Align charging pile interaction method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for aligning charging pile interactions, which relates to the field of shared service technology, including: obtaining target charging pile information, vehicle driving information and charging intention instructions, obtaining the positional relationship between the vehicle and the target charging pile based on the target charging pile information and vehicle driving information, obtaining a planned driving path based on the positional relationship between the vehicle and the target charging pile and the charging intention instruction, and opening the charging port cover on the corresponding side of the vehicle and the target charging pile, and driving the vehicle to park in the target charging pile parking space for charging according to the planned driving path. The charging pile is identified by the vehicle perception module, and the relative position of the vehicle and the charging pile and the driver's charging intention are combined to automatically plan the parking path and open the charging port on the corresponding side, thereby achieving precise parking and charging, improving the charging convenience of plug-in charging piles, and enhancing the user experience.

Description

Technical Field

[0001] The present invention relates to the field of shared service technology, and in particular to a method, device, equipment and storage medium for aligning charging pile interactions. Background Art

[0002] With the advancement of society and science and technology, cars have become an essential means of transportation for people. New energy vehicles, in particular, have experienced rapid development, leading to increasing popularity and penetration. This has been accompanied by rapid advancements in vehicle charging technology. New energy vehicles are becoming increasingly popular both domestically and internationally, with a growing market share. Consequently, the number of charging facilities in parking lots is also expanding to meet the growing demand for charging for these vehicles. However, due to the diversity of new energy vehicle brands and models, the location of charging ports varies across different models. This often forces drivers to relocate their vehicles to accommodate charging needs, hindering convenient charging.

[0003] The current charging interaction method on the market uses underground charging piles. After the vehicle collects environmental position parameters, it obtains driving instructions and automatically moves to the charging pile parking space, and activates the underground charging pile for wireless charging.

[0004] Existing methods achieve automatic wireless charging, but underground charging piles increase charging costs and reduce charging efficiency, and are not applicable to ordinary plug-in charging piles. Therefore, there is an urgent need for a charging interaction method with plug-in charging piles to facilitate charging for new energy vehicle users, improve charging efficiency, and reduce the inconvenience of wireless charging. Summary of the Invention

[0005] The main purpose of this application is to provide a method, device and equipment for interaction with an aligned charging pile, aiming to solve the technical problem of how to improve the convenience of interaction with a plug-in charging pile.

[0006] To achieve the above objectives, the present application proposes a method for aligning charging pile interactions, the method comprising:

[0007] Obtain target charging pile information, vehicle driving information and charging intention instructions;

[0008] Obtaining a positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information;

[0009] Based on the positional relationship between the vehicle and the target charging pile, according to the charging intention instruction, a planned driving path is obtained and the charging port cover on the side corresponding to the vehicle and the target charging pile is opened;

[0010] The vehicle is driven according to the planned driving path to park in the target charging pile parking space for charging.

[0011] In one embodiment, the step of obtaining a planned driving path based on the positional relationship between the vehicle and the target charging pile according to the charging intention instruction and opening the charging port cover on the side corresponding to the vehicle and the target charging pile includes:

[0012] Get the location of the vehicle charging port;

[0013] Obtaining a positional relationship between the target charging pile and the vehicle charging port based on the position of the vehicle charging port and the positional relationship between the vehicle and the target charging pile;

[0014] According to the charging intention instruction, based on the positional relationship between the target charging pile and the vehicle charging port, path planning is performed for parking.

[0015] In one embodiment, the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction includes:

[0016] When the charging port is located on the right side of the rear of the vehicle, the vehicle state is detected to obtain a first detection result;

[0017] When the first detection result indicates that the vehicle is in P gear or the driver opens the main driver's door to get out of the vehicle, the charging port cover on the right rear side of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile;

[0018] The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes:

[0019] When the charging port is located on the left side of the rear of the vehicle and the target charging pile is located on the left side of the rear of the vehicle, the vehicle state is detected to obtain a second detection result;

[0020] When the second detection result is that the vehicle gear is in P gear or the driver opens the main driver's door to get out of the vehicle, the charging port cover on the left side of the rear end of the vehicle pops up, and the rear end of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

[0021] In one embodiment, the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes:

[0022] When the charging port is located on the right side of the front of the vehicle, the vehicle state is detected to obtain a third detection result;

[0023] When the third detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out of the vehicle, the charging port cover on the right side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile;

[0024] The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes:

[0025] When the charging port is located on the left side of the front of the vehicle and the target charging pile is located on the left side of the front of the vehicle, the vehicle state is detected to obtain a fourth detection result;

[0026] When the fourth detection result is that the vehicle gear is in P gear or the driver opens the main driver's door to get off the vehicle, the charging port cover on the left side of the front of the vehicle is popped up, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

[0027] In one embodiment, the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction includes:

[0028] When the charging port is located on the right side of the front or rear of the vehicle, obtain a first distance and a second distance, where the first distance is the distance between the target charging pile and the charging port on the right side of the front of the vehicle, and the second distance is the distance between the target charging pile and the charging port on the right side of the rear of the vehicle;

[0029] comparing the first distance and the second distance to obtain a first comparison result;

[0030] When the first comparison result is that the first distance is smaller than the second distance, selecting the first distance as the target distance;

[0031] When the first comparison result is that the first distance is greater than the second distance, selecting the second distance as the target distance;

[0032] Detecting the vehicle state to obtain a fifth detection result;

[0033] When the fifth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the first distance, the charging port cover on the right side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile;

[0034] When the fifth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the second distance, the charging port cover on the right side of the rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile.

[0035] In one embodiment, the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes:

[0036] When the charging port is located on the left side of the front or rear of the vehicle, obtain a third distance and a fourth distance, where the third distance is the distance between the target charging pile and the charging port on the left side of the front of the vehicle, and the fourth distance is the distance between the target charging pile and the charging port on the left side of the rear of the vehicle;

[0037] comparing the third distance and the fourth distance to obtain a second comparison result;

[0038] When the second comparison result is that the third distance is smaller than the fourth distance, selecting the third distance as the target distance;

[0039] When the second comparison result is that the third distance is greater than the fourth distance, selecting the fourth distance as the target distance;

[0040] Detecting the vehicle state to obtain a sixth detection result;

[0041] When the sixth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the third distance, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile;

[0042] When the sixth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the fourth distance, the charging port cover on the left side of the rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

[0043] In one embodiment, the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes:

[0044] When the charging port is located on the left side of the front of the vehicle and the charging port is located on the right side of the rear of the vehicle, obtain a fifth distance and a sixth distance, where the fifth distance is the distance between the target charging pile and the charging port on the left side of the front of the vehicle, and the sixth distance is the distance between the target charging pile and the charging port on the right side of the rear of the vehicle;

[0045] comparing the fifth distance and the sixth distance to obtain a third comparison result;

[0046] When the third comparison result is that the fifth distance is smaller than the sixth distance, selecting the fifth distance as the target distance;

[0047] When the third comparison result is that the fifth distance is greater than the sixth distance, selecting the sixth distance as the target distance;

[0048] Detecting the vehicle state to obtain a sixth detection result;

[0049] When the sixth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the fifth distance, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile;

[0050] When the sixth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the sixth distance, the charging port cover on the right side of the rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile.

