Intelligent wireless charging method and device applied to vehicle and computer storage medium

Abstract

The invention relates to the technical field of electric vehicle wireless charging, and discloses an intelligent wireless charging method and device applied to a vehicle and a computer storage medium. The method comprises the steps that when a to-be-charged vehicle is detected and a target charging parking space is in an idle state, based on a vehicle parking control model, the target charging parking space is parked; controlling the to-be-charged vehicle to execute parking operation based on the target charging parking space; and when it is judged that the to-be-charged vehicle meets the parking completion condition and the to-be-charged vehicle meets the charging execution condition, corresponding wireless charging operation is executed on the to-be-charged vehicle. Therefore, the execution accuracy, reliability and timeliness of the wireless charging operation of the vehicle can be improved, and the automatic parking accuracy and efficiency of the vehicle can be improved, so that the wireless charging accuracy and reliability of the vehicle can be improved, and the wireless charging efficiency and convenience of the vehicle can be improved; therefore, the charging time is shortened, the charging energy loss is reduced, and the wireless charging safety and stability of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless charging of electric vehicles, and in particular to an intelligent wireless charging method and device applied to vehicles, and a computer storage medium. Background Art

[0002] In modern society, with the popularity of electric vehicles, wireless charging technology has gradually become a research hotspot due to its convenience and flexibility. However, in practical applications, most of the existing vehicle wireless charging methods still rely on the driver or staff to manually drive the vehicle or operate related equipment to align the wireless charging transmitter with the wireless charging receiver, and then perform subsequent wireless charging operations. It can be seen that the existing vehicle wireless charging methods are overly dependent on manual operation by the user, and the accuracy and efficiency of wireless charging are low. Therefore, it is particularly important to provide a wireless charging method that improves the accuracy and efficiency of wireless charging for vehicles. Summary of the invention

[0003] The present invention provides an intelligent wireless charging method and device for a vehicle, and a computer storage medium, which can provide an intelligent vehicle wireless charging function and improve the accuracy and efficiency of the vehicle's wireless charging.

[0004] In order to solve the above technical problems, the first aspect of the present invention discloses an intelligent wireless charging method for a vehicle, the method comprising:

[0005] When a vehicle to be charged is detected and the target charging parking space is in an idle state, based on the pre-trained converged vehicle parking control model, the vehicle to be charged is controlled to perform a corresponding parking operation based on the target charging parking space;

[0006] Determining whether the vehicle to be charged meets a preset parking completion condition;

[0007] When it is determined that the vehicle to be charged meets the parking completion condition, determining whether the vehicle to be charged meets a preset charging execution condition;

[0008] When it is determined that the vehicle to be charged meets the charging execution condition, a corresponding wireless charging operation is performed on the vehicle to be charged.

[0009] As an optional implementation, in the first aspect of the present invention, the vehicle parking control model based on pre-training convergence controls the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space, including:

[0010] Determine the initial position information of the vehicle to be charged, and determine the first device position information and first device angle information corresponding to the charging transmitting device in the target charging parking space;

[0011] Inputting the initial position information, the first device position information and the first device angle information into the pre-trained converged vehicle parking control model for analysis to obtain a first driving plan; the first driving plan at least includes the driving mileage information, driving speed information, driving acceleration information and steering wheel angle information of the vehicle to be charged at different times;

[0012] According to the first driving plan, the vehicle to be charged is controlled to perform a corresponding parking operation.

[0013] As an optional implementation, in the first aspect of the present invention, the determining whether the vehicle to be charged meets a preset parking completion condition includes:

[0014] During the process of the vehicle to be charged performing the parking operation, determining whether the vehicle to be charged meets a preset precise parking condition;

[0015] When it is determined that the vehicle to be charged meets the precise parking condition, the first coordinate information of the vehicle to be charged at the current moment is determined according to the first driving plan, and the second coordinate information of the charging transmitter is determined;

[0016] According to the first coordinate information and the second coordinate information, determining whether the vehicle to be charged meets a preset charging device matching condition;

[0017] When it is determined that the vehicle to be charged meets the charging equipment matching condition, determining that the vehicle to be charged meets the preset parking completion condition;

[0018] When it is determined that the vehicle to be charged does not meet the charging equipment matching condition, determining that the vehicle to be charged does not meet the preset parking completion condition;

[0019] When it is determined that the vehicle to be charged does not meet the precise parking condition, determining that the vehicle to be charged does not meet the preset parking completion condition;

[0020] And, the method further comprises:

[0021] When it is determined that the vehicle to be charged does not meet the parking completion condition, the vehicle to be charged is controlled to continue to perform the parking operation for the next moment, and the step of determining whether the vehicle to be charged meets the preset parking completion condition is performed again.

[0022] As an optional implementation, in the first aspect of the present invention, judging whether the vehicle to be charged meets a preset charging device matching condition according to the first coordinate information and the second coordinate information includes:

[0023] Determine, based on the first coordinate information, third coordinate information corresponding to a charging receiving device installed in the vehicle to be charged;

[0024] Calculating a coordinate difference according to the second coordinate information and the third coordinate information;

[0025] Determine whether the coordinate difference is less than or equal to a preset coordinate difference threshold;

[0026] When it is determined that the coordinate difference is greater than the coordinate difference threshold, determining that the vehicle to be charged does not meet a preset charging device matching condition;

[0027] When it is determined that the coordinate difference is less than or equal to the coordinate difference threshold, it is determined that the vehicle to be charged meets a preset charging device matching condition.

[0028] As an optional implementation, in the first aspect of the present invention, the determining whether the vehicle to be charged meets a preset charging execution condition includes:

[0029] Determining whether the vehicle to be charged meets a preset charging requirement condition;

[0030] When it is determined that the vehicle to be charged meets the charging requirement condition, determining whether the vehicle to be charged meets a preset foreign object interference charging condition;

[0031] When it is determined that the vehicle to be charged does not meet the foreign object interference charging condition, determining that the vehicle to be charged meets a preset charging execution condition;

[0032] When it is determined that the vehicle to be charged meets the foreign object interference charging condition, determining that the vehicle to be charged does not meet the preset charging execution condition;

[0033] When it is determined that the vehicle to be charged does not meet the charging requirement condition, determining that the vehicle to be charged does not meet the preset charging execution condition;

[0034] And, the method further comprises:

[0035] When it is determined that the vehicle to be charged does not meet the charging requirement condition, performing a corresponding parking timer operation on the vehicle to be charged;

[0036] And, the method further comprises:

[0037] When it is determined that the vehicle to be charged meets the foreign object interfering charging condition, a corresponding foreign object coping operation is performed based on the determined first target interfering foreign object.

[0038] As an optional implementation, in the first aspect of the present invention, the step of determining whether the vehicle to be charged meets a preset foreign object interference charging condition includes:

[0039] Performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection to obtain a first signal analysis result;

[0040] According to the analysis result of the first signal, determining whether the target charging parking space meets the preset foreign object existence condition;

[0041] When it is determined that the target charging parking space meets the foreign object existence condition, one or more interfering foreign objects are determined according to the first signal analysis result, and according to the second position information of each of the interfering foreign objects, a second target interfering foreign object that meets the preset distance screening condition is determined from all the interfering foreign objects;

[0042] Determining whether the second target interfering foreign object meets a preset first wireless charging influencing condition according to the second position information of the second target interfering foreign object;

[0043] When it is determined that the second target interfering foreign object meets the first wireless charging influencing condition, determining the reflected energy corresponding to the second target interfering foreign object, and judging whether the second target interfering foreign object meets the preset second wireless charging influencing condition according to the reflected energy;

[0044] When it is determined that the second target interfering foreign object meets the second wireless charging impact condition, determining that the vehicle to be charged meets the preset foreign object interference charging condition;

[0045] When it is determined that the second target interfering foreign object does not satisfy the second wireless charging influencing condition, determining that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition;

[0046] When it is determined that the second target interfering foreign object does not satisfy the first wireless charging influencing condition, it is determined that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition.

[0047] As an optional implementation, in the first aspect of the present invention, the performing of a corresponding foreign object response operation based on the determined first target interfering foreign object includes:

[0048] Based on the determined first target interfering foreign object, generating a foreign object interference prompt instruction; and / or,

[0049] Determining whether the first target interfering foreign object meets a preset driving-away operation execution condition;

[0050] When it is determined that the first target interfering foreign object meets the driving-away operation execution condition, performing a corresponding driving-away operation on the first target interfering foreign object;

[0051] When it is determined that the first target interfering foreign object does not meet the driving-away operation execution condition, a target area where the first target interfering foreign object is located is determined, and a corresponding induced current shielding operation and / or a corresponding magnetic induction intensity weakening operation is performed on the target area.

[0052] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0053] During the process of the vehicle to be charged performing the wireless charging operation, determining whether the vehicle to be charged meets a preset charging stop condition;

[0054] When it is determined that the vehicle to be charged meets the charging stop condition, a corresponding charging stop operation is performed on the vehicle to be charged;

[0055] And, the determining whether the vehicle to be charged meets a preset charging stop condition includes:

[0056] Determine whether the vehicle to be charged meets a preset full charge state condition; when it is determined that the vehicle to be charged meets the full charge state condition, determine that the vehicle to be charged meets a preset charging stop condition; when it is determined that the vehicle to be charged does not meet the full charge state condition, determine that the vehicle to be charged does not meet the preset charging stop condition; and / or,

[0057] Determine whether the vehicle to be charged meets a preset abnormal charging condition; when it is determined that the vehicle to be charged meets the abnormal charging condition, determine that the vehicle to be charged meets a preset charging stop condition; when it is determined that the vehicle to be charged does not meet the abnormal charging condition, determine that the vehicle to be charged does not meet the preset charging stop condition.

[0058] A second aspect of the present invention discloses an intelligent wireless charging device for a vehicle, the device comprising:

[0059] A parking control module, for controlling the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space when a vehicle to be charged is detected and the target charging parking space is in an idle state, based on a pre-trained converged vehicle parking control model;

[0060] A first judgment module, used to judge whether the vehicle to be charged meets a preset parking completion condition;

[0061] a second judgment module, configured to judge whether the vehicle to be charged meets a preset charging execution condition when the first judgment module judges that the vehicle to be charged meets the parking completion condition;

[0062] The wireless charging execution module is used to execute a corresponding wireless charging operation on the vehicle to be charged when the second judgment module determines that the vehicle to be charged meets the charging execution condition.

