A mobile energy storage charging pile control system and its method

Abstract

The present invention discloses a mobile energy storage charging pile control system and method, belonging to the technical field of energy storage charging. It includes a data fusion acquisition unit for acquiring real-time positioning data of preset charging piles in a preset charging site and the marked lines of the preset charging site. The marked lines include parking space marked lines. The data fusion acquisition unit includes an image acquisition module, a calculation module, and a determination module. The present invention collects real-time positioning data of the preset charging pile, and based on this positioning data, collects vehicle image data and its driving characteristics entering the preset charging site. According to the driving characteristics of the preset vehicle, a corresponding driving trajectory line can be generated. 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 park in a certain parking space, so as to make the preset charging pile move to the corresponding vehicle for charging.

Description

Technical Field

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

[0002] With the popularization of electric vehicles, the convenience of electric vehicle charging has been increasingly emphasized, and related technology development has been continuously progressing. Among them, the mobile energy storage charging pile is a convenient device for charging electric vehicles. The mobile energy storage charging pile is configured with an energy storage battery pack. When the charging pile is connected to the power grid, it can charge the energy storage battery pack. After the charging pile is disconnected from the power grid, it can use the electric energy stored in the energy storage battery pack to charge the electric vehicle.

[0003] With the continuous development of related technologies, the technology application number CN202010220024.3 provides a mobile energy storage charging pile and its control method. When the mobile energy storage charging pile uses the energy storage battery pack to charge the vehicle, this 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 a preset power threshold; if the current state of charge of the energy storage battery pack is less than the power threshold, then control the mobile energy storage charging pile 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 electric energy by detecting the current state of charge of the energy storage battery pack in real time and stopping charging when the current state of charge of the energy storage battery pack is less than the power threshold, thereby avoiding the over-discharge state of the energy storage battery pack and effectively extending the service life of the energy storage battery pack.

[0004] Another technology application number CN202310853427.5 provides a control system and control method for a mobile energy storage type charging pile. This technical solution includes a mobile charging pile and a main control cabinet; among them, the mobile charging pile serves as a mobile power source to provide mobile charging services for electric vehicles, and at the same time, under the control of the main control cabinet, it replenishes electric energy or performs inverter discharge to the power grid for user loads to use, realizing virtual capacity increase; while the main control cabinet determines to replenish electric energy to the mobile charging pile or perform inverter discharge of the electric energy stored in the mobile charging pile to the power grid for user loads to use based on a preset control strategy or manual instructions. This technical solution can effectively overcome the defects that the existing technology cannot effectively meet the needs of people 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 relevant charging supporting facilities and in order to better meet the charging needs of vehicle owners, many charging places have set up marking signs on the parking spaces. These signs include parts such as parking space markings, charging pile markings, and safety warning markings, enabling vehicle owners to clearly identify the charging pile parking spaces at a glance. However, under the existing technology, the intelligent 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 moving vehicles, and cannot independently make a charging decision on the identified vehicle. As a result, for the electric vehicle driving to the charging place, the vehicle owner needs to park the vehicle in the parking space and then move the mobile energy storage charging pile to the front of the vehicle at the specified place for charging, 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 charging technology field, the present invention is proposed.

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

[0008] To solve the above technical problems, the present invention provides the following technical solutions:

[0009] On the one hand, the present invention provides a control system for a mobile energy storage charging pile, including:

[0010] A data fusion and acquisition unit for acquiring the real-time positioning data of a preset charging pile in a preset charging place, and the marking signs of the preset charging place, the marking signs including parking space markings. The data fusion and 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 in the preset charging place. The image acquisition module includes a CCD camera; and mark the vehicle corresponding to the vehicle image data as a preset vehicle;

[0012] The calculation module is based on the vehicle image data acquired by the image acquisition module, and is used to collect the change in the traveling direction of the preset vehicle at the preset charging location, 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 judge the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will park in a certain parking space, the preset charging pile moves forward towards the corresponding parking space; otherwise, it does not move forward;