[0051] In one embodiment, the step of obtaining the positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information includes:

[0052] Obtaining the target charging pile location according to the target charging pile information;

[0053] Obtaining the position, speed and driving direction of the vehicle according to the vehicle driving information;

[0054] Calculate the relative position and distance between the vehicle and the target charging pile based on the vehicle's position, speed, and driving direction combined with the target charging pile position;

[0055] The relative position and distance between the vehicle and the target charging pile are used as the positional relationship between the vehicle and the target charging pile.

[0056] In addition, to achieve the above-mentioned purpose, the present application also proposes an interactive device for aligning charging piles, the interactive device for aligning charging piles comprising:

[0057] An acquisition module is used to obtain target charging pile information, vehicle driving information and charging intention instructions;

[0058] a calculation module, configured to obtain a positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information;

[0059] A result module is used to obtain a planned driving path based on the positional relationship between the vehicle and the target charging pile and open the charging port cover on the side corresponding to the vehicle and the target charging pile according to the charging intention instruction;

[0060] The execution module is used to drive the vehicle to park in the target charging pile parking space for charging according to the planned driving path.

[0061] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable medium, and a computer program is stored on the medium. When the computer program is executed by the processor, the steps of the charging pile alignment interaction method as described above are implemented.

[0062] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the charging pile alignment interaction method as described above.

[0063] This application obtains target charging pile information, vehicle driving information, and charging intention instructions, and obtains the positional relationship between the vehicle and the target charging pile based on the target charging pile information and vehicle driving information. Based on the positional relationship between the vehicle and the target charging pile and the charging intention instruction, it obtains a planned driving path and opens the charging port cover on the corresponding side of the vehicle and the target charging pile. According to the planned driving path, the vehicle is driven to park in the target charging pile parking space for charging. The charging pile is identified by the vehicle perception module, and the relative position of the vehicle and the charging pile and the driver's charging intention are combined to automatically plan the parking path and open the charging port on the corresponding side, achieving precise parking and charging, improving the charging convenience of plug-in charging piles and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0065] Figure 1 This is a flow chart of the first embodiment of the charging pile interaction method of the present application;

[0066] Figure 2 This is a flow chart of the second embodiment of the charging pile interaction method of the present application;

[0067] Figure 3 This is a flowchart of the third embodiment of the charging pile interaction method of the present application;

[0068] Figure 4 This is a schematic diagram of the module structure of the charging pile interaction device according to an embodiment of the present application;

[0069] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the interactive method for aligning charging piles in an embodiment of the present application;

[0070] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0071] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0072] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0073] The main solution of the embodiment of the present application is: by obtaining the target charging pile information, vehicle driving information and charging intention instructions, according to the target charging pile information and vehicle driving information, the position relationship between the vehicle and the target charging pile is obtained, based on the position relationship between the vehicle and the target charging pile and according to the charging intention instructions, the planned driving path is obtained and the charging port cover on the corresponding side of the vehicle and the target charging pile is opened, and the vehicle is driven to park in the target charging pile parking space for charging according to the planned driving path.

[0074] Based on this, the embodiment of the present application provides an interactive method for aligning charging piles, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the charging pile interaction method of this application.

[0075] In this embodiment, the interactive method for aligning charging piles includes steps S10 to S40:

[0076] Step S10, obtaining target charging pile information, vehicle driving information and charging intention instructions.

[0077] It's important to note that obtaining information about the target charging station is fundamental to the entire process. This includes key data such as the charging station's location, type (e.g., DC or AC), and interface specifications. Current vehicles are typically equipped with GPS navigation systems and wireless communication modules, which can connect to charging station management systems to obtain real-time information about the charging station. Furthermore, vehicles can use sensors such as cameras and radar to identify nearby charging stations, further confirming their specific location and availability.

[0078] Secondly, obtaining vehicle driving information is crucial for accurate parking. This involves dynamic data such as the vehicle's speed, direction, and current location. The vehicle's internal sensor network monitors these parameters in real time and transmits them to the onboard control console. This data allows for accurate determination of the vehicle's position relative to the charging station, providing the necessary basis for subsequent route planning.

[0079] Finally, a charging intention signal is a charging request signaled by the driver or the system. This signal can be triggered manually by the driver, such as by pressing the "Confirm Charging" button on the touchscreen, or automatically by the system. For example, when the vehicle battery level falls below a preset threshold, the system automatically searches for a nearby charging station and initiates a charging request. In either case, the charging intention signal is the key trigger for initiating the automated parking process.

[0080] Step S20: Obtain the positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information.

[0081] It should be noted that after obtaining the target charging pile information and vehicle information, the next step is to analyze the positional relationship between the two. This step involves the application of spatial geometry. First, a three-dimensional coordinate system with the center of the vehicle as the origin is established inside the vehicle, where the X-axis points to the front of the vehicle, the Y-axis points to the direction of the co-pilot seat, and the Z-axis is perpendicular to the ground. Then, the position of the charging pile is mapped to this coordinate system, and the spatial relationship between the charging pile and each key point of the vehicle (such as the charging port) is determined by calculating the relative distance and angle between the charging pile and the key points of the vehicle (such as the charging port). For example, if the charging pile is located on the right side in front of the vehicle and the distance is close, it will be determined that the vehicle should approach the charging pile from the right side in front; conversely, if the charging pile is located on the left side behind the vehicle, the vehicle will be guided to approach the charging pile from the left side behind. This analysis based on relative position can ensure that the vehicle can accurately align with the charging pile when parking, avoid unnecessary adjustment actions, and improve parking efficiency.