[0063] As an optional implementation, in the second aspect of the present invention, the parking control module controls the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space based on the pre-trained converged vehicle parking control model, specifically including:

[0064] Determine the initial position information of the vehicle to be charged, and determine the first device position information and first device angle information corresponding to the charging transmitting device in the target charging parking space;

[0065] Inputting the initial position information, the first device position information and the first device angle information into the pre-trained converged vehicle parking control model for analysis to obtain a first driving plan; the first driving plan at least includes the driving mileage information, driving speed information, driving acceleration information and steering wheel angle information of the vehicle to be charged at different times;

[0066] According to the first driving plan, the vehicle to be charged is controlled to perform a corresponding parking operation.

[0067] As an optional implementation, in the second aspect of the present invention, the first judgment module determines whether the vehicle to be charged meets the preset parking completion condition in a manner that specifically includes:

[0068] During the process of the vehicle to be charged performing the parking operation, determining whether the vehicle to be charged meets a preset precise parking condition;

[0069] When it is determined that the vehicle to be charged meets the precise parking condition, the first coordinate information of the vehicle to be charged at the current moment is determined according to the first driving plan, and the second coordinate information of the charging transmitter is determined;

[0070] According to the first coordinate information and the second coordinate information, determining whether the vehicle to be charged meets a preset charging device matching condition;

[0071] When it is determined that the vehicle to be charged meets the charging equipment matching condition, determining that the vehicle to be charged meets the preset parking completion condition;

[0072] When it is determined that the vehicle to be charged does not meet the charging equipment matching condition, determining that the vehicle to be charged does not meet the preset parking completion condition;

[0073] When it is determined that the vehicle to be charged does not meet the precise parking condition, determining that the vehicle to be charged does not meet the preset parking completion condition;

[0074] Furthermore, the first judgment module is also used to trigger the parking control module to control the vehicle to be charged to continue to perform the parking operation for the next moment when it is determined that the vehicle to be charged does not meet the parking completion condition, and to perform the step of determining whether the vehicle to be charged meets the preset parking completion condition again.

[0075] As an optional implementation, in the second aspect of the present invention, the first judgment module determines whether the vehicle to be charged meets the preset charging device matching condition according to the first coordinate information and the second coordinate information, specifically including:

[0076] Determine, based on the first coordinate information, third coordinate information corresponding to a charging receiving device installed in the vehicle to be charged;

[0077] Calculating a coordinate difference according to the second coordinate information and the third coordinate information;

[0078] Determine whether the coordinate difference is less than or equal to a preset coordinate difference threshold;

[0079] When it is determined that the coordinate difference is greater than the coordinate difference threshold, determining that the vehicle to be charged does not meet a preset charging device matching condition;

[0080] When it is determined that the coordinate difference is less than or equal to the coordinate difference threshold, it is determined that the vehicle to be charged meets a preset charging device matching condition.

[0081] As an optional implementation, in the second aspect of the present invention, the second judgment module judges whether the vehicle to be charged meets the preset charging execution condition in a manner that specifically includes:

[0082] Determining whether the vehicle to be charged meets a preset charging requirement condition;

[0083] When it is determined that the vehicle to be charged meets the charging requirement condition, determining whether the vehicle to be charged meets a preset foreign object interference charging condition;

[0084] When it is determined that the vehicle to be charged does not meet the foreign object interference charging condition, determining that the vehicle to be charged meets a preset charging execution condition;

[0085] When it is determined that the vehicle to be charged meets the foreign object interference charging condition, determining that the vehicle to be charged does not meet the preset charging execution condition;

[0086] When it is determined that the vehicle to be charged does not meet the charging requirement condition, determining that the vehicle to be charged does not meet the preset charging execution condition;

[0087] And, the device also includes:

[0088] A parking timing module, configured to perform a corresponding parking timing operation on the vehicle to be charged when the second judgment module determines that the vehicle to be charged does not meet the charging requirement condition;

[0089] And, the device also includes:

[0090] The foreign object response module is used to perform a corresponding foreign object response operation based on the determined first target interfering foreign object when the second judgment module determines that the vehicle to be charged meets the foreign object interference charging condition.

[0091] As an optional implementation, in the second aspect of the present invention, the second judgment module determines whether the vehicle to be charged meets the preset foreign object interference charging condition in a manner specifically including:

[0092] Performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection to obtain a first signal analysis result;

[0093] According to the analysis result of the first signal, determining whether the target charging parking space meets the preset foreign object existence condition;

[0094] When it is determined that the target charging parking space meets the foreign object existence condition, one or more interfering foreign objects are determined according to the first signal analysis result, and according to the second position information of each of the interfering foreign objects, a second target interfering foreign object that meets the preset distance screening condition is determined from all the interfering foreign objects;

[0095] Determining whether the second target interfering foreign object meets a preset first wireless charging influencing condition according to the second position information of the second target interfering foreign object;

[0096] When it is determined that the second target interfering foreign object meets the first wireless charging influencing condition, determining the reflected energy corresponding to the second target interfering foreign object, and judging whether the second target interfering foreign object meets the preset second wireless charging influencing condition according to the reflected energy;

[0097] When it is determined that the second target interfering foreign object meets the second wireless charging impact condition, determining that the vehicle to be charged meets the preset foreign object interference charging condition;

[0098] When it is determined that the second target interfering foreign object does not satisfy the second wireless charging influencing condition, determining that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition;

[0099] When it is determined that the second target interfering foreign object does not satisfy the first wireless charging influencing condition, it is determined that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition.

[0100] As an optional implementation, in the second aspect of the present invention, the foreign object response module performs a corresponding foreign object response operation based on the determined first target interfering foreign object, specifically including:

[0101] Based on the determined first target interfering foreign object, generating a foreign object interference prompt instruction; and / or,

[0102] Determining whether the first target interfering foreign object meets a preset driving-away operation execution condition;

[0103] When it is determined that the first target interfering foreign object meets the driving-away operation execution condition, performing a corresponding driving-away operation on the first target interfering foreign object;

[0104] When it is determined that the first target interfering foreign object does not meet the driving-away operation execution condition, a target area where the first target interfering foreign object is located is determined, and a corresponding induced current shielding operation and / or a corresponding magnetic induction intensity weakening operation is performed on the target area.

[0105] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0106] A third judgment module is used to judge whether the vehicle to be charged meets a preset charging stop condition during the process of the vehicle to be charged performing the wireless charging operation;

[0107] a charging stop control module, configured to execute a corresponding charging stop operation on the vehicle to be charged when the third judgment module determines that the vehicle to be charged meets the charging stop condition;

[0108] Furthermore, the third judgment module judges whether the vehicle to be charged meets the preset charging stop condition in the following manner:

[0109] Determine whether the vehicle to be charged meets a preset full charge state condition; when it is determined that the vehicle to be charged meets the full charge state condition, determine that the vehicle to be charged meets a preset charging stop condition; when it is determined that the vehicle to be charged does not meet the full charge state condition, determine that the vehicle to be charged does not meet the preset charging stop condition; and / or,

[0110] Determine whether the vehicle to be charged meets a preset abnormal charging condition; when it is determined that the vehicle to be charged meets the abnormal charging condition, determine that the vehicle to be charged meets a preset charging stop condition; when it is determined that the vehicle to be charged does not meet the abnormal charging condition, determine that the vehicle to be charged does not meet the preset charging stop condition.

[0111] The third aspect of the present invention discloses another intelligent wireless charging device for a vehicle, the device comprising:

[0112] A memory storing executable program code;

[0113] a processor coupled to the memory;

[0114] The processor calls the executable program code stored in the memory to execute the intelligent wireless charging method for a vehicle disclosed in the first aspect of the present invention.

[0115] A fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the intelligent wireless charging method for vehicles disclosed in the first aspect of the present invention.

[0116] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0117] In an embodiment of the present invention, when a vehicle to be charged is detected and a target charging parking space is in an idle state, based on a pre-trained converged vehicle parking control model, the vehicle to be charged is controlled to perform a corresponding parking operation based on the target charging parking space; it is determined whether the vehicle to be charged meets a preset parking completion condition; when it is determined that the vehicle to be charged meets the parking completion condition, it is determined whether the vehicle to be charged meets a preset charging execution condition; when it is determined that the vehicle to be charged meets the charging execution condition, a corresponding wireless charging operation is performed on the vehicle to be charged. It can be seen that the present invention can control the vehicle to be charged to perform the corresponding parking operation based on the vehicle parking control model, and when the vehicle to be charged meets the parking completion condition and the charging execution condition, the corresponding wireless charging operation is performed on the vehicle to be charged, which is beneficial to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and is beneficial to providing diversified and intelligent wireless charging functions, thereby improving the execution accuracy, reliability, and timeliness of the vehicle's wireless charging operation, and is also beneficial to improving the vehicle's automatic parking accuracy and efficiency, thereby improving the vehicle's wireless charging accuracy and reliability, and is beneficial to improving the vehicle's wireless charging efficiency and convenience, further beneficial to shortening the charging time and reducing charging energy loss, and is beneficial to improving the vehicle's wireless charging safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0118] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0119] Figure 1 It is a flow chart of an intelligent wireless charging method applied to a vehicle disclosed in an embodiment of the present invention;

[0120] Figure 2 is a flow chart of another intelligent wireless charging method for a vehicle disclosed in an embodiment of the present invention;

[0121] Figure 3 It is a structural schematic diagram of an intelligent wireless charging device applied to a vehicle disclosed in an embodiment of the present invention;

[0122] Figure 4 is a schematic structural diagram of another intelligent wireless charging device applied to a vehicle disclosed in an embodiment of the present invention;

[0123] Figure 5 It is a structural schematic diagram of another intelligent wireless charging device applied to a vehicle disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0124] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0125] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0126] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0127] The present invention discloses an intelligent wireless charging method and device for vehicles, and a computer storage medium, which can control the vehicle to be charged to perform corresponding parking operations based on a vehicle parking control model, and when the vehicle to be charged meets the parking completion conditions and the charging execution conditions, the vehicle to be charged performs corresponding wireless charging operations, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and is conducive to providing diversified and intelligent wireless charging functions, thereby improving the execution accuracy, reliability, and timeliness of the vehicle's wireless charging operations, and is also conducive to improving the accuracy and efficiency of the vehicle's automatic parking, thereby improving the accuracy and reliability of the vehicle's wireless charging, and is conducive to improving the efficiency and convenience of the vehicle's wireless charging, further conducive to shortening the charging time and reducing the charging energy loss, and is conducive to improving the safety and stability of the vehicle's wireless charging. The following are detailed descriptions.

