0082] S50: When the preset charging pile moves toward the corresponding parking space, the remaining distance between the preset charging pile and the corresponding parking space is calculated, and the movement state of the preset vehicle is obtained in real time during the calculation. The movement state includes that the interval between the preset vehicle and the parking space is increasing. If the interval does not change in an increasing trend, the system determines that the determination result of the decision determination module is verified correctly, otherwise, it is determined to be a verification error;

[0083] S60: According to the positioning data of the preset charging pile, the positioning data of the five parking spaces closest to the charging pile and without parked vehicles are collected, and the positioning data is the positioning data at the center of each parking space; and the positioning data is marked as fixed positioning data;

[0084] S70: sorting the fixed positioning data according to the distance between each fixed positioning data and the preset charging pile positioning data, and generating 5 routes according to the sorting result;

[0085] S80: Divide each route into a front route, a middle route and a terminal route according to the route length, and judge the parking space of the preset vehicle based on the terminal route of each route. When the preset vehicle travels to the terminal route corresponding to a certain parking space, the system determines that the preset vehicle will be parked in the parking space, otherwise, no determination is made.

[0086] In summary, the present invention collects the positioning data of the preset charging pile in real time, and collects the image data of the vehicle entering the preset charging place and its driving characteristics based on the positioning data, so as to analyze the change in the distance between it and the remaining parking spaces in the preset charging place, and generate a corresponding driving trajectory line according to the driving characteristics of the preset vehicle, and at the same time, according to a given algorithm, calculate the distance change between each trajectory point in each driving trajectory line and the adjacent parking space, the reaction distance, the braking distance and the body slope value, so as to determine whether the preset vehicle will be parked in a certain parking space. When it is determined that it will be parked in the corresponding parking space, the preset charging pile moves toward this parking space, so that the preset charging pile moves to the front of the corresponding vehicle for charging, which improves the intelligence and efficiency of charging and reduces the management cost of the charging place.

[0087] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A mobile energy storage charging pile control system, characterized in that: include: A data fusion acquisition unit, used to acquire real-time positioning data of a preset charging pile in a preset charging place, and a marking mark of the preset charging place, wherein the marking mark includes a parking space marking, and the data fusion acquisition unit includes an image acquisition module, a calculation module and a determination module; The image acquisition module is used to acquire vehicle image data at the preset charging place, and the image acquisition module includes a CCD camera; and the vehicle corresponding to the vehicle image data is marked as a preset vehicle; The calculation module is used to collect the change of the travel direction of the preset vehicle at the preset charging place based on the vehicle image data obtained by the image acquisition module, and calculate the distance between the preset vehicle and the parking space marking in real time according to the collection result; The determination module is based on the distance data calculated and obtained by the calculation module, and is used to determine the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will be parked in a certain parking space, the preset charging pile moves toward the corresponding parking space; otherwise, it does not move; A determination result fusion verification unit is used to calculate the remaining distance between the preset charging pile and the corresponding parking space when the preset charging pile moves toward the corresponding parking space, and obtain the movement state of the preset vehicle in real time during the calculation, wherein the movement state includes that the interval between the preset vehicle and the parking space is increasing. If the interval does not change in an increasing trend, the system determines that the determination result of the decision determination module is verified correctly, otherwise, it is determined to be a verification error; the determination result fusion verification unit includes a positioning data acquisition module, a data sorting and analysis module, and a division module; The positioning data acquisition module is used to collect the positioning data of the five parking spaces closest to the preset charging pile that are not parked according to the positioning data of the preset charging pile, and the positioning data is the positioning data at the center of each parking space; and mark the positioning data as fixed positioning data; The data sorting and analysis module is used to sort the fixed positioning data according to the distance between each fixed positioning data and the preset charging pile positioning data, and generate 5 routes according to the sorting results; The division module is used to divide each route based on the generated 5 routes. The division method includes dividing the corresponding route into a front route, a middle route and an end route according to the route length, and judging the parking space of the preset vehicle based on the end route of each route. When the preset vehicle travels to the end route corresponding to a certain parking space, the system determines that the preset vehicle will be parked in the parking space, otherwise, no determination is made.

2. A mobile energy storage charging pile control system as claimed in claim 1, characterized in that: Five trajectory lines are generated based on the five routes. In the five trajectory lines, at least six trajectory points are preset in order from the starting point to the end point of each trajectory line, and the spacing between each trajectory point in adjacent trajectory lines is calculated according to the Pure Pursuit algorithm. When the preset vehicle travels between the calculated adjacent trajectory lines, the movement change of the preset vehicle is collected, and the distance change between the preset vehicle and each trajectory point in the adjacent trajectory line is calculated according to the movement change, and the calculation is obtained according to the following formula: Among them, f o represents the fth moving distance collected for the preset vehicle in the same moving direction for the oth time; In the formula, σ represents the time interval between different acquisitions, w o represents the wth maximum moving distance collected when the preset vehicle moves in the same moving direction for the oth time, p represents the distance change with each track point in the adjacent track line calculated according to the maximum moving distance, and x represents the distance change trend.