[0082] Step S30: Based on the positional relationship between the vehicle and the target charging pile and the charging intention instruction, a planned driving path is obtained and the charging port cover on the corresponding side of the vehicle and the target charging pile is opened.

[0083] It should be noted that when a charging intention instruction is detected, the system will perform path planning based on the positional relationship between the above-mentioned vehicle and the target charging pile. The goal of path planning is to find the shortest and most suitable driving route from the current position to the charging pile while ensuring safety. Factors that need to be considered include but are not limited to road width, obstacle location, and driving conditions of other vehicles. The road width is considered to ensure that the vehicle has enough space for parking operations, and the obstacle location is considered to avoid collisions between the vehicle and the obstacle. The driving conditions of other vehicles are considered to ensure that the path does not conflict with other vehicles. After the path planning is completed, detailed driving instructions will be generated to control the vehicle to drive along the planned route. For example, if the charging pile is located on the right side in front of the vehicle, the vehicle is guided to approach the charging pile from the right side in front; if the charging pile is located on the left side behind the vehicle, the vehicle is guided to approach the charging pile from the left side behind.

[0084] Furthermore, as the vehicle approaches the charging station, the corresponding charging port cover automatically pops open based on the relative position of the charging station and the vehicle's charging port. For example, if the charging station is located on the right front side of the vehicle and the vehicle's charging port is also on the right front side, the charging port cover on the right front side of the vehicle will automatically pop open at the appropriate time. If the charging station is located on the left rear side of the vehicle and the vehicle's charging port is on the left rear side of the vehicle, the charging port cover on the left rear side of the vehicle will automatically pop open at the appropriate time.

[0085] Step S40: driving the vehicle to park at the target charging pile parking space for charging according to the planned driving route.

[0086] It should be noted that when the vehicle accurately stops at the charging station according to the planned route, the charging port is re-checked for alignment. If everything is correct, the driver is prompted to start charging. In addition, the charging gun and the vehicle charging port can be automatically connected, further simplifying the charging operation.

[0087] Furthermore, step S40 includes: when the charging port is located on the right rear side of the vehicle, detecting the vehicle status and obtaining a first detection result; if the first detection result indicates that the vehicle is in P gear or the driver opens the main driver's door to exit the vehicle, popping open the right rear charging port cover and maneuvering the rear of the vehicle into a parking space at a target charging station from the right side. Specifically, the driver enters the parking lot and, using the onboard sensors and GPS positioning system, identifies a nearby available target charging station. The driver detects that the vehicle's charging port is located on the right rear side of the vehicle and that the target charging station is also located on the right side of the vehicle. The driver locates the target charging station, shifts the vehicle into P gear, and prepares to exit the vehicle. After confirming that the gear is in P and receiving the charging intention instruction, the driver automatically plans a parking path based on the positional relationship between the target charging station and the vehicle's charging port. The right rear charging port cover automatically pops open, and the vehicle is controlled to slowly reverse, precisely aligning the rear of the vehicle with the target charging station and parking it in the parking space. After the vehicle stops, the charging station's charging gun docks with the vehicle's charging port, and the charging process begins.

[0088] Furthermore, step S40 includes: when the charging port is located on the left side of the vehicle's rear end and the target charging pile is located on the left side of the vehicle's rear end, detecting the vehicle's status and obtaining a second detection result; and when the second detection result indicates that the vehicle is in P gear or the driver opens the main driver's door to exit the vehicle, popping open the left rear end charging port cover and maneuvering the rear end of the vehicle into the parking space for the target charging pile from the left side. Specifically, the driver enters the parking lot and, using the onboard sensors and GPS positioning system, identifies a nearby available target charging pile. The driver detects that the vehicle's charging port is located on the right side of the rear end and that the target charging pile is also located on the right side of the vehicle. The driver locates the target charging pile, shifts the vehicle into P gear, and prepares to exit the vehicle. After confirming that the gear is in P and receiving the charging intention instruction, a parking path is automatically planned based on the positional relationship between the target charging pile and the vehicle's charging port. The left rear end charging port cover automatically pops open, and the vehicle is controlled to slowly reverse, precisely aligning the rear end of the vehicle with the target charging pile and parking it in the parking space. After the vehicle stops, the charging pile's charging gun docks with the vehicle's charging port, and the charging process begins.

[0089] Furthermore, step S40 includes: when the charging port is located on the right front side of the vehicle, detecting the vehicle status and obtaining a third detection result. If the third detection result indicates that the vehicle is in P gear or the driver opens the main driver's door to exit the vehicle, the right front charging port cover is opened, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile. Specifically, the driver drives the vehicle into the parking lot, and the onboard sensors and GPS positioning system identify a nearby available target charging pile. The driver detects that the vehicle's charging port is located on the right rear side of the vehicle, and the target charging pile is also located on the right side of the vehicle. The driver locates the target charging pile, shifts the vehicle into P gear, and prepares to exit the vehicle. After confirming that the gear is in P and receiving the charging intention instruction, a parking path is automatically planned based on the positional relationship between the target charging pile and the vehicle's charging port. The right front charging port cover is automatically opened, and the vehicle is controlled to slowly reverse, so that the front of the vehicle is accurately aligned with and parked in the parking space of the target charging pile. After the vehicle stops, the charging gun of the charging pile docks with the vehicle's charging port, and the charging process begins.

[0090] Furthermore, step S40 includes: when the charging port is located on the left side of the vehicle's front and the target charging pile is located on the left side of the vehicle's front, detecting the vehicle's status and obtaining a fourth detection result; and when the fourth detection result indicates that the vehicle is in P gear or the driver opens the main driver's door and exits the vehicle, opening the left charging port cover and maneuvering the vehicle's front end into the parking space for the target charging pile from the left. Specifically, the driver enters the parking lot and, using the onboard sensors and GPS positioning system, identifies a nearby available target charging pile. The driver detects that the vehicle's charging port is located on the right side of the rear of the vehicle and that the target charging pile is also located on the right side of the vehicle. The driver locates the target charging pile, shifts the vehicle into P gear, and prepares to exit the vehicle. After confirming that the gear is in P and receiving the charging intention instruction, a parking path is automatically planned based on the positional relationship between the target charging pile and the vehicle's charging port. The left charging port cover is automatically opened, and the vehicle is controlled to slowly reverse, accurately aligning the vehicle's front end with the target charging pile and parking it in the parking space. After the vehicle stops, the charging pile's charging gun docks with the vehicle's charging port, and the charging process begins.