[0128] Embodiment 1

[0129] See also Figure 1 , Figure 1 is a flow chart of an intelligent wireless charging method for a vehicle disclosed in an embodiment of the present invention. Figure 1 The described method may be applied to a smart wireless charging device for a vehicle, wherein the device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiments of the present invention. Figure 1 As shown, the intelligent wireless charging method applied to a vehicle includes the following operations:

[0130] 101. When a vehicle to be charged is detected and the target charging parking space is in an idle state, based on the pre-trained converged vehicle parking control model, the vehicle to be charged is controlled to perform a corresponding parking operation based on the target charging parking space.

[0131] Optionally, when a vehicle to be charged is photographed by a parking space surround view camera and there is no vehicle parked in the target charging space at this time, it is determined that the vehicle to be charged is detected and the target charging space is in an idle state, which is not limited in this embodiment of the present invention.

[0132] Optionally, the parking space communication module corresponding to the target charging parking space is interconnected with the vehicle communication module corresponding to the vehicle to be charged through WiFi broadcasting a specific SSID code, and detects and locates the wireless charging transmitting device corresponding to the target charging parking space, and guides the vehicle to be charged to automatically park into the target charging parking space by calculating the path and trajectory in real time, so that the wireless charging transmitting device corresponding to the target charging parking space is aligned with the wireless charging receiving device corresponding to the vehicle to be charged, which is not limited to the embodiments of the present invention.

[0133] Further optionally, the method may further include the following steps:

[0134] A corresponding model training operation is performed on the basic vehicle parking control model to obtain a vehicle parking control model that has converged in training.

[0135] Further optionally, the above-mentioned basic vehicle parking control model performs corresponding model training operations to obtain a vehicle parking control model with converged training. For example: based on the wireless charging transmitter device of the target charging parking space and the real-shot image data set of the parking space line as the training source, an adaptive contour sampling method is used to obtain a polygonal detection object contour with non-uniform vertices; the parking space lines, pedestrians, cars, trucks, and bicycles in the data set are calibrated using Labellmg to testify semantic data labels, and the wireless charging transmitter device is marked with ArUco, and the pixel coordinates of each data label and its angle relative to the image plane are calculated. All data labels generate normalized geometric tensors as training factors, and the vehicle parking control model with converged training is obtained through training, which is not limited to the embodiments of the present invention.

[0136] Optionally, this solution adopts a vehicle-machine interconnection method, calculates the parking path of the vehicle in real time based on the parking space system as a reference point, and drives the vehicle to park along the calculated trajectory, making parking more accurate, efficient and intelligent, which is not limited in the embodiments of the present invention.

[0137] Further optionally, before the above-mentioned pre-trained converged vehicle parking control model controls the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space, the method may further include the following operations:

[0138] Determine whether the parking space system corresponding to the target charging space and the vehicle computer corresponding to the vehicle to be charged meet the preset interconnection conditions;

[0139] When the judgment result is yes, the above-mentioned vehicle parking control model based on pre-training convergence is executed to control the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space;

[0140] When the judgment result is no, execute step 102, or perform corresponding interconnection operations on the parking space system and the vehicle computer and execute the above step of determining whether the parking space system corresponding to the target charging parking space and the vehicle computer corresponding to the vehicle to be charged meet the preset interconnection conditions again.

[0141] 102. Determine whether the vehicle to be charged meets the preset parking completion conditions.

[0142] Further optionally, the method may also include the following operations:

[0143] When it is determined that the vehicle to be charged does not meet the parking completion condition, the above step of determining whether the vehicle to be charged meets the preset parking completion condition is performed again.

[0144] Optionally, the above-mentioned preset parking completion conditions include, for example: whether the vehicle to be charged is accurately parked in the target charging parking space, whether the wireless charging receiving module (such as a wireless charging receiving device) of the vehicle to be charged matches the wireless charging transmitting module (such as a wireless charging transmitting device) of the target charging parking space; further, whether the above-mentioned wireless charging receiving module matches the wireless charging transmitting module, for example: whether the wireless charging receiving module and the wireless charging transmitting module are aligned in position, whether the wireless charging receiving module and the wireless charging transmitting module are matching models to realize wireless charging, etc. If so, they match, and the embodiments of the present invention are not limited thereto.

[0145] 103. When it is determined that the vehicle to be charged meets the parking completion condition, it is determined whether the vehicle to be charged meets the preset charging execution condition.

[0146] Further optionally, the method may also include the following operations:

[0147] When it is determined that the vehicle to be charged does not meet the charging execution conditions, the corresponding abnormality detection and processing operations are performed, and the above-mentioned step of determining whether the vehicle to be charged meets the preset charging execution conditions is performed again until the vehicle to be charged meets the preset charging execution conditions.

[0148] 104. When it is determined that the vehicle to be charged meets the charging execution condition, a corresponding wireless charging operation is performed on the vehicle to be charged.

[0149] Further optionally, the above-mentioned communication method corresponding to the corresponding wireless charging operation performed on the vehicle to be charged is illustrated by way of example: interconnecting with the vehicle computer through WiFi and then interacting with the vehicle's onboard system, mutually transmitting charging status data, battery telecommunication information data, charging fault alarm information, etc., and real-time charging information can be intuitively viewed both on the vehicle computer system in the car and on the display screen of the parking system, which is not limited in the embodiments of the present invention.

[0150] Further optionally, the wireless charging implementation method corresponding to the corresponding wireless charging operation performed on the charged vehicle is illustrated by way of example: electromagnetic resonance technology is used, based on the principle of electromagnetic induction, the frequencies corresponding to the transmitting coil of the wireless charging transmitting device and the receiving coil of the wireless charging receiving device are tuned to be consistent, resonance is formed, and current can be generated in the wireless charging receiving device to achieve wireless charging; in order to enhance the electromagnetic induction power, a nickel-iron alloy powder-containing magnetic blanket is embedded at the end of the wireless charging transmitting device, and the electromagnetic field generated by the wireless charging transmitting device passes through the high-frequency and high-magnetic permeability material to form a closed magnetic loop, thereby enhancing the magnetic permeability between the wireless charging transceiver devices, reducing electromagnetic diffusion, and enhancing the magnetic flux received by the wireless charging receiving device; for the magnetic induction coil, a multi-matrix nested induction coil array is arranged, the central axis coincides with the inductor coils of different diameters from small to large, and are arranged in a ring shape, all electromagnetic induction coils can be used individually or in parallel at the same time, and when there is a foreign object, the corresponding magnetic induction coil will be weakened or, magnetic induction shielding is used to protect the wireless charging, which is not limited in the embodiments of the present invention.

[0151] Optionally, the present solution uses a new type of high magnetic permeability material to enhance the power of electromagnetic induction wireless charging, so as to improve efficiency and reduce charging time under the premise of safety and stability, which is not limited in the embodiments of the present invention.

[0152] It can be seen that the intelligent wireless charging method applied to vehicles described in the embodiment of the present invention can control the vehicle to be charged to perform the corresponding parking operation based on the vehicle parking control model, and when the vehicle to be charged meets the parking completion condition and the charging execution condition, the corresponding wireless charging operation is performed on the vehicle to be charged, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and is conducive to providing diversified and intelligent wireless charging functions, thereby helping to improve the execution accuracy, reliability, and timeliness of the vehicle's wireless charging operation, and is also conducive to improving the accuracy and efficiency of the vehicle's automatic parking, thereby helping to improve the accuracy and reliability of the vehicle's wireless charging, and is conducive to improving the vehicle's wireless charging efficiency and convenience, further helping to shorten the charging time and reduce the charging energy loss, and is conducive to improving the vehicle's wireless charging safety and stability.

[0153] In an optional embodiment, the above-mentioned vehicle parking control model based on pre-training convergence controls the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space, which may include:

[0154] Determine the initial position information of the vehicle to be charged, and determine the first device position information and first device angle information corresponding to the charging transmitting device in the target charging parking space;

[0155] Inputting the initial position information, the first device position information and the first device angle information into the pre-trained converged vehicle parking control model for analysis to obtain a first driving plan; the first driving plan at least includes the driving mileage information, driving speed information, driving acceleration information and steering wheel angle information of the vehicle to be charged at different times;

[0156] According to the first driving plan, the vehicle to be charged is controlled to perform a corresponding parking operation.

[0157] Further optionally, the first driving scheme may also be calculated by the following formula:

[0158] Based on the vehicle's current position, the vehicle center (A x ,A y ) and the target position (C x ,C y ) The straight line distance is the radius R1, to prepare the starting position of reverse (B x ,B y ) to the target position (C x ,C y ) The horizontal distance is the radius R2, and the guiding path of the arc-arc combination is formed by the principle of two circles being tangent. The obstacle coordinates are (D x ,D y );

[0159] From the first-order inertial system, we get: Where K = 1-bit system gain, τ d is the time constant, a des is the target acceleration, a is the current acceleration;

[0160] Expand the velocity and acceleration in the above equation into a matrix form and turn it into a state equation:

[0161] Right now:

[0162] Discretized by Euler method: X(k+1)=A k X(k)+B k a des Among them, A k , B k is the time constant matrix;

[0163] Right now:

[0164] Furthermore, in order to avoid collisions with obstacles and excessive acceleration shocks, system constraints should be introduced, such as acceleration and its rate of change:

[0165] a min ≤a(k+1)≤a max’ ;

[0166] Δa min ≤Δa(k+1)≤Δa max ,i=0,1,…,N e -1;

[0167] Get the shortest collision-free trajectory:

[0168] Where: r is the distance between the vehicle center and R min is the minimum turning radius of the inner wheel, d is the vehicle width, D y is the y-axis coordinate of the obstacle, l is the distance from the front of the vehicle to the center of the vehicle;

[0169] Substitute the prediction expression into the objective function:

[0170]

[0171] The vehicle longitudinal steering angle is:

[0172] Therefore, by combining the above formulas, the mileage X(k+1), speed v(k+1), acceleration a(k+1), and steering wheel angle θ(k+1) at different times can be estimated, and then the first driving plan can be obtained.