[0014] The 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 forward towards the corresponding parking space, and obtain the moving state of the preset vehicle in real time during the calculation. 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-making determination module is verified correctly; otherwise, it is determined to be verified incorrectly; 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 5 parking spaces of the vehicle closest to the preset charging pile without parking according to the positioning data of the preset charging pile. 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 positioning data of the preset charging pile, and generate 5 lines according to the sorting result;

[0017] The division module is based on the 5 generated lines, and is used to divide each line. The division method includes dividing the corresponding line into a front section line, a middle section line, and an end section line according to the line length, and judging the parking space of the preset vehicle based on the end section line of each line. When the preset vehicle travels to the end section line corresponding to a certain parking space, the system determines that the preset vehicle will park in the parking space; otherwise, it does not determine.

[0018] As a preferred embodiment of the present invention, the following steps are included: generating five trajectory lines based on the five lines; among the five trajectory lines, presetting at least six trajectory points at equal intervals from the starting point to the ending point of each trajectory line, and calculating the distances between the trajectory points in adjacent trajectory lines according to the PurePursuit algorithm. When the preset vehicle travels between the calculated adjacent trajectory lines, collect the movement changes of the preset vehicle, calculate the distance changes between the vehicle and the trajectory points in the adjacent trajectory lines according to the movement changes, and calculate according to the following formula:

[0019] ; where represents the th movement distance collected for the preset vehicle in the same movement direction, th

[0020] In the formula, represents the time interval between different collections, represents the th maximum movement distance collected when the preset vehicle moves in the same movement direction up to the th time, represents the distance change between the vehicle and the trajectory points in the adjacent trajectory lines calculated based on the maximum movement distance, represents the distance change trend.

[0021] As a preferred embodiment of the present invention, the following steps are included: based on the change trend, constructing a movement coordinate for at least six movement orientations of the preset vehicle collected, obtaining the radius movement data of the preset vehicle from the movement coordinate and . Given three radius points in the radius movement data, where the three radius points are respectively marked as radius point, radius point, and radius point, obtain the steering angle of the preset vehicle from the radius point to the radius point, and obtain the steering arc according to the steering angle as follows:

[0022] radius ;

[0023] angle ;

[0024] where yawrate represents the steering yaw rate, represents the steering speed, represents the steering time obtained based on the steering speed, then the preset vehicle is based on the movement coordinate and The deviation of the moving position is expressed as:

[0025] ;

[0026] .

[0027] As a preferred embodiment of the present invention, based on the obtained turning arc, the parking space markings closest to the constructed moving coordinates are divided into regions. The region division method includes dividing from the center of the parking space to the front edge and the rear edge of the parking space. The area from the center to the front edge of the parking space is marked as the front region, and the area from the center to the rear edge of the parking space is marked as the rear region. When the turning arc of the preset vehicle travels towards the rear region, the system determines that the preset vehicle will park in the corresponding parking space.

[0028] As a preferred embodiment of the present invention, when the turning arc of the preset vehicle travels towards the rear region, the traveling speed of the preset vehicle and the area change of the corresponding parking space are collected every 2 seconds. The collection method of the area change includes collecting the angle changes at the center of the preset vehicle, the tail of the preset vehicle, and the center of the corresponding parking space. If the angle changes in two or more consecutive collection periods increase, the system determines that the preset vehicle will drive out of the corresponding parking space; otherwise, it does not determine.

[0029] As a preferred embodiment of the present invention, when the preset vehicle drives out of the corresponding parking space, the moving characteristics and parking space characteristics of the preset vehicle are collected. The parking space characteristics include collecting the remaining parking spaces on one side and / or both sides based on the preset vehicle. The moving characteristics include collecting the speed change based on the traveling trajectory line of the preset vehicle. When the speed change is in a continuous speed reduction, the distance changes between the preset vehicle and the remaining parking spaces on one side and / or both sides are collected. When the distance change between the preset vehicle and the remaining parking space on any one side shows a shortening trend, the system determines that the preset vehicle will park in the remaining parking space on the corresponding side; otherwise, it does not determine.

