Parking control device and parking control method

Abstract

Provided are a parking control device and a parking control method with which the efficiency of non-contact power transmission can be improved when a vehicle is parked by parking control at a parking position at which non-contact power transmission can be performed. A vehicle parking control device (30) capable of contactless power transmission between a primary coil (4) provided in a parking space (2) and a secondary coil (7) provided in a vehicle (10) is provided with: a parking control unit (36) that executes parking control for automatically parking the vehicle at a target parking position; and a charging result detection unit (37) that detects charging result information. Each time non-contact charging is performed in a parking space, a parking control unit stores the amount of shift of the vehicle and charging result information in a storage unit in association with each other. A target parking position for parking control executed in a parking space is shifted on the basis of the past parking position information and the transmission result information stored in the storage unit.

Description

Technical Field

[0001] The present invention relates to a parking control device and a parking control method for a vehicle capable of non-contact power transmission. Background Art

[0002] In recent years, in order to ensure that more people have access to affordable, reliable, and sustainable modern energy, active research and development have been carried out on charging and power supply in moving bodies equipped with secondary batteries, which contribute to energy efficiency.

[0003] For example, as research and development related to charging and power supply, research and development related to non-contact charging have been carried out, which charges the storage battery mounted on a vehicle in a non-contact manner. For example, in Patent Documents 1 to 4, a non-contact power transmission system is disclosed that transmits power from a primary coil (power transmission coil) provided in a parking lot or the like to a secondary coil (power reception coil) provided in a vehicle in a non-contact manner.

[0004] In addition, in Patent Documents 1 to 4, in order to perform non-contact charging efficiently, a technique for accurately aligning the primary coil and the secondary coil is proposed.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-9874

[0008] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2017-93129

[0009] Patent Document 3: Japanese Unexamined Patent Application Publication No. 2014-207859

[0010] Patent Document 4: Japanese Unexamined Patent Application Publication No. 2018-174690 Summary of the Invention

[0011] Problems to be Solved by the Invention

[0012] In addition, automatic parking control is known in which a vehicle automatically moves to a specified parking space and parks. According to the automatic parking control, the vehicle can be automatically parked in a parking lot provided with a non-contact charging device with high reproducibility. However, due to reasons such as control deviation and deviation in detection of the relative position between the secondary coil and the vehicle, the parking position in the automatic parking control may not necessarily be the position where the efficiency of non-contact power transmission is optimal.

[0013] The present invention provides a parking control device and a parking control method that can improve the efficiency of non-contact power transmission when a vehicle is parked at a parking position where non-contact power transmission can be performed through parking control. This further helps to improve energy efficiency.

[0014] Means for solving the problem

[0015] The present invention is a parking control device for a vehicle that can perform non-contact power transmission for transmitting power in a non-contact manner between a first coil provided in a parking space and a second coil provided in the vehicle, wherein

[0016] The parking control device includes:

[0017] A parking control unit that performs parking control to automatically park the vehicle at a target parking position where the first coil and the second coil face each other in the parking space; and

[0018] A result detection unit that detects transmission result information of the non-contact power transmission performed at the target parking position,

[0019] Whenever the non-contact power transmission is performed in the parking space, the parking control unit stores the parking position information of the vehicle when the non-contact power transmission is performed and the transmission result information in a storage unit in a corresponding manner,

[0020] Based on the past parking position information and the transmission result information stored in the storage unit, the target parking position of the parking control performed in the parking space is offset.

[0021] In addition, the present invention is a parking control method for a vehicle that can perform non-contact power transmission for transmitting power in a non-contact manner between a first coil provided in a parking space and a second coil provided in the vehicle, wherein

[0022] The parking control method includes:

[0023] A parking control step of performing parking control to automatically park the vehicle at a target parking position where the first coil and the second coil face each other in the parking space;

[0024] A result detection step of detecting transmission result information of the non-contact power transmission performed at the target parking position;

[0025] A storage step of storing the parking position information of the vehicle when the non-contact power transmission is performed and the transmission result information in a storage unit in a corresponding manner whenever the non-contact power transmission is performed in the parking space; and

[0026] Offset step: Based on the past parking position information and the transmission result information stored in the storage unit, offset the target parking position of the parking control to be executed next time in the parking space.

[0027] Advantages of the Invention

[0028] According to the present invention, when a vehicle is parked at a parking position where non-contact power transmission can be performed through parking control, the efficiency of non-contact power transmission can be improved. Description of the Drawings

[0029] Figure 1 It is a diagram showing the overall structure of the non-contact power transmission system 1, and is a top view showing a state in the middle of parking the vehicle 10 in the parking space 2 provided with the power transmission device 3.

[0030] Figure 2 It is a diagram showing the overall structure of the non-contact power transmission system 1, and is a side view showing a state where the vehicle 10 is parked in the parking space 2 and non-contact charging is performed.

[0031] Figure 3 It is a block diagram showing the internal structure of the vehicle 10 equipped with the parking control device 30 according to an embodiment of the present invention.