[0173] Optionally, according to the initial position of the vehicle to be charged and the angle and position of the wireless charging transmitting device, a first sub-driving trajectory of the vehicle to be charged is estimated, and the vehicle to be charged is driven to travel along the first sub-driving trajectory; further, during the parking process of the vehicle to be charged, the second sub-driving trajectory of the vehicle to be charged is estimated in real time based on the relative position of the vehicle to be charged and the wireless charging transmitting device captured by the camera, and the vehicle to be charged is driven to travel along the second sub-driving trajectory, and the calculation and driving operations are repeated until the difference in coordinates between the wireless charging receiving device and the wireless charging transmitting device is less than or equal to a preset coordinate difference threshold, then it is determined that the vehicle to be charged meets the preset precise parking condition, which is not limited in the embodiments of the present invention.

[0174] Further optionally, the first driving scheme may include but is not limited to the first sub-driving trajectory and the second sub-driving trajectory mentioned above, which is not limited in this embodiment of the present invention.

[0175] It can be seen that this optional embodiment can input the initial position information of the vehicle to be charged, the first device position information of the charging transmitting device and the first device angle information into the vehicle parking control model for analysis, and obtain the first driving plan, and then control the vehicle to be charged to perform the corresponding parking operation, which is beneficial to improving the comprehensiveness and rationality of the parking control method of the vehicle to be charged, and then is beneficial to improving the accuracy and reliability of the determined first driving plan for parking the vehicle to be charged, thereby helping to improve the parking accuracy and reliability of the vehicle to be charged.

[0176] In another optional embodiment, the above-mentioned determination of whether the vehicle to be charged meets the preset parking completion condition may include:

[0177] During the process of the vehicle to be charged performing the parking operation, determining whether the vehicle to be charged meets the preset precise parking conditions;

[0178] When it is determined that the vehicle to be charged meets the precise parking condition, the first coordinate information of the vehicle to be charged at the current moment is determined according to the first driving plan, and the second coordinate information of the charging transmitting device is determined;

[0179] According to the first coordinate information and the second coordinate information, determining whether the vehicle to be charged meets a preset charging device matching condition;

[0180] When it is determined that the vehicle to be charged meets the charging equipment matching condition, determining that the vehicle to be charged meets the preset parking completion condition;

[0181] When it is determined that the vehicle to be charged does not meet the charging equipment matching condition, determining that the vehicle to be charged does not meet the preset parking completion condition;

[0182] When it is determined that the vehicle to be charged does not meet the precise parking condition, it is determined that the vehicle to be charged does not meet the preset parking completion condition.

[0183] Further optionally, the above-mentioned determination of whether the vehicle to be charged meets the preset precise parking condition may include:

[0184] Determine whether the four wheels of the vehicle to be charged meet the preset auxiliary positioning requirements;

[0185] When the judgment result is yes, it is determined that the vehicle to be charged meets the preset precise parking condition;

[0186] When the judgment result is no, it is determined that the vehicle to be charged does not meet the preset precise parking condition.

[0187] It can be seen that this optional embodiment can determine the parking completion condition satisfaction result of the vehicle to be charged by determining the precise parking condition satisfaction result of the vehicle to be charged and the charging equipment matching condition satisfaction result. This is beneficial to improving the comprehensiveness, rationality, pertinence and progressiveness of the method for determining the parking completion condition satisfaction result of the vehicle to be charged, and thus is beneficial to improving the accuracy and reliability of the determined parking completion condition satisfaction result, thereby facilitating improving the execution accuracy, reliability and timeliness of subsequent operations performed based on the parking completion condition satisfaction result. In addition, to a certain extent, it is beneficial to improve the accuracy and optimization effect of wireless charging affected by the parking situation of the vehicle to be charged.

[0188] In yet another optional embodiment, the method may further include the following operations:

[0189] When it is determined that the vehicle to be charged does not meet the parking completion condition, the vehicle to be charged is controlled to continue to perform the parking operation for the next moment, and the step of determining whether the vehicle to be charged meets the preset parking completion condition is performed again.

[0190] It can be seen that this optional embodiment can control the vehicle to be charged to continue to perform the parking operation at the next moment when the vehicle to be charged does not meet the parking completion conditions, and judge again whether the parking of the vehicle to be charged is completed, which is conducive to improving the comprehensiveness and integrity of the parking control method of the vehicle to be charged, and then it is conducive to improving the accuracy, reliability and rationality of the parking control of the vehicle to be charged, reducing unnecessary parking operations, and reducing the occurrence of incorrect parking of the vehicle to be charged to a certain extent. In addition, it is also conducive to improving the accuracy and timeliness of determining the completion of parking of the vehicle to be charged, reducing unnecessary waste of parking resources, improving the timeliness, triggering efficiency and convenience of wireless charging execution of the vehicle to be charged, and improving the parking safety and stability of the vehicle to be charged.

[0191] In another optional embodiment, judging whether the vehicle to be charged meets the preset charging device matching condition according to the first coordinate information and the second coordinate information may include:

[0192] Determine, based on the first coordinate information, third coordinate information corresponding to a charging receiving device installed in the vehicle to be charged;

[0193] Calculate the coordinate difference according to the second coordinate information and the third coordinate information;

[0194] Determine whether the coordinate difference is less than or equal to a preset coordinate difference threshold;

[0195] When it is determined that the coordinate difference is greater than the coordinate difference threshold, it is determined that the vehicle to be charged does not meet the preset charging device matching condition;

[0196] When it is determined that the coordinate difference is less than or equal to the coordinate difference threshold, it is determined that the vehicle to be charged meets the preset charging device matching condition.

[0197] Optionally, the coordinate difference threshold may be set to different distance values ​​according to actual needs, which is not limited in the embodiment of the present invention.

[0198] Alternatively, the coordinate difference may be obtained by:

[0199] Combined with the set formula, the mileage X(k+1), speed v(k+1), acceleration a(k+1), and steering wheel angle θ(k+1) at the next moment are estimated, and the difference between the coordinates at the next moment and the coordinates of the wireless transmitter of the parking system (that is, the coordinate difference) is further calculated, where:

[0200] The coordinate difference is: Δ = X ArUco -X(k+1);

[0201] Further, when Δ≤coordinate difference threshold, it can be determined that the wireless charging transmitting device is aligned with the wireless charging receiving device, that is, the vehicle to be charged meets the preset charging device matching condition, which is not limited in the embodiment of the present invention.

[0202] It can be seen that this optional embodiment can determine the coordinate difference based on the second coordinate information of the charging transmitting device and the third coordinate information of the charging receiving device, and determine the charging device matching condition satisfaction result of the vehicle to be charged based on the comparison between the coordinate difference and the corresponding threshold value, which is beneficial to improving the comprehensiveness and rationality of the method for determining the charging device matching condition satisfaction result, and further helps to improve the accuracy and reliability of the determined charging device matching condition satisfaction result, thereby helping to improve the accuracy and safety of wireless charging.

[0203] In another optional embodiment, the above-mentioned determination of whether the vehicle to be charged meets the preset charging execution condition may include:

[0204] Determine whether the vehicle to be charged meets the preset charging requirement conditions;

[0205] When it is determined that the vehicle to be charged meets the charging requirement conditions, it is determined whether the vehicle to be charged meets the preset foreign object interference charging conditions;

[0206] When it is determined that the vehicle to be charged does not meet the charging condition of foreign object interference, determining that the vehicle to be charged meets the preset charging execution condition;

[0207] When it is determined that the vehicle to be charged meets the foreign object interference charging condition, determining that the vehicle to be charged does not meet the preset charging execution condition;

[0208] When it is determined that the vehicle to be charged does not meet the charging requirement condition, it is determined that the vehicle to be charged does not meet the preset charging execution condition.

[0209] Optionally, the above-mentioned foreign object interference with charging conditions may include but are not limited to whether a foreign object exists in the wireless charging-related area, whether the distance between the foreign object and the wireless charging-related device is less than or equal to a preset acceptable distance threshold, whether the energy reflectivity of the foreign object is less than or equal to a preset acceptable energy radiation rate, etc., and the embodiments of the present invention do not limit this.

[0210] It can be seen that this optional embodiment can determine the charging execution condition satisfaction results of the vehicle to be charged through two levels: the charging demand condition satisfaction results of the vehicle to be charged and the foreign object interference charging condition satisfaction results. This is beneficial to improving the comprehensiveness, rationality, pertinence and progressiveness of the charging execution condition satisfaction results determination method, and thus is beneficial to improving the accuracy and reliability of the determined charging execution condition satisfaction results, thereby helping to improve the execution accuracy, reliability and timeliness of subsequent wireless charging operations of the vehicle to be charged, and is beneficial to optimizing the wireless charging effect and efficiency.

[0211] In yet another optional embodiment, the method may further include the following operations:

[0212] When it is determined that the vehicle to be charged does not meet the charging requirement conditions, a corresponding parking timer operation is performed on the vehicle to be charged.

[0213] It can be seen that this optional embodiment can provide a parking timing function for the vehicle to be charged, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and further conducive to improving the diversity of intelligent functions, and is conducive to improving the timeliness, rationality, accuracy and efficiency of the parking timing operation of the vehicle to be charged. To a certain extent, it is helpful to deal with the situation where the parking space is occupied without reason.

[0214] In yet another optional embodiment, the method may further include the following operations:

[0215] When it is determined that the vehicle to be charged meets the foreign object interference charging condition, a corresponding foreign object coping operation is performed based on the determined first target interfering foreign object.

[0216] It can be seen that this optional embodiment can provide a foreign object response function for the vehicle to be charged and the target charging parking space, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and thus is conducive to improving the diversity of intelligent functions, and is conducive to improving the timeliness, rationality, accuracy and efficiency of the execution of foreign object response and processing operations, and thus is conducive to improving the accuracy, stability and safety of wireless charging of the vehicle to be charged and the target charging parking space, improving the efficiency of wireless charging, reducing unnecessary safety hazards, and providing a safe and good wireless charging environment.