[0030] As a preferred embodiment of the present invention, the following steps are included: mark the remaining parking spaces on the corresponding side of the determined parked vehicle as target parking spaces, construct a two-dimensional coordinate matrix based on the target parking spaces and a preset vehicle, preset the response distance, braking distance, and vehicle body slope value of the preset vehicle to the target parking spaces in the two-dimensional coordinate matrix. At the same time, extend outward from the center of the rear area as a reference point to be parallel to the parking space line. If the response distance of the preset vehicle exceeds the point extended outward from the reference point to be parallel to the parking space line, the system determines that the vehicle body slope value of the preset vehicle when adjusting the vehicle body angle based on the target parking space will exceed the preset vehicle body slope value. In this case, the system determines that the preset vehicle cannot be parked completely in the parking space and / or the preset vehicle will drive out of the parking space.

[0031] As a preferred embodiment of the present invention, the following steps are included: divide the change in the vehicle body slope value of the preset vehicle when adjusting the vehicle body angle based on the target parking space into several evaluation index data, count the median value of the vehicle body slope in the several evaluation index data, analyze the change rule of the median value of the vehicle body slope until it exceeds the preset vehicle body slope value, and generate a prediction model.

[0032] On the other hand, the present invention provides a method applied to a control system of a mobile energy storage charging pile, which is characterized by including the following steps:

[0033] Obtain the real-time positioning data of the preset charging piles in the preset charging place, and the marking lines of the preset charging place, where the marking lines include parking space lines;

[0034] Obtain vehicle image data in the preset charging place, and mark the vehicle corresponding to the vehicle image data as a preset vehicle;

[0035] Collect the change in the traveling direction of the preset vehicle in the preset charging place, and calculate the distance between the preset vehicle and the parking space line in real time according to the collection result;

[0036] Judge the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will park in a certain parking space, the preset charging pile moves towards the corresponding parking space; otherwise, it does not move forward;

[0037] When the preset charging pile moves towards the corresponding parking space, calculate the remaining distance between it and the corresponding parking space, and obtain the moving state of the preset vehicle in real time during the calculation. The moving state includes that the interval between the preset vehicle and the parking space shows an increasing trend. If the interval does not change in an increasing trend, the system determines that the judgment result of the decision-making judgment module is verified correctly; otherwise, it is determined to be verified incorrectly;

[0038] Collect the positioning data of the 5 parking spaces of the vehicle that is not parked and closest to the preset charging pile according to the positioning data of the preset charging pile. The positioning data is the positioning data at the center of each parking space; and mark the positioning data as fixed positioning data;

[0039] Sort the fixed positioning data according to the distance between each fixed positioning data and the positioning data of the preset charging pile, and generate 5 lines according to the sorting result;

[0040] Divide each line. The division method includes dividing the corresponding line into a front section line, a middle section line, and an end section line according to the line length, and judging the parking space of the preset vehicle based on the end section line of each line. When the preset vehicle travels to the end section line corresponding to a certain parking space, the system determines that the preset vehicle will park in the parking space, otherwise, it does not determine. Beneficial effects

[0041] By collecting the positioning data of the preset charging pile in real time, and based on this positioning data, collecting the vehicle image data and its driving characteristics entering the preset charging place, the present invention can analyze the distance change between it and the remaining parking spaces in the preset charging place, and generate corresponding driving trajectory lines according to the driving characteristics of the preset vehicle. At the same time, according to the given algorithm, the distance change, reaction distance, braking distance, and body slope value between each trajectory point and the adjacent parking space in each driving trajectory line can be calculated to judge whether the preset vehicle will park in a certain parking space. When it is determined that it will park in the corresponding parking space, the preset charging pile moves towards 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 also reduces the management cost of the charging place. Brief description of the drawings

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings. Among them:

[0043] Figure 1 It is a modular structure diagram of the mobile energy storage charging pile control system according to the embodiment of the present invention;

[0044] Figure 2 It is a schematic flowchart of the method according to the embodiment of the present invention;

[0045] Figure 3 It is a schematic structural diagram of the process according to the embodiment of the present invention;

[0046] Reference numerals in the figure: 110 - Data fusion acquisition unit; 1101 - Image acquisition module; 1102 - Calculation module; 1103 - Judgment module; 120 - Judgment result fusion verification unit; 1201 - Positioning data acquisition module; 1202 - Data sorting and analysis module; 1203 - Division module. Specific implementation manner

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention fall within the scope of protection of the present invention.