[0032] Figure 4 It is a graph explaining the deviation generated between the target parking position in terms of control and the optimal charging position where the efficiency of non-contact charging is maximized.

[0033] Figure 5 It is a diagram showing an outline of the process in which the parking control device 30 searches for the optimal charging position.

[0034] Figure 6A It is a graph showing a situation where the target parking position is offset in the Y direction to search for the position of the optimal charging position in the Y direction. Figure 6B It is a graph showing a situation where the target parking position is offset in the X direction to search for the position of the optimal charging position in the X direction.

[0035] Figure 7 It is a flowchart showing an example of the process in which the parking control device 30 searches for the optimal charging position.

[0036] Figure 8 It is a flowchart showing an example of the process of the Y-direction search process S110.

[0037] Figure 9 It is a flowchart showing an example of the process of the X-direction search process S114.

[0038] Figure 10It is a diagram showing a modified example of the process in which the parking control device 30 searches for the optimal charging position.

[0039] Explanation of reference numerals

[0040] 2: Parking space

[0041] 4: Primary coil (first coil)

[0042] 7: Secondary coil (second coil)

[0043] 10: Vehicle

[0044] 30: Parking control device

[0045] 32: Storage unit

[0046] 36: Parking control unit

[0047] 37: Charging result detection unit (result detection unit). Detailed implementation manners

[0048] Hereinafter, a parking control device and a parking control method according to an embodiment of the present invention will be described based on the drawings.

[0049] [Non-contact power transmission system]

[0050] The non-contact power transmission system of the present embodiment is a non-contact power transmission system capable of transmitting power in a non-contact manner between a vehicle and a device provided in a specified parking space. The non-contact power transmission includes at least one of power transmission from the device provided in the parking space to the vehicle (non-contact charging) and power transmission from the vehicle to the device (non-contact power supply). Hereinafter, as an example of non-contact power transmission, the case where the vehicle performs non-contact charging will be described.

[0051] As Figure 1 and Figure 2 shown, the non-contact power transmission system 1 includes: a power transmission device 3 provided in a specified parking space 2; and a power reception device 6 provided in the vehicle 10 to receive power transmitted from the power transmission device 3 in a non-contact manner. The non-contact power transmission system 1 supplies power from the power transmission device 3 to the power reception device 6, for example, by magnetic coupling between coils such as the magnetic field resonance method or the electromagnetic induction method, or the electric field resonance method. Thereby, non-contact charging of the storage battery 11 mounted on the vehicle 10 can be performed.

[0052] The power transmission device 3 includes, for example: a primary coil 4 provided on the ground of the parking space 2 in a state covered by a gasket 4a and transmitting alternating current power; and a power supply unit 5 connected to an external power system such as a commercial power supply. The shape of the primary coil 4 is, for example, circular in a top view, but is not limited thereto, and may also be oval, square, rectangular, etc.

[0053] The power receiving device 6 includes, for example: a secondary coil 7 that is disposed under the floor of the vehicle 10 in a state covered by a gasket 7a and receives AC power transmitted from the power transmitting device 3 in a non-contact manner; and a rectifier (not shown) that rectifies the received AC power and supplies it to the storage battery 11. The shape of the secondary coil 7 is, for example, circular when viewed from above, but is not limited thereto, and may also be elliptical, square, rectangular, or the like.

[0054] The vehicle 10 is, for example, an electric vehicle such as a battery electric vehicle or a plug-in hybrid vehicle, receives power transmitted from the power transmitting device 3 through the power receiving device 6, and stores it in a storage battery 11 such as a lithium-ion battery or a nickel-metal hydride battery. The vehicle 10 is configured to be able to travel by driving a motor (not shown) serving as a drive source with the power stored in the storage battery 11. When the vehicle 10 parks at a position where the secondary coil 7 of the vehicle 10 faces the primary coil 4 of the power transmitting device 3, AC power is supplied from the power supply unit 5 to the primary coil 4, and non-contact power transmission is performed from the primary coil 4 to the secondary coil 7.

[0055] [Internal Structure of Vehicle]

[0056] As Figure 3 shown, the vehicle 10 includes a sensor group 12, an operation input unit 13, a navigation device 14, a communication unit 15, a parking control device 30, an electric power steering system 40 (also referred to as an EPS (Electric Power Steering) system 40), a driving force control system 50, and a braking force control system 60.

[0057] The sensor group 12 acquires various detection values for control of the parking control device 30 and the like. The sensor group 12 includes, for example, a camera 12a, a sonar 12b, a wheel sensor 12c, a vehicle speed sensor 12d, a current-voltage detection unit 12e, and an operation detection unit 12f.

[0058] The camera 12a acquires identification data (for example, a surrounding image) for identifying the outside of the vehicle 10 by photographing the surroundings of the vehicle 10. The camera 12a includes, for example, a front camera, a rear camera, a left camera, and a right camera, and photographs a front image, a rear image, a left-side image, and a right-side image as surrounding images. In addition, the number of cameras 12a is arbitrary, and for example, the left camera and the right camera may not be provided.