[0091] Furthermore, step S40 also includes: when the charging port is located on the right side of the front and rear of the vehicle, obtaining a first distance and a second distance, the first distance being the distance between the target charging pile and the charging port on the right side of the front of the vehicle, and the second distance being the distance between the target charging pile and the charging port on the right side of the rear of the vehicle; comparing the first distance and the second distance to obtain a first comparison result; when the first comparison result is that the first distance is less than the second distance, selecting the first distance as the target distance; when the first comparison result is that the first distance is greater than the second distance, selecting the second distance as the target distance. Specifically, the driver drives the vehicle into the parking lot and identifies the target charging piles available nearby through the on-board sensors and GPS positioning system. It is detected that the charging ports of the vehicle are located on the right side of the front and rear of the vehicle, and it is necessary to determine which charging port to use for charging. By measuring the distance between the target charging pile and the charging port on the right side of the front of the vehicle and the distance between the target charging pile and the charging port on the right side of the rear of the vehicle, and then comparing these two distances, a first comparison result is obtained.

[0092] The vehicle status is detected to obtain a fifth detection result. When the fifth detection result shows that the vehicle gear is in P gear or the driver opens the main driver's door to get off the vehicle and the target distance is the first distance, the charging port cover on the right side of the front of the vehicle is popped up, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile. Specifically, the first distance is selected as the target distance, and the charging port on the right side of the front of the vehicle is planned to be used for charging. The driver shifts the vehicle gear into P gear and prepares to get off the vehicle. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the right side of the front of the vehicle is popped up, and the front of the vehicle is controlled to slowly drive from the right side into the parking space of the target charging pile. After the vehicle stops steadily, the charging gun of the charging pile docks with the charging port on the right side of the front of the vehicle, and the charging process begins.

[0093] In addition, when the fifth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get off the vehicle and the target distance is the second distance, the charging port cover on the right side of the rear of the vehicle pops up, and the rear of the vehicle is controlled to park from the right side into the parking space of the target charging pile. Specifically, the second distance is selected as the target distance, and the charging port on the right side of the rear of the vehicle is planned to be used for charging. The driver shifts the vehicle into P gear and prepares to get off the vehicle. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the right side of the rear of the vehicle pops up, and the rear of the vehicle is controlled to slowly park from the right side into the parking space of the target charging pile. After the vehicle stops, the charging gun of the charging pile docks with the charging port on the right side of the front of the vehicle, and the charging process begins.

[0094] Furthermore, step S40 also includes: when the charging port is located on the left side of the front and rear of the vehicle, obtaining a third distance and a fourth distance, the third distance being the distance between the target charging pile and the charging port on the left side of the front of the vehicle, and the fourth distance being the distance between the target charging pile and the charging port on the left side of the rear of the vehicle, comparing the third distance and the fourth distance to obtain a second comparison result, and when the second comparison result is that the third distance is less than the fourth distance, selecting the third distance as the target distance, and when the second comparison result is that the third distance is greater than the fourth distance, selecting the fourth distance as the target distance. Specifically, the driver drives the vehicle into the parking lot, and identifies the target charging piles available nearby through the on-board sensors and GPS positioning system, and detects that the charging ports of the vehicle are located on the left side of the front and rear of the vehicle, and needs to determine which charging port to use for charging. By measuring the distance between the target charging pile and the charging port on the left side of the front of the vehicle and the distance between the target charging pile and the charging port on the left side of the rear of the vehicle, and then comparing these two distances, a second comparison result is obtained.

[0095] The vehicle status is detected to obtain a sixth detection result. When the sixth detection result shows that the vehicle gear is in P gear or the driver opens the main driver's door to get off the vehicle and the target distance is the third distance, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile. Specifically, the third distance is selected as the target distance, and the charging port on the left side of the front of the vehicle is planned to be used for charging. The driver shifts the vehicle gear into P gear and prepares to get off the vehicle. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to slowly drive from the left side into the parking space of the target charging pile. After the vehicle stops steadily, the charging gun of the charging pile docks with the charging port on the left side of the front of the vehicle to start the charging process.

[0096] In addition, when the sixth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the fourth distance, the charging port cover on the left side of the rear of the vehicle pops up, and the rear of the vehicle is controlled to park from the left side into the parking space of the target charging pile. Specifically, the fourth distance is selected as the target distance, and the charging port on the left side of the rear of the vehicle is planned to be used for charging. The driver shifts the vehicle into P gear and prepares to get out. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the left side of the rear of the vehicle pops up, and the rear of the vehicle is controlled to slowly park from the left side into the parking space of the target charging pile. After the vehicle stops, the charging gun of the charging pile docks with the charging port on the left side of the front of the vehicle, and the charging process begins.

[0097] Furthermore, step S40 also includes: when the charging port is located on the left side of the front of the vehicle and the charging port is located on the right side of the rear of the vehicle, obtaining a fifth distance and a sixth distance, the fifth distance being the distance between the target charging pile and the charging port on the left side of the front of the vehicle, and the sixth distance being the distance between the target charging pile and the charging port on the right side of the rear of the vehicle; comparing the fifth distance and the sixth distance to obtain a third comparison result; when the third comparison result shows that the fifth distance is less than the sixth distance, selecting the fifth distance as the target distance; when the third comparison result shows that the fifth distance is greater than the sixth distance, selecting the sixth distance as the target distance. Specifically, the driver drives the vehicle into the parking lot and identifies the nearby available target charging pile through the on-board sensor and GPS positioning system. It is detected that the charging port of the vehicle is located on the left side of the front of the vehicle and the right side of the rear of the vehicle, and it is necessary to determine which charging port to use for charging. By measuring the distance between the target charging pile and the charging port on the left side of the front of the vehicle and the distance between the target charging pile and the charging port on the right side of the rear of the vehicle, and then comparing these two distances, a third comparison result is obtained.

[0098] The vehicle status is detected to obtain the sixth detection result. When the sixth detection result shows that the vehicle gear is in P gear or the driver opens the main driver's door to get off the vehicle and the target distance is the fifth distance, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile. Specifically, the fifth distance is selected as the target distance, and the charging port on the left side of the front of the vehicle is planned to be used for charging. The driver shifts the vehicle gear into P gear and prepares to get off the vehicle. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to slowly drive from the left side into the parking space of the target charging pile. After the vehicle stops steadily, the charging gun of the charging pile docks with the charging port on the left side of the front of the vehicle to start the charging process.