[0048] Due to the low level of intelligence of each mobile energy storage charging pile in the charging place under the existing technology, it does not have the function of feature recognition and analysis for the moving vehicle, and cannot independently make a charging decision on the recognized vehicle. As a result, for the electric vehicle driving to the charging place, the vehicle owner needs to park the vehicle in the parking space and then move the mobile energy storage charging pile to the front of the vehicle at the specified place for charging, which is not conducive to improving the charging efficiency and also increases the management cost of the charging place.

[0049] Based on this, the present invention proposes a control system and method for a mobile energy storage charging pile. By collecting the positioning data of a preset charging pile in real time, and based on this positioning data, collecting the vehicle image data and its driving characteristics entering the preset charging place, the change in the distance from it to the remaining parking spaces in the preset charging place can be analyzed, and the corresponding driving trajectory line can be generated according to the driving characteristics of the preset vehicle. At the same time, according to the given algorithm, the change in the distance between each trajectory point and the adjacent parking space, the reaction distance, the braking distance, and the vehicle body slope value in each driving trajectory line are calculated to determine whether the preset vehicle will park in a certain parking space, and then the preset charging pile moves to the front of the corresponding vehicle for charging, improving the intelligence level and efficiency of charging.

[0050] The following further specifically describes this solution through embodiments and in conjunction with the accompanying drawings.

[0051] Referring to Figures 1 to 3 , which is an embodiment of the present invention, this embodiment provides a control system for a mobile energy storage charging pile, including:

[0052] A data fusion acquisition unit 110, configured to acquire the real-time positioning data of a preset charging pile in a preset charging place, and the marked lines in the preset charging place, where the marked lines include parking space marked lines. The data fusion acquisition unit 110 includes an image acquisition module 1101, a calculation module 1102, and a judgment module 1103;

[0053] The image acquisition module 1101 is used to acquire vehicle image data at a preset charging location. The image acquisition module 1101 includes a CCD camera; and marks the vehicle corresponding to the vehicle image data as a preset vehicle;

[0054] Based on the vehicle image data acquired by the image acquisition module 1101, the calculation module 1102 is used to collect the change in the traveling direction of the preset vehicle at the preset charging location, and calculate the distance between the preset vehicle and the parking space marking in real time according to the acquisition result;

[0055] Based on the distance data calculated by the calculation module 1102, the determination module 1103 is used to judge the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will park in a certain parking space, the preset charging pile moves towards the corresponding parking space; otherwise, it does not move forward;

[0056] The determination result fusion verification unit 120 is used to calculate the remaining distance between it and the corresponding parking space when the preset charging pile moves towards the corresponding parking space, and obtain the moving state of the preset vehicle in real time during the calculation. The moving state includes that the interval between the preset vehicle and the parking space shows an increasing trend. If the interval does not show an increasing trend change, the system determines that the determination result of the decision-making determination module is verified correctly; otherwise, it is determined as verified incorrectly; 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;

[0057] The positioning data acquisition module 1201 is used to collect the positioning data of 5 parking spaces of the vehicle that is not parked and is closest to it according to the positioning data of the preset charging pile. The positioning data is the positioning data at the center of each parking space; and marks the positioning data as fixed positioning data;

[0058] 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 positioning data of the preset charging pile, and generate 5 lines according to the sorting result;

[0059] Based on the 5 generated lines, the division module 1203 is used to divide each line. The division method includes dividing the corresponding line into a front section line, a middle section line, and an end section line according to the line length, and judging the parking space of the preset vehicle based on the end section line of each line. When the preset vehicle travels to the end section line corresponding to a certain parking space, the system determines that the preset vehicle will park in the parking space; otherwise, it does not determine;