[0217] In yet another optional embodiment, the above-mentioned determination of whether the vehicle to be charged meets the preset foreign object interference charging condition may include:

[0218] Performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection to obtain a first signal analysis result;

[0219] According to the analysis result of the first signal, determining whether the target charging parking space meets the preset foreign object existence condition;

[0220] When it is determined that the target charging parking space meets the foreign object existence condition, one or more interfering foreign objects are determined according to the first signal analysis result, and according to the second position information of each interfering foreign object, a second target interfering foreign object that meets the preset distance screening condition is determined from all interfering foreign objects;

[0221] Determining whether the second target interfering foreign object meets a preset first wireless charging influencing condition according to the second position information of the second target interfering foreign object;

[0222] When it is determined that the second target interfering foreign object meets the first wireless charging influencing condition, the reflected energy corresponding to the second target interfering foreign object is determined, and according to the reflected energy, it is determined whether the second target interfering foreign object meets the preset second wireless charging influencing condition;

[0223] When it is determined that the second target interfering foreign object meets the second wireless charging influencing condition, determining that the vehicle to be charged meets the preset foreign object interfering charging condition;

[0224] When it is determined that the second target interfering foreign object does not satisfy the second wireless charging influencing condition, determining that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition;

[0225] When it is determined that the second target interfering foreign object does not satisfy the first wireless charging influencing condition, it is determined that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition.

[0226] Optionally, for the first intermediate frequency signal used to feedback foreign object detection, an example is given: a detection signal is transmitted to the wireless charging area at a first frequency through a millimeter wave radar module, and the reflected radar wave is received to obtain a first intermediate frequency signal which is sent to a digital processing module in the cloud, and the embodiment of the present invention is not limited thereto.

[0227] Optionally, the above-mentioned corresponding signal processing operation is performed on the received first intermediate frequency signal for feedback of foreign object detection to obtain a first signal analysis result. For example: when the first intermediate frequency signal is received by the digital signal processing module, a fast Fourier transform (FFT) is performed on it to obtain a three-dimensional FFT heat map, that is, the first signal analysis result, and it is sent to the big data analysis module. The embodiment of the present invention is not limited to this.

[0228] Further optionally, when the cloud-based big data analysis module detects a foreign object, it will change the first frequency detection signal into a second frequency detection signal, and receive the reflected radar signal at the second frequency to obtain a second intermediate frequency signal and send it to the digital processing module; when a foreign object is detected, the data signal processing module will receive the second intermediate frequency signal sent by the radar module, convert it into a radar 3-D scatter plot after Fourier transform and send it to the big data analysis module, which is not limited to the embodiments of the present invention.

[0229] Further optionally, the millimeter wave radar module is composed of a transmitting TX / receiving RX antenna, a synthesizer, a mixer and an ADC sampler, which is not limited in this embodiment of the present invention.

[0230] Further optionally, the intermediate frequency signal can be obtained by the following formula:

[0231] The first chirp generated by the synthesizer:

[0232] x1=sin(ω1t+φ1);

[0233] Wherein, ω1 is the frequency of the first linear frequency modulation pulse, and φ1 is the phase of the first linear frequency modulation pulse TX signal;

[0234] The transmitted wave passes through the object to form a reflected modulated pulse which is captured by the receiving antenna:

[0235] x2=sin(ω2t+φ2);

[0236] Wherein, ω2 is the frequency of the second linear frequency modulation pulse, and φ2 is the phase of the second linear frequency modulation pulse RX signal;

[0237] The intermediate frequency (IF) signal is generated by the mixer:

[0238] x3=sin[(ω1-ω2)t+(φ1-φ2)]

[0239] Among them, ω1 and ω2 represent the instantaneous frequencies of TX and RX signals respectively, and φ1-φ2 ​​represent the phases of TX and RX signals respectively.

[0240] Further optionally, judging whether the target charging parking space meets the preset foreign object existence condition according to the first signal analysis result can be implemented in the following manner:

[0241] The FMCW equation transmitted by the radar is:

[0242] Among them, f c is the starting frequency of the FM signal, A T is the amplitude of the FM signal, B is the bandwidth of the linear FM, φ(t) is the phase of the transmitter;

[0243] Assuming that the target foreign object is at y0, the distance between the radar and the target foreign object is: y(t)=y0+x(t);

[0244] Among them, the radar signal will be reflected by the target foreign object. Delay (where c represents the propagation speed of the radar signal in the air), substituted into the radar transmission FMCW equation:

[0245]

[0246] Furthermore, after Fourier discretization of the above formula, the corresponding phase value can be obtained. By calculating the phase change of the FMCW echo signal within the target distance, the slight movement of the target can be characterized, and then it can be determined whether there are foreign objects in the target charging parking space and / or the target charging area, which is not limited in the embodiments of the present invention.

[0247] Further optionally, the FFT heat map generated by the data signal processing module is analyzed by the big data analysis module to determine whether there are foreign objects in the wireless charging area. If there are foreign objects, a frequency change signal is sent to the radar module, and then a 3-D radar scatter plot generated by the data signal processing module is received to classify and compare the foreign objects. Otherwise, data continues to be received for analysis, which is not limited in the embodiments of the present invention.

[0248] Further optionally, if there is a foreign object, the radar switches to 20GHz low-frequency millimeter wave, and the TX transmitting antenna transmits this frequency band, and then receives the electromagnetic wave signal reflected back by the target; these reflected intermediate frequency signals are processed, and the strengths of different signals form a scatter point cloud, that is, a 3-D millimeter wave radar scatter point diagram, which is not limited in the embodiments of the present invention.

[0249] Further optionally, the target foreign body detection can also be carried out in the following manner, specifically: for detecting foreign bodies, for the local point cloud map, after rotation and translation in space, the sum of the closest distances of each point to the reference point is minimized to form a global three-dimensional point cloud; the global three-dimensional point cloud is fitted using RANSAC and SAR algorithms respectively to generate RANSAC and SAR images respectively, and the two are respectively input into the first and second deep learning networks, the point cloud is preprocessed, feature elements are extracted and calculated, and a grid is generated; SegNet is used for deep segmentation network and correction to obtain a pair of RGB images, and semantic labels are attached to each pixel; finally, the semanticized image is projected into the three-dimensional space to obtain a global three-dimensional point cloud result, and the two results are comprehensively compared and analyzed; in order to improve the accuracy of the output results, the final result and the Internet cloud data set are re-put into the first and second deep learning networks for training in the same way, which is not limited in the embodiments of the present invention.

[0250] Further optionally, the above-mentioned determining, from all interfering foreign objects, a second target interfering foreign object that meets a preset distance screening condition according to the second position information of each interfering foreign object may include:

[0251] Determine the distance between each interfering foreign object and the radar module according to the second position information of each interfering foreign object;

[0252] According to the distance corresponding to each interfering foreign object, the interfering foreign object with the smallest distance value is determined from all the interfering foreign objects, and the interfering foreign object with the smallest distance value is determined as the second target interfering foreign object.

[0253] Further optionally, judging whether the second target interfering foreign object satisfies a preset first wireless charging influencing condition according to the second position information of the second target interfering foreign object may include:

[0254] According to the second position information of the second target interfering foreign object, determining whether the second target interfering foreign object is in a preset wireless charging area;

[0255] When the judgment result is yes, it is determined that the second target interfering foreign object meets the preset first wireless charging influencing condition; when the judgment result is no, it is determined that the second target interfering foreign object does not meet the preset first wireless charging influencing condition.

[0256] Further optionally, the method may also include the following operations:

[0257] When it is determined that the second target interfering foreign object does not meet the preset first wireless charging impact condition, the above-mentioned step of performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection is performed again to obtain the first signal analysis result; based on the first signal analysis result, it is determined whether the target charging parking space meets the preset foreign object existence condition.

[0258] Further optionally, judging whether the second target interfering foreign object satisfies a preset second wireless charging influencing condition according to the reflected energy may include:

[0259] Calculate the reflectivity according to the reflected energy and the incident energy corresponding to the determined second target interfering foreign object;

[0260] Determine whether the reflectivity is greater than or equal to a preset reflectivity threshold;

[0261] When the judgment result is yes, it is determined that the second target interfering foreign object meets the preset second wireless charging influencing condition; when the judgment result is no, it is determined that the second target interfering foreign object does not meet the preset second wireless charging influencing condition.

[0262] Further optionally, the method may also include the following operations:

[0263] When it is determined that the second target interfering foreign object does not meet the preset second wireless charging impact condition, the above-mentioned step of performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection is performed again to obtain the first signal analysis result; based on the first signal analysis result, it is determined whether the target charging parking space meets the preset foreign object existence condition.

[0264] Optionally, in order to accurately and efficiently identify foreign objects before wireless charging, this solution uses millimeter wave radar and performs artificial intelligence deep learning on the collected real-shot data set to improve the accuracy of foreign object detection and target positioning, and provide safe and good environmental conditions for starting wireless charging. The embodiments of the present invention are not limited.

[0265] It can be seen that this optional embodiment can determine the foreign object interference charging condition satisfaction result of the vehicle to be charged by determining the first wireless charging influence condition satisfaction result at the position distance level and the second wireless charging influence condition satisfaction result at the reflection energy level. This is beneficial to improving the comprehensiveness, rationality, pertinence and progressiveness of the method for determining the foreign object interference charging condition satisfaction result, and thus is beneficial to improving the accuracy and reliability of the determined foreign object interference charging condition satisfaction result, thereby helping to improve the execution accuracy, reliability and timeliness of foreign object response operations based on the foreign object interference charging condition satisfaction result.

[0266] In yet another optional embodiment, the performing of corresponding foreign object handling operations based on the determined first target interfering foreign object may include:

[0267] Based on the determined first target interfering foreign object, generating a foreign object interference prompt instruction; and / or,

[0268] Determining whether the first target interfering foreign object meets a preset driving-away operation execution condition;

[0269] When it is determined that the first target interfering foreign object meets the expelling operation execution condition, a corresponding expelling operation is performed on the first target interfering foreign object;

[0270] When it is determined that the first target interfering foreign object does not meet the driving-away operation execution condition, the target area where the first target interfering foreign object is located is determined, and a corresponding induction current shielding operation and / or a corresponding magnetic induction intensity weakening operation is performed on the target area.

[0271] Optionally, the first target interfering foreign object may include but is not limited to the second target interfering foreign object. The first target interfering foreign object may not be the same object as the second target interfering foreign object. The first target interfering foreign object may also be the same object as the second target interfering foreign object. This is not limited in the embodiment of the present invention.

[0272] Optionally, based on the determined first target interfering foreign object, a foreign object interference prompt instruction is generated, for example: a signal is sent to a voice prompt module to prompt relevant personnel that there is foreign object interference and / or remind relevant personnel to drive away living foreign objects, which is not limited in the embodiments of the present invention.