[0099] In addition, when the sixth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the sixth distance, the charging port cover on the right side of the rear of the vehicle pops up, and the rear of the vehicle is controlled to park from the right side into the parking space of the target charging pile. Specifically, the sixth distance is selected as the target distance, and the charging port on the right side of the rear of the vehicle is planned to be used for charging. The driver shifts the vehicle into P gear and prepares to get out. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the right side of the rear of the vehicle pops up, and the front of the vehicle is controlled to slowly drive into the parking space of the target charging pile from the right side. After the vehicle stops, the charging gun of the charging pile docks with the charging port on the right side of the rear of the vehicle, and the charging process begins.

[0100] Furthermore, step S40 also includes: when the charging port is located on the right side of the front of the vehicle and the charging port is located on the left side of the rear of the vehicle, obtaining the seventh distance and the eighth distance, the seventh distance being the distance between the target charging pile and the charging port on the right side of the front of the vehicle, and the eighth distance being the distance between the target charging pile and the charging port on the left side of the rear of the vehicle; comparing the seventh distance and the eighth distance to obtain a fourth comparison result; when the fourth comparison result is that the seventh distance is less than the eighth distance, selecting the seventh distance as the target distance; when the fourth comparison result is that the seventh distance is greater than the eighth distance, selecting the eighth distance as the target distance. Specifically, the driver drives the vehicle into the parking lot and identifies the nearby available target charging pile through the on-board sensor and GPS positioning system. It is detected that the charging port of the vehicle is located on the right side of the front of the vehicle and the left side of the rear of the vehicle, and it is necessary to determine which charging port to use for charging. By measuring the distance between the target charging pile and the charging port on the right side of the front of the vehicle and the distance between the target charging pile and the charging port on the left side of the rear of the vehicle, and then comparing these two distances, a fourth comparison result is obtained.

[0101] The vehicle status is detected to obtain the seventh detection result. When the seventh detection result is that the vehicle gear is in P gear or the driver opens the main driver's door to get off the vehicle and the target distance is the seventh distance, the charging port cover on the right side of the front of the vehicle is popped up, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile. Specifically, the seventh distance is selected as the target distance, and the charging port on the right side of the front of the vehicle is planned to be used for charging. The driver shifts the vehicle gear into P gear and prepares to get off the vehicle. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the right side of the front of the vehicle is popped up, and the front of the vehicle is controlled to slowly drive into the parking space of the target charging pile from the right side. After the vehicle stops steadily, the charging gun of the charging pile docks with the charging port on the right side of the front of the vehicle, and the charging process begins.

[0102] When the seventh detection result indicates that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the eighth distance, the charging port cover on the left side of the rear of the vehicle pops up and the rear of the vehicle is controlled to park from the left side into the parking space of the target charging pile. Specifically, the eighth distance is selected as the target distance, and the charging port on the left side of the rear of the vehicle is planned to be used for charging. The driver shifts the vehicle into P gear and prepares to get out. After confirming that the gear is in P gear and receiving the charging intention instruction, the charging port cover on the left side of the rear of the vehicle pops up and the front of the vehicle is controlled to slowly park from the left side into the parking space of the target charging pile. After the vehicle stops, the charging gun of the charging pile docks with the charging port on the left side of the rear of the vehicle, and the charging process begins.

[0103] This embodiment provides an interactive method for aligning charging piles. By obtaining target charging pile information, vehicle driving information, and charging intention instructions, the positional relationship between the vehicle and the target charging pile is determined based on the target charging pile information and vehicle driving information. Based on the positional relationship between the vehicle and the target charging pile and the charging intention instruction, a planned driving path is obtained and the charging port cover on the corresponding side of the vehicle and the target charging pile is opened. The vehicle is then driven to park at the target charging pile parking space for charging according to the planned driving path. The charging pile is identified through the vehicle perception module. Combined with the relative position of the vehicle and the charging pile and the driver's charging intention, a parking path is automatically planned and the charging port on the corresponding side is opened, achieving precise parking and charging, improving the charging convenience of plug-in charging piles and enhancing the user experience.

[0104] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 The step S20 of the interactive method for aligning charging piles further includes steps S201 to S204:

[0105] Step S201: Obtain the target charging pile location based on the target charging pile information.

[0106] It should be noted that the vehicle connects to the charging pile management system through its built-in GPS navigation system and wireless communication module, receiving real-time location data from the charging pile. This data includes the charging pile's latitude and longitude coordinates, type (DC or AC), interface specifications, and other information. Furthermore, the vehicle can utilize onboard sensors such as cameras and radar to directly detect charging piles in the surrounding environment through image recognition technology, further confirming the location and type of the target charging pile.

[0107] Step S202: Obtain the vehicle's position, speed, and driving direction based on the vehicle's driving information.

[0108] It should be noted that the vehicle's location, speed, and direction can be monitored and acquired in real time through a network of onboard sensors, such as GPS modules, gyroscopes, accelerometers, and wheel speed sensors. This data includes not only the vehicle's current latitude and longitude coordinates, but also its speed and heading angle.

[0109] In step S203 , a calculation is performed based on the position, speed, and driving direction of the vehicle in combination with the position of the target charging pile to obtain the relative position and distance between the vehicle and the target charging pile.

[0110] It should be noted that a three-dimensional coordinate system is established inside the vehicle with the center of the vehicle as the origin, with the X-axis pointing toward the front of the vehicle, the Y-axis pointing toward the passenger seat, and the Z-axis perpendicular to the ground. The position information of the vehicle and charging station are mapped to this coordinate system. Through geometric calculations, the system can determine the positional relationship of the charging station relative to the vehicle, including the lateral distance (X-axis), longitudinal distance (Y-axis), and vertical distance (Z-axis).

[0111] In addition, the straight-line distance and angular difference between the vehicle and the charging station are calculated based on the vehicle's position, speed, and direction of travel. For example, if the charging station is located on the right side in front of the vehicle, the straight-line distance and angular difference between the charging station and the charging port on the right side of the vehicle's front are calculated. This information provides the basis for subsequent path planning, ensuring that the vehicle approaches the charging station along the shortest and safest route.

[0112] Step S204: The relative position and distance between the vehicle and the target charging pile are used as the positional relationship between the vehicle and the target charging pile.