[0060] In further illustration of this embodiment, five trajectory lines are generated based on five lines. Among the five trajectory lines, at least six trajectory points are preset at equal intervals from the starting point to the ending point of each trajectory line. The distance 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 changes of the preset vehicle are collected, and the distance changes between it and each trajectory point in the adjacent trajectory lines are calculated according to the movement changes. The calculation is based on the following formula:

[0061] ; where, represents the th moving distance collected for the preset vehicle in the same moving direction, ;

[0062] In the formula, represents the time interval between different collections, represents the th maximum moving distance collected for the preset vehicle when moving in the same moving direction up to the th time, represents the distance change between the preset vehicle and each trajectory point in the adjacent trajectory lines calculated based on the maximum moving distance, represents the distance change trend.

[0063] As a preferred solution of the present invention, based on the change trend, a moving coordinate is constructed for at least six moving azimuths of the collected preset vehicle. Radius movement data of the preset vehicle is obtained from the moving coordinate and . Three radius points are given in the radius movement data. Among them, the three radius points are respectively marked as radius point, radius point and radius point. The steering angle of the preset vehicle from the radius point to the radius point is obtained. According to the steering angle, a steering arc is obtained as follows:

[0064] Radius ;

[0065] Angle ;

[0066] where, yawrate represents the steering yaw rate, represents the steering speed, represents the steering time obtained based on the steering speed. Then the preset vehicle is based on the moving coordinate and The deviation of the moving position is expressed as:

[0067] ;

[0068] .

[0069] On the above basis, in this embodiment, further, based on the obtained steering arc, the parking space markings closest to the constructed moving coordinates are divided into regions. Among them, the region division method includes dividing from the center of the parking space to the front edge and the rear edge of the parking space. The area from the center to the front edge of the parking space is marked as the front region, and the area from the center to the rear edge of the parking space is marked as the rear region. When the steering arc of the preset vehicle travels towards the rear region, the system determines that the preset vehicle will park in the corresponding parking space;

[0070] Specifically in this embodiment, when the steering arc of the preset vehicle travels towards the rear region, the traveling speed of the preset vehicle and the area change of the corresponding parking space are collected every 2 seconds as a collection period. Among them, the collection method of the area change includes collecting the angle changes at the center of the preset vehicle, the tail of the preset vehicle, and the center of the corresponding parking space. If the angle changes in two or more consecutive collection periods increase, the system determines that the preset vehicle will drive out of the corresponding parking space; otherwise, it does not determine.

[0071] It should be further emphasized in this embodiment that when the preset vehicle drives out of the corresponding parking space, the moving characteristics and parking space characteristics of the preset vehicle are collected. The parking space characteristics include collecting the remaining parking spaces on one side and / or both sides based on the preset vehicle. Among them, the moving characteristics include collecting the speed change based on the traveling trajectory line of the preset vehicle. When the speed change is in a continuous speed reduction, the distance change between the preset vehicle and the remaining parking spaces on one side and / or both sides is collected. When the distance change between the preset vehicle and the remaining parking spaces on any one side shows a shortening trend, the system determines that the preset vehicle will park in the remaining parking spaces on the corresponding side; otherwise, it does not determine.

[0072] In this embodiment, further, the remaining parking space on the corresponding side determined to be parked is marked as the target parking space, and a two-dimensional coordinate matrix based on the target parking space and the preset vehicle is constructed. In the two-dimensional coordinate matrix, the reaction distance, braking distance, and vehicle body slope value of the preset vehicle with respect to the target parking space are preset. At the same time, with the center in the rear region as the reference point, it extends outward to be parallel to the parking space line. If the reaction distance of the preset vehicle exceeds the extension from the reference point to the line parallel to the parking space line, the system determines that the vehicle body slope value of the preset vehicle when adjusting the vehicle body angle based on the target parking space will exceed the preset vehicle body slope value. In this case, the system determines that the preset vehicle cannot park completely in the parking space and / or the preset vehicle will drive out of the parking space;