[0273] Further optionally, the above-mentioned determination of whether the first target interfering foreign object meets a preset driving-away operation execution condition may include:

[0274] Determine whether the first target interfering foreign object is a living foreign object, and obtain a first determination result; when the first determination result is yes, determine that the first target interfering foreign object meets the preset expulsion operation execution condition; when the first determination result is no, determine that the first target interfering foreign object does not meet the preset expulsion operation execution condition;

[0275] and / or,

[0276] Determine whether the first target interfering foreign object cannot be moved, and obtain a second determination result; when the second determination result is no, determine that the first target interfering foreign object meets the preset expulsion operation execution condition; when the second determination result is yes, determine that the first target interfering foreign object does not meet the preset expulsion operation execution condition;

[0277] and / or,

[0278] Determine whether the interference degree of the first target interfering foreign object on the current wireless charging scene is less than or equal to a preset interference degree threshold to obtain a third judgment result; when the third judgment result is no, determine that the first target interfering foreign object meets the preset expulsion operation execution condition; when the third judgment result is yes, determine that the first target interfering foreign object does not meet the preset expulsion operation execution condition.

[0279] It can be seen that this optional embodiment can provide foreign object interference prompt instruction generation operation, foreign object removal operation, induced current shielding operation and / or magnetic induction intensity weakening operation for different first target interfering foreign objects, which is beneficial to improving the comprehensiveness, diversity, flexibility and pertinence of foreign object response methods, and further helps to improve the accuracy, reliability and efficiency of foreign object response to target interfering foreign objects.

[0280] Embodiment 2

[0281] See also Figure 2 , Figure 2 is a flow chart of another intelligent wireless charging method for vehicles disclosed in an embodiment of the present invention. Figure 2 The described method may be applied to a smart wireless charging device for a vehicle, wherein the device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiments of the present invention. Figure 2As shown, the intelligent wireless charging method applied to a vehicle includes the following operations:

[0282] 201. When a vehicle to be charged is detected and a target charging parking space is in an idle state, based on a pre-trained converged vehicle parking control model, the vehicle to be charged is controlled to perform a corresponding parking operation based on the target charging parking space.

[0283] 202. Determine whether the vehicle to be charged meets a preset parking completion condition.

[0284] 203. When it is determined that the vehicle to be charged meets the parking completion condition, determine whether the vehicle to be charged meets the preset charging execution condition.

[0285] 204. When it is determined that the vehicle to be charged meets the charging execution condition, a corresponding wireless charging operation is performed on the vehicle to be charged.

[0286] 205. During the process of the vehicle to be charged performing the wireless charging operation, determine whether the vehicle to be charged meets a preset charging stop condition.

[0287] Further optionally, the method may also include the following operations:

[0288] When it is determined that the vehicle to be charged does not meet the charging stop condition, the vehicle to be charged and the wireless charging transmitting device are controlled to continue to perform the corresponding wireless charging operation, and the above-mentioned operation of determining whether the vehicle to be charged meets the preset charging execution condition is performed again.

[0289] 206. When it is determined that the vehicle to be charged meets the charging stop condition, a corresponding charging stop operation is performed on the vehicle to be charged.

[0290] Optionally, the above-mentioned corresponding stop charging operation is performed on the vehicle to be charged. For example: the wireless charging transmitting device and the wireless charging receiving device in the vehicle to be charged are controlled to perform the corresponding stop charging operation; further, a stop charging signal is sent to the wireless charging module (i.e., the wireless charging transmitting device, the wireless charging receiving device) to turn off all magnetic induction coils; further, when charging is stopped due to charging abnormalities, a charging stop alarm can also be sent from the communication module to the vehicle system, which is not limited in the embodiments of the present invention.

[0291] In the embodiment of the present invention, for other descriptions of step 201 to step 206, please refer to other detailed descriptions of step 101 to step 104 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0292] It can be seen that the embodiment of the present invention can control the vehicle to be charged to perform the corresponding parking operation based on the vehicle parking control model, and when the vehicle to be charged meets the parking completion condition and the charging execution condition, the corresponding wireless charging operation is performed on the vehicle to be charged, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and is conducive to providing diversified and intelligent wireless charging functions, thereby improving the execution accuracy, reliability, and timeliness of the vehicle's wireless charging operation, and is also conducive to improving the accuracy and efficiency of the vehicle's automatic parking, thereby improving the accuracy and reliability of the vehicle's wireless charging, and is conducive to improving the efficiency and convenience of the vehicle's wireless charging, further conducive to shortening the charging time and reducing the charging energy loss, and is conducive to improving the safety and stability of the vehicle's wireless charging; and, when it is determined that the vehicle to be charged meets the charging stop condition, the corresponding stop charging operation is performed on the vehicle to be charged, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, thereby improving the accuracy, reliability, timeliness, and efficiency of stopping charging of the vehicle to be charged, thereby improving the safety and stability of wireless charging of the vehicle to be charged.

[0293] In an optional embodiment, the above-mentioned determination of whether the vehicle to be charged meets the preset charging stop condition may include:

[0294] Determine whether the vehicle to be charged meets the preset full charge state condition; when it is determined that the vehicle to be charged meets the full charge state condition, determine that the vehicle to be charged meets the preset charging stop condition; when it is determined that the vehicle to be charged does not meet the full charge state condition, determine that the vehicle to be charged does not meet the preset charging stop condition;

[0295] and / or,

[0296] Determine whether the vehicle to be charged meets the preset abnormal charging condition; when it is determined that the vehicle to be charged meets the abnormal charging condition, determine that the vehicle to be charged meets the preset charging stop condition; when it is determined that the vehicle to be charged does not meet the abnormal charging condition, determine that the vehicle to be charged does not meet the preset charging stop condition.

[0297] Further optionally, the above-mentioned determination of whether the vehicle to be charged meets the preset abnormal charging condition may include:

[0298] Determine whether the vehicle to be charged has a charging overcurrent phenomenon, and obtain a fourth judgment result; when the fourth judgment result is yes, determine that the vehicle to be charged meets the preset abnormal charging condition; when the fourth judgment result is no, determine that the vehicle to be charged does not meet the preset abnormal charging condition; and / or,

[0299] Determine whether the vehicle to be charged has a related overtemperature phenomenon, and obtain a fifth judgment result; when the fifth judgment result is yes, determine that the vehicle to be charged meets the preset abnormal charging condition; when the fifth judgment result is no, determine that the vehicle to be charged does not meet the preset abnormal charging condition; and / or,

[0300] Determine whether the vehicle to be charged has a communication abnormality to obtain a sixth judgment result; when the sixth judgment result is yes, determine that the vehicle to be charged meets the preset abnormal charging condition; when the sixth judgment result is no, determine that the vehicle to be charged does not meet the preset abnormal charging condition.

[0301] It can be seen that this optional embodiment can determine whether the charging stop condition of the vehicle to be charged is met by determining whether the vehicle to be charged is in a fully charged state and / or whether the charging is abnormal, which is beneficial to improving the comprehensiveness, rationality, diversity, flexibility and pertinence of the method for determining the charging stop condition is met, and further beneficial to improving the accuracy and reliability of the determined charging stop condition is met, thereby facilitating improving the execution accuracy, reliability, timeliness and efficiency of the charging stop operation performed based on the charging stop condition is met.

[0302] Embodiment 3

[0303] See also Figure 3 , Figure 3 : is a schematic diagram of a structure of an intelligent wireless charging device for a vehicle disclosed in an embodiment of the present invention. Figure 3 The described device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 3 As shown, the intelligent wireless charging device applied to a vehicle may include:

[0304] The parking control module 301 is used to control the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space based on the pre-trained converged vehicle parking control model when a vehicle to be charged is detected and the target charging parking space is in an idle state.

[0305] The first determination module 302 is used to determine whether the vehicle to be charged meets a preset parking completion condition.

[0306] The second judgment module 303 is used to judge whether the vehicle to be charged meets a preset charging execution condition when the first judgment module 302 judges that the vehicle to be charged meets the parking completion condition.

[0307] The wireless charging execution module 304 is used to execute a corresponding wireless charging operation on the vehicle to be charged when the second judgment module 303 judges that the vehicle to be charged meets the charging execution condition.

[0308] It can be seen that the implementation Figure 3 The described intelligent wireless charging device applied to vehicles can control the vehicle to be charged to perform corresponding parking operations based on the vehicle parking control model, and when the vehicle to be charged meets the parking completion conditions and the charging execution conditions, the corresponding wireless charging operation is performed on the vehicle to be charged, which is beneficial to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to vehicles, and is beneficial to providing diversified and intelligent wireless charging functions, thereby improving the execution accuracy, reliability, and timeliness of the vehicle's wireless charging operations, and is also beneficial to improving the accuracy and efficiency of the vehicle's automatic parking, thereby improving the accuracy and reliability of the vehicle's wireless charging, and is beneficial to improving the vehicle's wireless charging efficiency and convenience, further beneficial to shortening the charging time and reducing charging energy loss, and is beneficial to improving the vehicle's wireless charging safety and stability.

[0309] In an optional embodiment, the parking control module 301 controls the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space based on the pre-trained converged vehicle parking control model, specifically including:

[0310] Determine the initial position information of the vehicle to be charged, and determine the first device position information and first device angle information corresponding to the charging transmitting device in the target charging parking space;

[0311] Inputting the initial position information, the first device position information and the first device angle information into the pre-trained converged vehicle parking control model for analysis to obtain a first driving plan; the first driving plan at least includes the driving mileage information, driving speed information, driving acceleration information and steering wheel angle information of the vehicle to be charged at different times;

[0312] According to the first driving plan, the vehicle to be charged is controlled to perform a corresponding parking operation.

[0313] It can be seen that the implementation Figure 4 The described device can input the initial position information of the vehicle to be charged, the first device position information of the charging transmitting device and the first device angle information into the vehicle parking control model for analysis, obtain the first driving plan, and then control the vehicle to be charged to perform the corresponding parking operation, which is beneficial to improving the comprehensiveness and rationality of the parking control method of the vehicle to be charged, and further beneficial to improving the accuracy and reliability of the first driving plan determined for parking the vehicle to be charged, thereby helping to improve the parking accuracy and reliability of the vehicle to be charged.