3. A mobile energy storage charging pile control system as claimed in claim 2, characterized in that: Based on the change trend, construct movement coordinates for at least 6 movement positions of the preset vehicle collected, and x and Δ y The radius movement data of the preset vehicle is obtained, and three radius points are given in the radius movement data, wherein the three radius points are marked as R 1 Radius point, R 2 Radius point and R 3 Radius point, get the preset vehicle from the R 1 Radius point to the R 2 The turning angle of the radius point, and the turning arc is obtained according to the turning angle, as shown below: Radius R = V / yawrate; Angle θ = yawrate*t; Wherein, yawrate represents the steering yaw rate, V represents the steering speed, and t represents the steering time obtained based on the steering speed. Then, the preset vehicle is based on the moving coordinate Δ x and Δ y The moving position deviation is expressed as: D x =R*sinθ; D y = RR*cosθ.

4. A mobile energy storage charging pile control system as claimed in claim 3, characterized in that: Based on the obtained turning arc, the parking space closest to the constructed moving coordinates is divided into zones, wherein the zone division method includes dividing the area from the center of the parking space to the front edge and the rear edge of the parking space, marking the area from the center to the front edge of the parking space as the front zone, and marking the area from the center to the rear edge of the parking space as the rear zone, and when the turning arc of the preset vehicle moves toward the rear zone, the system determines that the preset vehicle will be parked in the corresponding parking space.

5. A mobile energy storage charging pile control system as claimed in claim 4, characterized in that: When the turning arc of the preset vehicle moves toward the rear position, the travel speed of the preset vehicle and the area change of the corresponding parking space are collected at a collection period of every 2 seconds, wherein the collection method of the area change includes collecting the angle change at the center of the preset vehicle, the rear of the preset vehicle and the center of the corresponding parking space. If the angle change increases for more than two consecutive collection periods, the system determines that the preset vehicle will leave the corresponding parking space, otherwise, it will not be determined.

6. A mobile energy storage charging pile control system as claimed in claim 5, characterized in that: When the preset vehicle leaves the corresponding parking space, the movement characteristics and parking space characteristics of the preset vehicle are collected, and the parking space characteristics include collecting the remaining parking spaces on one side and / or both sides of the preset vehicle based on the preset vehicle, wherein the movement characteristics include collecting the speed change based on the driving trajectory of the preset vehicle, and when the speed change is in a state of continuous speed reduction, the distance change between the preset vehicle and the remaining parking spaces on one side and / or both sides is collected, and when the distance change between the preset vehicle and the remaining parking spaces on any side shows a shortening trend, the system determines that the preset vehicle will be parked in the remaining parking spaces on the corresponding side, otherwise, it will not be determined.

7. A mobile energy storage charging pile control system as claimed in claim 6, characterized in that: The remaining parking spaces on the corresponding side of the determined parking are marked as target parking spaces, and a two-dimensional coordinate matrix based on the target parking spaces and the preset vehicle is constructed. The reaction distance, braking distance and body slope value of the preset vehicle to the target parking space are preset in the two-dimensional coordinate matrix. At the same time, the center of the rear position is used as the reference point to extend outward to be parallel to the parking space line. If the reaction distance of the preset vehicle exceeds the reference point and extends outward to be parallel to the parking space line, the system determines that the body slope value of the preset vehicle when adjusting the body angle based on the target parking space will exceed the preset body slope value. In this case, the system determines that the preset vehicle cannot be completely parked in the parking space and / or the preset vehicle will leave the parking space.

8. A mobile energy storage charging pile control system as claimed in claim 7, characterized in that: The change in the body slope value when the preset vehicle adjusts the body angle based on the target parking space is divided into a number of evaluation index data, the median value of the body slope is statistically calculated from the several evaluation index data, the change pattern of the median value of the body slope to exceed the preset body slope value is analyzed, and a prediction model is generated.

9. A method for controlling a mobile energy storage charging pile according to claim 1, characterized in that: The following steps are involved: Acquire real-time positioning data of a preset charging pile in a preset charging place, and a marking mark of the preset charging place, wherein the marking mark includes a parking space marking; Acquire vehicle image data at the preset charging location, and mark the vehicle corresponding to the vehicle image data as a preset vehicle; Collecting the change of the traveling direction of the preset vehicle at the preset charging place, and calculating the distance between the preset vehicle and the parking space marking in real time according to the collected result; The final parking position of the preset vehicle is judged according to the distance data. When it is determined that the preset vehicle will be parked in a certain parking space, the preset charging pile moves toward the corresponding parking space; otherwise, it does not move; When the preset charging pile moves toward the corresponding parking space, the remaining distance between the preset charging pile and the corresponding parking space is calculated, and the moving state of the preset vehicle is obtained in real time during the calculation, wherein the moving state includes that the interval between the preset vehicle and the parking space is increasing. If the interval does not change in an increasing trend, the system determines that the determination result of the decision determination module is verified correctly, otherwise, it is determined to be a verification error; According to the positioning data of the preset charging pile, the positioning data of the five parking spaces closest to the preset charging pile and without parked vehicles are collected, and the positioning data is the positioning data at the center of each parking space; and the positioning data is marked as fixed positioning data; Sorting the fixed positioning data according to the distance between each fixed positioning data and the preset charging pile positioning data, and generating 5 routes according to the sorting results; Each route is divided, and the division method includes dividing the corresponding route into a front route, a middle route and a terminal route according to the route length, and judging the parking space of the preset vehicle based on the terminal route of each route. When the preset vehicle travels to the terminal route corresponding to a certain parking space, the system determines that the preset vehicle will be parked in the parking space, otherwise, no determination is made.

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