[0073] According to the actual situation in real life, it can be known that the mobile energy storage charging pile itself has a relatively large volume. Therefore, in the charging places equipped with mobile energy storage charging piles, most of the charging spaces are horizontal spaces rather than vertical spaces. Because vertical parking will result in a relatively small interval between adjacent vehicles. In this case, it is not conducive to placing the mobile energy storage charging pile in this interval for charging. While for horizontal parking, the mobile energy storage charging pile can charge the vehicle at the side end of the vehicle, and there is a large movable space at the side end, which is conducive to the mobile adjustment of the mobile energy storage charging pile. Therefore, it has practical significance to preset the reaction distance, braking distance and vehicle body slope value of the vehicle target parking space in the two-dimensional coordinate matrix;

[0074] On the basis of the above, in this embodiment, the changes in the vehicle body slope value when the preset vehicle adjusts its vehicle body angle based on the target parking space are divided into several evaluation index data, the median value of the vehicle body slope is statistically obtained from the several evaluation index data, the change law from the median value of the vehicle body slope to exceeding the preset vehicle body slope value is analyzed, and a prediction model is generated.

[0075] Based on the above, this application can analyze the change in the distance from the preset charging pile to 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 vehicle image data and its driving characteristics of the vehicles entering the preset charging place based on this positioning data. According to the driving characteristics of the preset vehicle, the corresponding driving trajectory line can be generated. At the same time, according to the given algorithm, the distance changes, reaction distances, braking distances and vehicle body slope values between each trajectory point in each driving trajectory line and the adjacent parking spaces are calculated to determine whether the preset vehicle will park in a certain parking space, so as to move the preset charging pile to the front of the corresponding vehicle for charging, improving the intelligence level and efficiency of charging.

[0076] Combined with the above mobile energy storage charging pile control system, this embodiment also proposes the working method of this system as follows:

[0077] S10: Obtain the real-time positioning data of the preset charging pile in the preset charging place, and the marking lines of the preset charging place, where the marking lines include parking space marking lines;

[0078] S20: Obtain the vehicle image data in the preset charging place, and mark the vehicle corresponding to the vehicle image data as the preset vehicle;

[0079] S30: Collect the change in the driving direction of the preset vehicle in the preset charging place, and calculate the distance between the preset vehicle and the parking space marking line in real time according to the collection result;

[0080] S40: Judge the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will park in a certain parking space, the preset charging pile moves towards the corresponding parking space; otherwise, it does not move forward;

[0081] S50: Calculate the remaining distance between the preset charging pile and the corresponding parking space when the preset charging pile moves towards the corresponding parking space, and obtain the moving state of the preset vehicle in real time during the calculation. The moving state includes that the interval between the preset vehicle and the parking space shows an increasing trend. If the interval does not change in an increasing trend, the system determines that the determination result of the decision-making module is verified correctly; otherwise, it is determined to be verified incorrectly.

[0082] S60: Collect the positioning data of the 5 parking spaces of the unparked vehicle closest to the preset charging pile according to the positioning data of the preset charging pile. The positioning data is the positioning data at the center of each parking space; and mark the positioning data as fixed positioning data.

[0083] S70: 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 result.

[0084] S80: Divide each route. The division method includes dividing the corresponding route into a front section route, a middle section route and an end section route according to the route length, and judging the parking space of the preset vehicle based on the end section route of each route. When the preset vehicle travels to the end section route corresponding to a certain parking space, the system determines that the preset vehicle will park in the parking space; otherwise, it does not determine.

[0085] In summary, the present invention can analyze the change in the distance between the preset vehicle and the remaining parking spaces in the preset charging area by collecting the positioning data of the preset charging pile in real time and collecting the vehicle image data and its driving characteristics entering the preset charging area based on this positioning data. And according to the driving characteristics of the preset vehicle, the corresponding driving trajectory line can be generated. At the same time, according to the given algorithm, the distance change, reaction distance, braking distance and vehicle body slope value between each trajectory point and the adjacent parking space in each driving trajectory line can be calculated to determine whether the preset vehicle will park in a certain parking space. When it is determined that it will park in the corresponding parking space, the preset charging pile moves towards this parking space, so that the preset charging pile moves to the front of the corresponding vehicle for charging, improving the intelligence level and efficiency of charging, and also reducing the management cost of the charging area.