[0314] In another optional embodiment, the first determination module 302 determines whether the vehicle to be charged meets the preset parking completion condition in the following manner:

[0315] During the process of the vehicle to be charged performing the parking operation, determining whether the vehicle to be charged meets the preset precise parking conditions;

[0316] When it is determined that the vehicle to be charged meets the precise parking condition, the first coordinate information of the vehicle to be charged at the current moment is determined according to the first driving plan, and the second coordinate information of the charging transmitting device is determined;

[0317] According to the first coordinate information and the second coordinate information, determining whether the vehicle to be charged meets a preset charging device matching condition;

[0318] When it is determined that the vehicle to be charged meets the charging equipment matching condition, determining that the vehicle to be charged meets the preset parking completion condition;

[0319] When it is determined that the vehicle to be charged does not meet the charging equipment matching condition, determining that the vehicle to be charged does not meet the preset parking completion condition;

[0320] When it is determined that the vehicle to be charged does not meet the precise parking condition, it is determined that the vehicle to be charged does not meet the preset parking completion condition.

[0321] It can be seen that the implementation Figure 4 The described device can also determine the parking completion condition satisfaction result of the vehicle to be charged by determining the precise parking condition satisfaction result of the vehicle to be charged and the charging equipment matching condition satisfaction result. This is conducive to improving the comprehensiveness, rationality, pertinence and progressiveness of the method for determining the parking completion condition satisfaction result of the vehicle to be charged, and thus is conducive to improving the accuracy and reliability of the determined parking completion condition satisfaction result, thereby facilitating improving the execution accuracy, reliability and timeliness of subsequent operations performed based on the parking completion condition satisfaction result. In addition, to a certain extent, it is conducive to improving the accuracy and optimization effect of wireless charging affected by the parking situation of the vehicle to be charged.

[0322] In another optional embodiment, the first judgment module 302 is also used to trigger the parking control module 301 to control the vehicle to be charged to continue to perform the parking operation for the next moment when it is determined that the vehicle to be charged does not meet the parking completion condition, and to execute the step of determining whether the vehicle to be charged meets the preset parking completion condition again.

[0323] It can be seen that the implementation Figure 4The described device can also control the vehicle to be charged to continue to perform the parking operation at the next moment when the vehicle to be charged does not meet the parking completion conditions, and judge again whether the parking of the vehicle to be charged is completed, which is conducive to improving the comprehensiveness and integrity of the parking control method of the vehicle to be charged, and then to improving the accuracy, reliability and rationality of the parking control of the vehicle to be charged, reducing unnecessary parking operations, and reducing the occurrence of incorrect parking of the vehicle to be charged to a certain extent. In addition, it is also conducive to improving the accuracy and timeliness of determining the completion of parking of the vehicle to be charged, reducing unnecessary waste of parking resources, improving the timeliness, triggering efficiency and convenience of wireless charging execution of the vehicle to be charged, and improving the parking safety and stability of the vehicle to be charged.

[0324] In another optional embodiment, the first judgment module 301 judges whether the vehicle to be charged meets the preset charging device matching condition according to the first coordinate information and the second coordinate information in a manner specifically including:

[0325] Determine, based on the first coordinate information, third coordinate information corresponding to a charging receiving device installed in the vehicle to be charged;

[0326] Calculate the coordinate difference according to the second coordinate information and the third coordinate information;

[0327] Determine whether the coordinate difference is less than or equal to a preset coordinate difference threshold;

[0328] When it is determined that the coordinate difference is greater than the coordinate difference threshold, it is determined that the vehicle to be charged does not meet the preset charging device matching condition;

[0329] When it is determined that the coordinate difference is less than or equal to the coordinate difference threshold, it is determined that the vehicle to be charged meets the preset charging device matching condition.

[0330] It can be seen that the implementation Figure 4 The described device can also determine the coordinate difference based on the second coordinate information of the charging transmitting device and the third coordinate information of the charging receiving device, and determine the charging device matching condition satisfaction result of the vehicle to be charged based on the comparison between the coordinate difference and the corresponding threshold value, which is conducive to improving the comprehensiveness and rationality of the method for determining the charging device matching condition satisfaction result, and then it is conducive to improving the accuracy and reliability of the determined charging device matching condition satisfaction result, thereby helping to improve the accuracy and safety of wireless charging.

[0331] In another optional embodiment, the second judgment module 303 judges whether the vehicle to be charged meets the preset charging execution condition in the following manner:

[0332] Determine whether the vehicle to be charged meets the preset charging requirement conditions;

[0333] When it is determined that the vehicle to be charged meets the charging requirement conditions, it is determined whether the vehicle to be charged meets the preset foreign object interference charging conditions;

[0334] When it is determined that the vehicle to be charged does not meet the charging condition of foreign object interference, determining that the vehicle to be charged meets the preset charging execution condition;

[0335] When it is determined that the vehicle to be charged meets the foreign object interference charging condition, determining that the vehicle to be charged does not meet the preset charging execution condition;

[0336] When it is determined that the vehicle to be charged does not meet the charging requirement condition, it is determined that the vehicle to be charged does not meet the preset charging execution condition.

[0337] It can be seen that the implementation Figure 4 The described device can also determine the charging execution condition satisfaction results of the vehicle to be charged through two levels: the charging requirement condition satisfaction results of the vehicle to be charged and the foreign object interference charging condition satisfaction results. This is conducive to improving the comprehensiveness, rationality, pertinence and progressiveness of the charging execution condition satisfaction results determination method, and thus is conducive to improving the accuracy and reliability of the determined charging execution condition satisfaction results, thereby helping to improve the execution accuracy, reliability and timeliness of subsequent wireless charging operations of the vehicle to be charged, and is conducive to optimizing the wireless charging effect and efficiency.

[0338] In yet another optional embodiment, Figure 4 As shown, the device may also include:

[0339] The parking timing module 305 is used to perform a corresponding parking timing operation on the vehicle to be charged when the second judgment module 303 judges that the vehicle to be charged does not meet the charging requirement condition.

[0340] It can be seen that the implementation Figure 4 The described device can also provide a parking timing function for the vehicle to be charged, which is beneficial to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and further beneficial to improving the diversity of intelligent functions, and is beneficial to improving the timeliness, rationality, accuracy and efficiency of the parking timing operation of the vehicle to be charged, and to a certain extent is beneficial to dealing with the situation where the parking space is occupied without reason.

[0341] In yet another optional embodiment, Figure 4 As shown, the device may also include:

[0342] The foreign object handling module 306 is used to perform corresponding foreign object handling operations based on the determined first target interfering foreign object when the second judging module 303 judges that the vehicle to be charged meets the foreign object interference charging condition.

[0343] It can be seen that the implementation Figure 4The described device can also provide a foreign object response function for the vehicle to be charged and the target charging parking space, which is conducive to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and thus is conducive to improving the diversity of intelligent functions, and is conducive to improving the timeliness, rationality, accuracy and efficiency of the execution of foreign object response and processing operations, and thus is conducive to improving the accuracy, stability and safety of wireless charging of the vehicle to be charged and the target charging parking space, improving the efficiency of wireless charging, reducing unnecessary safety hazards, and providing a safe and good wireless charging environment.

[0344] In another optional embodiment, the second judgment module 303 judges whether the vehicle to be charged meets the preset foreign object interference charging condition in a manner specifically including:

[0345] Performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection to obtain a first signal analysis result;

[0346] According to the analysis result of the first signal, determining whether the target charging parking space meets the preset foreign object existence condition;

[0347] When it is determined that the target charging parking space meets the foreign object existence condition, one or more interfering foreign objects are determined according to the first signal analysis result, and according to the second position information of each interfering foreign object, a second target interfering foreign object that meets the preset distance screening condition is determined from all interfering foreign objects;

[0348] Determining whether the second target interfering foreign object meets a preset first wireless charging influencing condition according to the second position information of the second target interfering foreign object;

[0349] When it is determined that the second target interfering foreign object meets the first wireless charging influencing condition, the reflected energy corresponding to the second target interfering foreign object is determined, and according to the reflected energy, it is determined whether the second target interfering foreign object meets the preset second wireless charging influencing condition;

[0350] When it is determined that the second target interfering foreign object meets the second wireless charging influencing condition, determining that the vehicle to be charged meets the preset foreign object interfering charging condition;

[0351] When it is determined that the second target interfering foreign object does not satisfy the second wireless charging influencing condition, determining that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition;

[0352] When it is determined that the second target interfering foreign object does not satisfy the first wireless charging influencing condition, it is determined that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition.

[0353] It can be seen that the implementation Figure 4The described device can also determine the foreign object interference charging condition satisfaction result of the vehicle to be charged by determining the first wireless charging influence condition satisfaction result at the position distance level and the second wireless charging influence condition satisfaction result at the reflection energy level. This is beneficial to improving the comprehensiveness, rationality, pertinence and progressiveness of the method for determining the foreign object interference charging condition satisfaction result, and thus is beneficial to improving the accuracy and reliability of the determined foreign object interference charging condition satisfaction result, thereby helping to improve the execution accuracy, reliability and timeliness of foreign object response operations based on the foreign object interference charging condition satisfaction result.

[0354] In another optional embodiment, the foreign object handling module 306 performs corresponding foreign object handling operations based on the determined first target interfering foreign object, specifically including:

[0355] Based on the determined first target interfering foreign object, generating a foreign object interference prompt instruction; and / or,

[0356] Determining whether the first target interfering foreign object meets a preset driving-away operation execution condition;

[0357] When it is determined that the first target interfering foreign object meets the expelling operation execution condition, a corresponding expelling operation is performed on the first target interfering foreign object;

[0358] When it is determined that the first target interfering foreign object does not meet the driving-away operation execution condition, the target area where the first target interfering foreign object is located is determined, and a corresponding induction current shielding operation and / or a corresponding magnetic induction intensity weakening operation is performed on the target area.

[0359] It can be seen that the implementation Figure 4 The described device can also provide foreign object interference prompt instruction generation operations, foreign object removal operations, induced current shielding operations and / or magnetic induction intensity weakening operations for different first target interfering foreign objects, which is conducive to improving the comprehensiveness, diversity, flexibility and pertinence of foreign object response methods, and thus helps to improve the accuracy, reliability and efficiency of foreign object response to target interfering foreign objects.

[0360] In yet another optional embodiment, Figure 4 As shown, the device may also include:

[0361] The third judgment module 307 is used to judge whether the vehicle to be charged meets a preset charging stop condition during the process of the vehicle to be charged performing the wireless charging operation.

[0362] The charging stop control module 308 is used to execute a corresponding charging stop operation on the vehicle to be charged when the third judgment module 307 judges that the vehicle to be charged meets the charging stop condition.