[0113] This embodiment obtains the target charging pile location based on the target charging pile information, and obtains the vehicle's position, speed, and direction based on the vehicle's driving information. Based on the vehicle's position, speed, and direction, combined with the target charging pile location, calculations are performed to obtain the relative position and distance between the vehicle and the target charging pile. The relative position and distance between the vehicle and the target charging pile are used as the positional relationship between the vehicle and the target charging pile. By obtaining and calculating the relative position and distance between the vehicle and the target charging pile in real time, precise parking is achieved, improving the user experience.

[0114] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction and will not be described in detail later. Figure 3 The step S30 of the interactive method for aligning charging piles further includes steps S301 to S303:

[0115] Step S301, obtaining the location of the vehicle charging port.

[0116] It should be noted that the position of the vehicle's charging port is calibrated through the vehicle's onboard system, which includes the vehicle's built-in sensors, the vehicle's body coordinate system, and a charging interface module connected to the vehicle's central control system. The location information of the vehicle's charging port includes not only its absolute position relative to the vehicle's coordinate system, but also the charging port's opening status, type, and whether it matches the vehicle's charging needs. With these detailed information, the vehicle can automatically determine the best charging strategy, such as choosing to align the front or rear of the vehicle with the charging pile, and selecting the most suitable charging port for charging in vehicles with multiple charging ports.

[0117] Step S302 : obtaining a positional relationship between the target charging pile and the vehicle charging port based on the position of the vehicle charging port and the positional relationship between the vehicle and the target charging pile.

[0118] It should be noted that once the location information of the charging port is obtained, a three-dimensional coordinate system with the center of the vehicle as the origin is established inside the vehicle, with the X-axis pointing in the direction of the front of the vehicle, the Y-axis pointing in the direction of the co-pilot seat, and the Z-axis perpendicular to the ground. By mapping the location of the charging port into this coordinate system, the specific coordinates of the charging port relative to the center of the vehicle can be accurately calculated. At the same time, the vehicle's current position (latitude and longitude coordinates), speed and driving direction (heading angle) are obtained in real time through the on-board sensor network (such as GPS module, gyroscope, accelerometer and wheel speed sensor), and the precise location information of the target charging pile is obtained from the charging pile management system through the wireless communication module, including the latitude and longitude coordinates and type of the charging pile. Next, the location information of the charging pile is also mapped into the same coordinate system, and the positional relationship of the charging pile relative to the vehicle's charging port is determined through geometric calculations, and the straight-line distance and angle difference between the charging pile and the vehicle's charging port are calculated.

[0119] Step S303 , performing path planning for parking based on the charging intention instruction and the positional relationship between the target charging pile and the vehicle charging port.

[0120] It should be noted that once the vehicle receives a clear charging intention instruction and determines the relative position relationship between the target charging pile and the vehicle charging port through the on-board sensor system, the optimal path is formulated by comprehensively considering the vehicle's current position, the target charging pile position, the direction of the vehicle charging port, and surrounding environmental factors such as obstacles, traffic flow, and the position of other vehicles.

[0121] The path planning algorithm calculates the safest and most efficient route for the vehicle to reach the target charging station. This includes maneuvers such as going straight, turning, and reversing, as well as obstacle avoidance strategies when necessary. The vehicle's steering, acceleration, and braking are then automatically controlled based on the planned path to achieve parking. During parking, the vehicle provides the driver with real-time parking status information through visual cues, audio prompts, or tactile feedback, ensuring that the driver can take over control when necessary. Furthermore, the distance and angle between the vehicle and the charging station are monitored to ensure that the charging port and the charging station interface are precisely aligned after the vehicle has come to a complete stop, enabling a fast and safe charging process.

[0122] This application also provides an interactive device for aligning charging piles, please refer to Figure 4 , the device comprises:

[0123] The acquisition module 10 is used to obtain target charging pile information, vehicle driving information and charging intention instructions.

[0124] The calculation module 20 is used to obtain the position relationship between the vehicle and the target charging pile according to the target charging pile information and the vehicle driving information.

[0125] The result module 30 is used to obtain a planned driving path based on the positional relationship between the vehicle and the target charging pile and open the charging port cover on the side corresponding to the vehicle and the target charging pile according to the charging intention instruction.

[0126] The execution module 40 is used to drive the vehicle to park in the target charging pile parking space for charging according to the planned driving path.

[0127] The aligning charging pile interaction device provided in this application utilizes the aligning charging pile interaction method described in the aforementioned embodiment to address the technical problem of improving the convenience of interaction with plug-in charging piles. Compared to the prior art, the aligning charging pile interaction device provided in this application provides the same beneficial effects as the aligning charging pile interaction method described in the aforementioned embodiment. Other technical features of the aligning charging pile interaction device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0128] In one embodiment, the result module 30 is also used to obtain the position of the vehicle charging port; based on the position of the vehicle charging port and the positional relationship between the vehicle and the target charging pile, obtain the positional relationship between the target charging pile and the vehicle charging port; and according to the charging intention instruction, perform path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port.

[0129] In one embodiment, the result module 30 is further configured to detect the vehicle status when the charging port is located on the right side of the rear end of the vehicle to obtain a first detection result; when the first detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, pop up the charging port cover on the right side of the rear end of the vehicle, and control the rear end of the vehicle to park from the right side into the parking space of the target charging pile; the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction also includes: when the charging port is located on the left side of the rear end of the vehicle and the target charging pile is located on the left side of the rear end of the vehicle, detecting the vehicle status to obtain a second detection result; when the second detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, pop up the charging port cover on the left side of the rear end of the vehicle, and control the rear end of the vehicle to park from the left side into the parking space of the target charging pile.

[0130] In one embodiment, the result module 30 is further used to detect the vehicle status when the charging port is located on the right side of the front of the vehicle to obtain a third detection result; when the third detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, the charging port cover on the right side of the front of the vehicle is popped up, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile; the step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction also includes: when the charging port is located on the left side of the front of the vehicle and the target charging pile is located on the left side of the front of the vehicle, the vehicle status is detected to obtain a fourth detection result; when the fourth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, the charging port cover on the left side of the front of the vehicle is popped up, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

[0131] In one embodiment, the result module 30 is further used to, when the charging port is located on the right side of the front or rear of the vehicle, obtain a first distance and a second distance, the first distance being the distance between the target charging pile and the charging port on the right side of the front of the vehicle, and the second distance being the distance between the target charging pile and the charging port on the right side of the rear of the vehicle; compare the first distance and the second distance to obtain a first comparison result; when the first comparison result is that the first distance is less than the second distance, select the first distance as the target distance; when the first comparison result is that the first distance is greater than the second distance, select the second distance as the target distance; detect the vehicle state to obtain a fifth detection result; when the fifth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the first distance, pop up the charging port cover on the right side of the front of the vehicle, and control the front of the vehicle to park from the right side into the parking space of the target charging pile; when the fifth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the second distance, pop up the charging port cover on the right side of the rear of the vehicle, and control the rear of the vehicle to park from the right side into the parking space of the target charging pile.