[0086] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A mobile energy storage charging pile control system, characterized in that Including: A data fusion acquisition unit, configured to acquire real-time positioning data of a preset charging pile in a preset charging location, and the marking lines of the preset charging location, where the marking lines include parking space marking lines. The data fusion acquisition unit includes an image acquisition module, a calculation module, and a determination module; The image acquisition module is configured to acquire vehicle image data in the preset charging location. The image acquisition module includes a CCD camera; and mark the vehicle corresponding to the vehicle image data as a preset vehicle; Based on the vehicle image data acquired by the image acquisition module, the calculation module is configured to collect the change in the traveling direction of the preset vehicle in the preset charging location, and calculate the distance between the preset vehicle and the parking space marking line in real time according to the acquisition result; Based on the distance data calculated by the calculation module, the determination module is configured to judge the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will park in a certain parking space, the preset charging pile moves towards the corresponding parking space; otherwise, it does not move forward; A determination result fusion verification unit, configured to calculate the remaining distance between the preset charging pile and the corresponding parking space when the preset charging pile moves towards the corresponding parking space, and acquire the moving state of the preset vehicle in real time during the calculation. The moving state includes that the interval between the preset vehicle and the parking space shows an increasing trend. If the interval does not show an increasing trend, the system determines that the determination result of the determination module is verified correctly; otherwise, it is determined to be verified incorrectly; 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 configured to collect the positioning data of 5 parking spaces of the vehicle closest to the preset charging pile that is not parked according to the positioning data of the preset charging pile. 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 configured to sort the fixed positioning data according to the distance between each fixed positioning data and the positioning data of the preset charging pile, and generate 5 lines according to the sorting result; Based on the 5 generated lines, the division module is configured to divide each line. The division method includes dividing the corresponding line into a front section line, a middle section line, and an end section line according to the line length, and judging the parking space of the preset vehicle based on the end section line of each line. When the preset vehicle travels to the end section line corresponding to a certain parking space, the system determines that the preset vehicle will park in the parking space; otherwise, it does not determine; Generate five trajectory lines based on the five lines described above. Among the five trajectory lines, preset at least six trajectory points at equal intervals from the starting point to the ending point of each trajectory line, and calculate the distance between each trajectory point in adjacent trajectory lines according to the Pure Pursuit algorithm. When the preset vehicle travels between the calculated adjacent trajectory lines, collect the movement changes of the preset vehicle, calculate the distance changes between it and each trajectory point in the adjacent trajectory lines according to the movement changes, and calculate according to the following formula: ; wherein, represents the th moving distance collected for the th time in the same moving direction of the preset vehicle; Wherein, represents the time interval between different acquisitions, represents the th largest moving distance collected when the preset vehicle moves in the same moving direction for the th time, represents the distance change from each trajectory point in the adjacent trajectory lines calculated based on the maximum moving distance, represents the trend of the distance change.

2. The control system of a mobile energy storage charging pile according to claim 1, wherein Based on the change trend, construct a moving coordinate for at least 6 moving azimuths of the preset vehicle collected, obtain the radius moving data of the preset vehicle in the moving coordinate, and specify three radius points in the radius moving data. Among them, the three radius points are respectively marked as radius point,[[]] radius point and radius point, and obtain the steering angle of the preset vehicle from the radius point to the radius point. Obtain the steering arc according to the steering angle as follows: Radius ; Angle ; wherein, yawrate represents the steering yaw rate, represents the steering speed, represents the steering time obtained based on the steering speed, and the moving position deviation of the preset vehicle based on the moving coordinate is expressed as: ； 。 3. The mobile energy storage charging pile control system according to claim 2, characterized in that, Based on the obtained steering arc, divide the parking space markings closest to the constructed movement coordinates into regions. Among them, the region division method includes dividing from the center of the parking space to the front edge and the rear edge of the parking space. Mark the area from the center to the front edge of the parking space as the front region, and mark the area from the center to the rear edge of the parking space as the rear region. When the steering arc of the preset vehicle travels towards the rear region, the system determines that the preset vehicle will park in the corresponding parking space.