[0363] It can be seen that the implementation Figure 4 The described device can also perform a corresponding stop charging operation on the vehicle to be charged when it is determined that the vehicle to be charged meets the charging stop conditions, which is beneficial to improving the comprehensiveness and integrity of the intelligent wireless charging method applied to the vehicle, and further beneficial to improving the accuracy, reliability, timeliness and efficiency of stopping charging of the vehicle to be charged, thereby helping to improve the safety and stability of wireless charging of the vehicle to be charged.

[0364] In another optional embodiment, the third judgment module 307 judges whether the vehicle to be charged meets the preset charging stop condition in the following manner:

[0365] Determine whether the vehicle to be charged meets the preset full charge state condition; when it is determined that the vehicle to be charged meets the full charge state condition, determine that the vehicle to be charged meets the preset charging stop condition; when it is determined that the vehicle to be charged does not meet the full charge state condition, determine that the vehicle to be charged does not meet the preset charging stop condition; and / or,

[0366] Determine whether the vehicle to be charged meets the preset abnormal charging condition; when it is determined that the vehicle to be charged meets the abnormal charging condition, determine that the vehicle to be charged meets the preset charging stop condition; when it is determined that the vehicle to be charged does not meet the abnormal charging condition, determine that the vehicle to be charged does not meet the preset charging stop condition.

[0367] It can be seen that the implementation Figure 4 The described device can also determine whether the charging stop condition of the vehicle to be charged is met based on whether the vehicle to be charged is in a fully charged state and / or whether the charging is abnormal, which is conducive to improving the comprehensiveness, rationality, diversity, flexibility and pertinence of the method for determining the charging stop condition is met, and thus is conducive to improving the accuracy and reliability of the determined charging stop condition is met, thereby facilitating improving the execution accuracy, reliability, timeliness and efficiency of the charging stop operation performed based on the charging stop condition is met.

[0368] Embodiment 4

[0369] See also Figure 5 , Figure 5 is a schematic diagram of the structure of another intelligent wireless charging device for vehicles disclosed in an embodiment of the present invention. Figure 5 The described device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 5 As shown, the device may include:

[0370] A memory 401 storing executable program codes;

[0371] a processor 402 coupled to the memory 401;

[0372] Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402;

[0373] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the intelligent wireless charging method applied to a vehicle described in the first or second embodiment.

[0374] Embodiment 5

[0375] An embodiment of the present invention discloses a computer storage medium storing a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps of the intelligent wireless charging method applied to a vehicle described in Embodiment 1 or Embodiment 2.

[0376] Embodiment 6

[0377] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps of the intelligent wireless charging method applied to a vehicle described in Embodiment 1 or Embodiment 2.

[0378] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0379] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, a magnetic disk storage, a magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0380] Finally, it should be noted that the intelligent wireless charging method and device for vehicles, and the computer storage medium disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent wireless charging method for a vehicle, characterized in that: The method comprises: When a vehicle to be charged is detected and the target charging parking space is in an idle state, based on the pre-trained converged vehicle parking control model, the vehicle to be charged is controlled to perform a corresponding parking operation based on the target charging parking space; Determining whether the vehicle to be charged meets a preset parking completion condition; When it is determined that the vehicle to be charged meets the parking completion condition, determining whether the vehicle to be charged meets a preset charging execution condition; When it is determined that the vehicle to be charged meets the charging execution condition, a corresponding wireless charging operation is performed on the vehicle to be charged.

2. The intelligent wireless charging method for vehicles according to claim 1, characterized in that: The vehicle parking control model based on pre-training convergence controls the vehicle to be charged to perform a corresponding parking operation based on the target charging parking space, including: Determine the initial position information of the vehicle to be charged, and determine the first device position information and first device angle information corresponding to the charging transmitting device in the target charging parking space; Inputting the initial position information, the first device position information and the first device angle information into the pre-trained converged vehicle parking control model for analysis to obtain a first driving plan; the first driving plan at least includes the driving mileage information, driving speed information, driving acceleration information and steering wheel angle information of the vehicle to be charged at different times; According to the first driving plan, the vehicle to be charged is controlled to perform a corresponding parking operation.

3. The intelligent wireless charging method for vehicles according to claim 1, characterized in that: The determining whether the vehicle to be charged meets a preset parking completion condition includes: During the process of the vehicle to be charged performing the parking operation, determining whether the vehicle to be charged meets a preset precise parking condition; When it is determined that the vehicle to be charged meets the precise parking condition, the first coordinate information of the vehicle to be charged at the current moment is determined according to the first driving plan, and the second coordinate information of the charging transmitter is determined; According to the first coordinate information and the second coordinate information, determining whether the vehicle to be charged meets a preset charging device matching condition; When it is determined that the vehicle to be charged meets the charging equipment matching condition, determining that the vehicle to be charged meets the preset parking completion condition; When it is determined that the vehicle to be charged does not meet the charging equipment matching condition, determining that the vehicle to be charged does not meet the preset parking completion condition; When it is determined that the vehicle to be charged does not meet the precise parking condition, determining that the vehicle to be charged does not meet the preset parking completion condition; And, the method further comprises: When it is determined that the vehicle to be charged does not meet the parking completion condition, the vehicle to be charged is controlled to continue to perform the parking operation for the next moment, and the step of determining whether the vehicle to be charged meets the preset parking completion condition is performed again.

4. The intelligent wireless charging method for vehicles according to claim 3, characterized in that: The determining, based on the first coordinate information and the second coordinate information, whether the vehicle to be charged meets a preset charging device matching condition includes: Determine, based on the first coordinate information, third coordinate information corresponding to a charging receiving device installed in the vehicle to be charged; Calculating a coordinate difference according to the second coordinate information and the third coordinate information; Determine whether the coordinate difference is less than or equal to a preset coordinate difference threshold; When it is determined that the coordinate difference is greater than the coordinate difference threshold, determining that the vehicle to be charged does not meet a preset charging device matching condition; When it is determined that the coordinate difference is less than or equal to the coordinate difference threshold, it is determined that the vehicle to be charged meets a preset charging device matching condition.

5. The intelligent wireless charging method for vehicles according to claim 1, characterized in that: The determining whether the vehicle to be charged meets a preset charging execution condition includes: Determining whether the vehicle to be charged meets a preset charging requirement condition; When it is determined that the vehicle to be charged meets the charging requirement condition, determining whether the vehicle to be charged meets a preset foreign object interference charging condition; When it is determined that the vehicle to be charged does not meet the foreign object interference charging condition, determining that the vehicle to be charged meets a preset charging execution condition; When it is determined that the vehicle to be charged meets the foreign object interference charging condition, determining that the vehicle to be charged does not meet the preset charging execution condition; When it is determined that the vehicle to be charged does not meet the charging requirement condition, determining that the vehicle to be charged does not meet the preset charging execution condition; And, the method further comprises: When it is determined that the vehicle to be charged does not meet the charging requirement condition, performing a corresponding parking timer operation on the vehicle to be charged; And, the method further comprises: When it is determined that the vehicle to be charged meets the foreign object interfering charging condition, a corresponding foreign object coping operation is performed based on the determined first target interfering foreign object.

6. The intelligent wireless charging method for vehicles according to claim 5, characterized in that: The determining whether the vehicle to be charged meets a preset foreign object interference charging condition includes: Performing corresponding signal processing operations on the received first intermediate frequency signal for feedback of foreign object detection to obtain a first signal analysis result; According to the analysis result of the first signal, determining whether the target charging parking space meets the preset foreign object existence condition; When it is determined that the target charging parking space meets the foreign object existence condition, one or more interfering foreign objects are determined according to the first signal analysis result, and according to the second position information of each of the interfering foreign objects, a second target interfering foreign object that meets the preset distance screening condition is determined from all the interfering foreign objects; Determining whether the second target interfering foreign object meets a preset first wireless charging influencing condition according to the second position information of the second target interfering foreign object; When it is determined that the second target interfering foreign object meets the first wireless charging influencing condition, determining the reflected energy corresponding to the second target interfering foreign object, and judging whether the second target interfering foreign object meets the preset second wireless charging influencing condition according to the reflected energy; When it is determined that the second target interfering foreign object meets the second wireless charging impact condition, determining that the vehicle to be charged meets the preset foreign object interference charging condition; When it is determined that the second target interfering foreign object does not satisfy the second wireless charging influencing condition, determining that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition; When it is determined that the second target interfering foreign object does not satisfy the first wireless charging influencing condition, it is determined that the vehicle to be charged does not satisfy the preset foreign object interfering charging condition.

7. The intelligent wireless charging method for vehicles according to claim 5, characterized in that: The performing corresponding foreign object handling operations based on the determined first target interfering foreign object includes: Based on the determined first target interfering foreign object, generating a foreign object interference prompt instruction; and / or, Determining whether the first target interfering foreign object meets a preset driving-away operation execution condition; When it is determined that the first target interfering foreign object meets the driving-away operation execution condition, performing a corresponding driving-away operation on the first target interfering foreign object; When it is determined that the first target interfering foreign object does not meet the driving-away operation execution condition, a target area where the first target interfering foreign object is located is determined, and a corresponding induced current shielding operation and / or a corresponding magnetic induction intensity weakening operation is performed on the target area.

8. The intelligent wireless charging method for a vehicle according to any one of claims 1 to 7, characterized in that: The method further comprises: During the process of the vehicle to be charged performing the wireless charging operation, determining whether the vehicle to be charged meets a preset charging stop condition; When it is determined that the vehicle to be charged meets the charging stop condition, a corresponding charging stop operation is performed on the vehicle to be charged; And, the determining whether the vehicle to be charged meets a preset charging stop condition includes: Determine whether the vehicle to be charged meets a preset full charge state condition; when it is determined that the vehicle to be charged meets the full charge state condition, determine that the vehicle to be charged meets a preset charging stop condition; when it is determined that the vehicle to be charged does not meet the full charge state condition, determine that the vehicle to be charged does not meet the preset charging stop condition; and / or, Determine whether the vehicle to be charged meets a preset abnormal charging condition; when it is determined that the vehicle to be charged meets the abnormal charging condition, determine that the vehicle to be charged meets a preset charging stop condition; when it is determined that the vehicle to be charged does not meet the abnormal charging condition, determine that the vehicle to be charged does not meet the preset charging stop condition.

9. An intelligent wireless charging device for a vehicle, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the intelligent wireless charging method applied to a vehicle as described in any one of claims 1-8.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the intelligent wireless charging method applied to a vehicle as described in any one of claims 1-8.

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