[0132] In one embodiment, the result module 30 is further configured to, when the charging port is located on the left side of the front or rear of the vehicle, obtain a third distance and a fourth distance, the third distance being the distance between the target charging pile and the left charging port at the front of the vehicle, and the fourth distance being the distance between the target charging pile and the left charging port at the rear of the vehicle; compare the third distance and the fourth distance to obtain a second comparison result; when the second comparison result shows that the third distance is less than the fourth distance, select the third distance as the target distance; when the second comparison result shows that the third distance is greater than the fourth distance, select the fourth distance as the target distance; detect the vehicle state to obtain a sixth detection result; when the sixth detection result shows that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, and the target distance is the third distance, pop up the left charging port cover at the front of the vehicle, and control the front of the vehicle to park from the left into the parking space of the target charging pile; when the sixth detection result shows that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, and the target distance is the fourth distance, pop up the left charging port cover at the rear of the vehicle, and control the rear of the vehicle to park from the left into the parking space of the target charging pile.

[0133] In one embodiment, the result module 30 is further configured to, when the charging port is located on the left front side of the vehicle and the charging port is located on the right rear side of the vehicle, obtain a fifth distance and a sixth distance, the fifth distance being the distance between the target charging pile and the charging port on the left front side of the vehicle, and the sixth distance being the distance between the target charging pile and the charging port on the right rear side of the vehicle; compare the fifth distance and the sixth distance to obtain a third comparison result; when the third comparison result shows that the fifth distance is less than the sixth distance, select the fifth distance as the target distance; when the third comparison result shows that the fifth distance is greater than the sixth distance, select the sixth distance as the target distance; detect the vehicle state to obtain a sixth detection result; when the sixth detection result shows that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, and the target distance is the fifth distance, pop up the left front charging port cover and control the front of the vehicle to park from the left side into the parking space of the target charging pile; when the sixth detection result shows that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle, and the target distance is the sixth distance, pop up the right rear charging port cover and control the rear of the vehicle to park from the right side into the parking space of the target charging pile.

[0134] In one embodiment, the calculation module 20 is further used to obtain the target charging pile position based on the target charging pile information; obtain the vehicle position, speed and driving direction based on the vehicle driving information; perform calculations based on the vehicle position, speed and driving direction combined with the target charging pile position to obtain the relative position and distance between the vehicle and the target charging pile; and use the relative position and distance between the vehicle and the target charging pile as the positional relationship between the vehicle and the target charging pile.

[0135] The present application provides an alignment charging pile interaction device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the alignment charging pile interaction method in the above-mentioned embodiment one.

[0136] Reference below Figure 5 , which shows a schematic diagram of the structure of an alignment charging pile interaction device suitable for implementing the embodiments of the present application. The alignment charging pile interaction device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The illustrated charging pile alignment interaction device is merely an example and should not limit the functionality and scope of use of the embodiments of the present application.

[0137] like Figure 5As shown, the alignment charging pile interaction device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM) 1004. In RAM 1004, various programs and data required for the operation of the alignment charging pile interaction device are also stored. The processing device 1001, ROM 1002 and RAM 1004 are connected to each other via a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the alignment charging pile interaction device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the alignment charging pile interaction device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or have alternatively.

[0138] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0139] The aligned charging pile interaction device provided in this application utilizes the aligned charging pile interaction method described in the aforementioned embodiment to address the technical problem of improving the convenience of interaction with plug-in charging piles. Compared to the prior art, the aligned charging pile interaction device provided in this application achieves the same beneficial effects as the aligned charging pile interaction method described in the aforementioned embodiment. Other technical features of the aligned charging pile interaction device are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0140] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0141] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0142] The present application provides a computer-readable medium having computer-readable program instructions (ie, a computer program) stored thereon, and the computer-readable program instructions are used to execute the charging pile alignment interaction method in the above-mentioned embodiment.

[0143] The computer-readable medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0144] The computer-readable medium may be included in the charging pile interaction device; or may exist independently without being assembled into the charging pile interaction device.

[0145] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the alignment charging pile interaction device, the alignment charging pile interaction device can write computer program codes for performing the operations of the present application in one or more programming languages ​​or a combination thereof. The above-mentioned programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, C++, and also conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user computer, partially on the user computer, as an independent software package, partially on the user computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0146] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0147] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0148] The readable medium provided in this application is a computer-readable medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-mentioned method for interacting with charging piles. This computer-readable medium can solve the technical problem of how to improve the convenience of interaction with plug-in charging piles. Compared with the prior art, the beneficial effects of the computer-readable medium provided in this application are the same as those of the method for interacting with charging piles provided in the above-mentioned embodiment, and will not be elaborated here.

[0149] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned charging pile alignment interaction method when executed by a processor.

[0150] The computer program product provided in this application can solve the technical problem of how to improve the convenience of interaction with plug-in charging piles. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the charging pile alignment interaction method provided in the above embodiment, and will not be repeated here.

[0151] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for aligning charging pile interactions, characterized in that: The method comprises: Obtain target charging pile information, vehicle driving information and charging intention instructions; Obtaining a positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information; Based on the positional relationship between the vehicle and the target charging pile, according to the charging intention instruction, a planned driving path is obtained and the charging port cover on the side corresponding to the vehicle and the target charging pile is opened; Driving the vehicle according to the planned driving path to park in the target charging pile parking space for charging; The step of obtaining a planned driving path based on the positional relationship between the vehicle and the target charging pile and opening the charging port cover on the side corresponding to the vehicle and the target charging pile according to the charging intention instruction includes: Get the location of the vehicle charging port; Obtaining a positional relationship between the target charging pile and the vehicle charging port based on the position of the vehicle charging port and the positional relationship between the vehicle and the target charging pile; Performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction; The step of performing path planning for parking according to the charging intention instruction based on the positional relationship between the target charging pile and the vehicle charging port includes: When the charging port is located on the right side of the front or rear of the vehicle, obtain a first distance and a second distance, where the first distance is the distance between the target charging pile and the charging port on the right side of the front of the vehicle, and the second distance is the distance between the target charging pile and the charging port on the right side of the rear of the vehicle; comparing the first distance and the second distance to obtain a first comparison result; When the first comparison result is that the first distance is smaller than the second distance, selecting the first distance as the target distance; When the first comparison result is that the first distance is greater than the second distance, selecting the second distance as the target distance; Detecting the vehicle state to obtain a fifth detection result; When the fifth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the first distance, the charging port cover on the right side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile; When the fifth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the second distance, the charging port cover on the right side of the rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile.