4. The mobile energy storage charging pile control system according to claim 3, wherein When the steering arc of the preset vehicle travels towards the rear region, collect the traveling speed of the preset vehicle and the area change of the corresponding parking space every 2 seconds as a collection period. Among them, the collection method for the area change includes collecting the angle changes at the center of the preset vehicle, the tail of the preset vehicle, and the center of the corresponding parking space. If the angle changes in two or more consecutive collection periods increase, the system determines that the preset vehicle will drive out of the corresponding parking space; otherwise, it does not determine.

5. The control system of a mobile energy storage charging pile according to claim 4, wherein, When the preset vehicle drives out of the corresponding parking space, collect the movement characteristics and parking space characteristics of the preset vehicle. The parking space characteristics include collecting the remaining parking spaces on one side and / or both sides based on the preset vehicle. Among them, the movement characteristics include collecting the speed change based on the traveling trajectory line of the preset vehicle. When the speed change is in a continuous speed reduction, collect the distance change between the preset vehicle and the remaining parking spaces on one side and / or both sides. When the distance change between the preset vehicle and the remaining parking spaces on any one side shows a shortening trend, the system determines that the preset vehicle will park in the remaining parking spaces on the corresponding side; otherwise, it does not determine.

6. The control system of a mobile energy storage charging pile according to claim 5, characterized in that Mark the remaining parking space on the corresponding side determined to be parked as the target parking space, construct a two-dimensional coordinate matrix based on the target parking space and the preset vehicle, preset the reaction distance, braking distance, and vehicle body slope value of the preset vehicle with respect to the target parking space in the two-dimensional coordinate matrix. At the same time, extend outward from the center in the rear region to be parallel to the parking space line. If the reaction distance of the preset vehicle exceeds the extension from the reference point outward to be parallel to the parking space line, the system determines that the vehicle body slope value of the preset vehicle when adjusting the vehicle body angle based on the target parking space will exceed the preset vehicle body slope value. In this case, the system determines that the preset vehicle cannot park completely in this parking space and / or the preset vehicle will drive out of this parking space.

7. The control system of a mobile energy storage charging pile according to claim 6, wherein Divide the variation of the vehicle body slope value when the preset vehicle adjusts its body angle based on the target parking space into several evaluation index data, count the median value of the vehicle body slope among the several evaluation index data, analyze the variation law of the median value of the vehicle body slope exceeding the preset vehicle body slope value, and generate a prediction model.

8. A method applied to a mobile energy storage charging pile control system as described in claim 1, characterized in that, It includes the following steps: Obtain the real-time positioning data of the preset charging pile in the preset charging place, and the marking lines of the preset charging place, where the marking lines include parking space marking lines; Obtain vehicle image data in the preset charging place, and mark the vehicle corresponding to the vehicle image data as the preset vehicle; Collect the change of the traveling direction of the preset vehicle in the preset charging place, and calculate the distance between the preset vehicle and the parking space marking line in real time according to the collection result; Judge the final parking position of the preset vehicle according to the distance data. When it is determined that the preset vehicle will park in a certain parking space, the preset charging pile moves towards the corresponding parking space; otherwise, it does not move forward; Calculate the remaining distance between the preset charging pile and the corresponding parking space when it moves towards the corresponding parking space, and obtain the moving state of the preset vehicle in real time during the calculation. The moving state includes that the interval between the preset vehicle and the parking space shows an increasing trend. If the interval does not show an increasing trend, the system determines that the judgment result of the judgment module is verified correctly; otherwise, it is determined to be verified incorrectly; Collect the positioning data of 5 parking spaces of the vehicle that is not parked and is closest to the preset charging pile according to the positioning data of the preset charging pile. The positioning data is the positioning data at the center of each parking space; and mark the positioning data as fixed positioning data; 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 result; Divide each route. The division method includes dividing the corresponding route into a front section route, a middle section route and an end section route according to the route length, and judging the parking space of the preset vehicle based on the end section route of each route. When the preset vehicle travels to the end section route corresponding to a certain parking space, the system determines that the preset vehicle will park in the parking space; otherwise, it does not determine.

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