2. The method according to claim 1, wherein The step of performing path planning for parking according to the charging intention instruction based on the positional relationship between the target charging pile and the vehicle charging port includes: When the charging port is located on the right side of the rear of the vehicle, the vehicle state is detected to obtain a first detection result; When the first detection result indicates that the vehicle is in P gear or the driver opens the main driver's door to get out of the vehicle, the charging port cover on the right rear side of the vehicle is popped open, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile; The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes: When the charging port is located on the left side of the rear of the vehicle and the target charging pile is located on the left side of the rear of the vehicle, the vehicle state is detected to obtain a second detection result; When the second detection result is that the vehicle gear is in P gear or the driver opens the main driver's door to get out of the vehicle, the charging port cover on the left side of the rear end of the vehicle pops up, and the rear end of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

3. The method according to claim 1, wherein The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes: When the charging port is located on the right side of the front of the vehicle, the vehicle state is detected to obtain a third detection result; When the third detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out of the vehicle, the charging port cover on the right side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile; The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes: When the charging port is located on the left side of the front of the vehicle and the target charging pile is located on the left side of the front of the vehicle, the vehicle state is detected to obtain a fourth detection result; When the fourth detection result is that the vehicle gear is in P gear or the driver opens the main driver's door to get off the vehicle, the charging port cover on the left side of the front of the vehicle is popped up, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

4. The method according to claim 1, wherein The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes: When the charging port is located on the left side of the front or rear of the vehicle, obtain a third distance and a fourth distance, where the third distance is the distance between the target charging pile and the charging port on the left side of the front of the vehicle, and the fourth distance is the distance between the target charging pile and the charging port on the left side of the rear of the vehicle; comparing the third distance and the fourth distance to obtain a second comparison result; When the second comparison result is that the third distance is smaller than the fourth distance, selecting the third distance as the target distance; When the second comparison result is that the third distance is greater than the fourth distance, selecting the fourth distance as the target distance; Detecting the vehicle state to obtain a sixth detection result; When the sixth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the third distance, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile; When the sixth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the fourth distance, the charging port cover on the left side of the rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the left side into the parking space of the target charging pile.

5. The method according to claim 1, wherein The step of performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction further includes: When the charging port is located on the left side of the front of the vehicle and the charging port is located on the right side of the rear of the vehicle, obtain a fifth distance and a sixth distance, where the fifth distance is the distance between the target charging pile and the charging port on the left side of the front of the vehicle, and the sixth distance is the distance between the target charging pile and the charging port on the right side of the rear of the vehicle; comparing the fifth distance and the sixth distance to obtain a third comparison result; When the third comparison result is that the fifth distance is smaller than the sixth distance, selecting the fifth distance as the target distance; When the third comparison result is that the fifth distance is greater than the sixth distance, selecting the sixth distance as the target distance; Detecting the vehicle state to obtain a sixth detection result; When the sixth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the fifth distance, the charging port cover on the left side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the left side into the parking space of the target charging pile; When the sixth detection result is that the vehicle gear is in P gear or the driver opens the main driver door to get off the vehicle and the target distance is the sixth distance, the charging port cover on the right side of the rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile.

6. The method according to claim 1, wherein The step of obtaining the positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information includes: Obtaining the target charging pile location according to the target charging pile information; Obtaining the position, speed and driving direction of the vehicle according to the vehicle driving information; Calculate the relative position and distance between the vehicle and the target charging pile based on the vehicle's position, speed, and driving direction combined with the target charging pile position; The relative position and distance between the vehicle and the target charging pile are used as the positional relationship between the vehicle and the target charging pile.

7. An interactive device for aligning charging piles, characterized in that: The device comprises: An acquisition module is used to obtain target charging pile information, vehicle driving information and charging intention instructions; a calculation module, configured to obtain a positional relationship between the vehicle and the target charging pile based on the target charging pile information and the vehicle driving information; A result module is used to obtain a planned driving path based on the positional relationship between the vehicle and the target charging pile and open the charging port cover on the side corresponding to the vehicle and the target charging pile according to the charging intention instruction; The result module is also used to obtain the location of the vehicle charging port; Obtaining a positional relationship between the target charging pile and the vehicle charging port based on the position of the vehicle charging port and the positional relationship between the vehicle and the target charging pile; Performing path planning for parking based on the positional relationship between the target charging pile and the vehicle charging port according to the charging intention instruction; The result module is further configured to obtain a first distance and a second distance when the charging port is located on the right side of the front or rear of the vehicle, wherein the first distance is the distance between the target charging pile and the charging port on the right side of the front of the vehicle, and the second distance is the distance between the target charging pile and the charging port on the right side of the rear of the vehicle; comparing the first distance and the second distance to obtain a first comparison result; When the first comparison result is that the first distance is smaller than the second distance, selecting the first distance as the target distance; When the first comparison result is that the first distance is greater than the second distance, selecting the second distance as the target distance; Detecting the vehicle state to obtain a fifth detection result; When the fifth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the first distance, the charging port cover on the right side of the front of the vehicle is opened, and the front of the vehicle is controlled to park from the right side into the parking space of the target charging pile; When the fifth detection result is that the vehicle is in P gear or the driver opens the main driver's door to get out and the target distance is the second distance, the charging port cover on the right rear end of the vehicle is popped up, and the rear end of the vehicle is controlled to park from the right side into the parking space of the target charging pile; The execution module is used to drive the vehicle to park in the target charging pile parking space for charging according to the planned driving path.

8. An interactive device for aligning charging piles, characterized in that: The device includes: a memory, a processor, and an alignment charging pile interaction program stored in the memory and executable on the processor, wherein the alignment charging pile interaction program is configured to implement the steps of the alignment charging pile interaction method according to any one of claims 1 to 6.

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