[0059] The sonar 12b emits sound waves to the surroundings of the vehicle 10 and receives reflected sounds from other objects. The sonar 12b is provided with a plurality of units, for example, in the front, rear, left side, and right side of the vehicle 10 respectively.

[0060] The wheel sensor 12c detects the rotation angle of the wheels of the vehicle 10. The wheel sensor 12c includes, for example, a left rear wheel sensor that detects the rotation angle of the left rear wheel and a right rear wheel sensor that detects the rotation angle of the right rear wheel. The wheel sensor 12c can be composed of an angle sensor or a displacement sensor. The wheel sensor 12c outputs a detection pulse every time the wheel rotates by a predetermined angle. The detection pulse output from the wheel sensor 12c is used to calculate the rotation angle and rotation speed of the wheel. Based on the rotation angle of the wheel, the moving distance of the vehicle 10 is calculated.

[0061] The vehicle speed sensor 12d detects the speed of the vehicle 10. The vehicle speed sensor 12d detects the speed of the vehicle 10 based on the rotation of the countershaft of the transmission, for example.

[0062] The current-voltage detection unit 12e is provided in the power receiving device 6 and detects the current value and voltage value of the power received by the secondary coil 7 during non-contact charging (hereinafter, also referred to as charging power).

[0063] The operation detection unit 12f detects the operation content of the user using the operation input unit 13. The operation input unit 13 includes various user interfaces such as a side mirror switch for switching the opening and closing state of the side mirror and a shift lever (selector lever, selector).

[0064] The navigation device 14 detects the current position of the vehicle 10 using, for example, GPS (Global Positioning System), and guides the user to the destination. The navigation device 14 has a storage device (not shown) having a map information database.

[0065] The navigation device 14 includes a touch panel 14a and a speaker 14b. The touch panel 14a is formed by integrating a display device capable of displaying an image (for example, a liquid crystal display) and an input device capable of accepting input of information, and functions as a display device and an input device of the parking control device 30. The user can input a request to execute parking control for automatically parking the vehicle 10 in a predetermined parking space 2 via the touch panel 14a. The speaker 14b outputs various guides according to the control sound of the parking control device 30.

[0066] The communication unit 15 is a communication interface for communicating with an external device. The external device is, for example, a communication unit (not shown) provided in the power transmission device 3, and the parking control device 30 can communicate with the communication unit of the power transmission device 3 via the communication unit 15. Communication between the vehicle 10 and the external device can use a mobile communication network such as a cellular line, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc.

[0067] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (Electronic Control Unit) 45. The steering angle sensor 41 detects the steering angle θst of the steering device 46. The torque sensor 42 detects the torque TQ applied to the steering device 46. The EPS motor 43 can assist the occupant in operating the steering device 46 by applying a driving force or a reaction force to the steering column 47 connected to the steering device 46, and perform automatic steering of the steering device 46 during parking control. The resolver 44 detects the rotation angle θm of the EPS motor 43. The EPS ECU 45 is responsible for the overall control of the EPS system 40.

[0068] The driving force control system 50 includes a drive ECU 51 that performs driving force control of the vehicle 10. The drive ECU 51 controls the driving force of the vehicle 10 by controlling a motor, an internal combustion engine, etc., which are the drive sources of the vehicle 10, based on the user's acceleration operation of the accelerator pedal 52 and an instruction from the parking control device 30.

[0069] The braking force control system 60 includes a brake ECU 61 that performs braking force control of the vehicle 10. The brake ECU 61 controls a braking mechanism, etc., based on the user's braking operation of the brake pedal 62 and an instruction from the parking control device 30, thereby controlling the braking force of the vehicle 10.

[0070] The parking control device 30 includes an input / output unit 31, a storage unit 32, and an arithmetic unit 33. The arithmetic unit 33 is constituted by, for example, a CPU (Central Processing Unit). The arithmetic unit 33 controls each unit based on a program stored in the storage unit 32, thereby performing various controls. In addition, the arithmetic unit 33 performs signal input / output between each unit connected to the parking control device 30 via the input / output unit 31.

[0071] The arithmetic unit 33 includes: an external recognition unit 34 that acquires recognition data of the outside of the vehicle 10; a position detection unit 35 that detects a target parking position and the position of the own vehicle relative to the target parking position based on the recognition data; a parking control unit 36 that performs parking control to move the vehicle 10 to the target parking position by automatic steering; and a charging result detection unit 37 that detects charging result information such as charging power during non-contact charging and the ratio of the power transmitted by the power transmission device 3 to the charging power, that is, charging efficiency (an example of the "transmission result information" of the present invention).

[0072] The external recognition unit 34 acquires the surrounding image of the vehicle 10 (i.e., the recognition data of the outside) captured by the camera 12a. Additionally, the external recognition unit 34 may also acquire the recognition data of the outside of the vehicle 10 obtained by the sonar 12b, a radar (not shown), etc.

[0073] The position detection unit 35 includes a parking position detection unit 35a and a host vehicle position detection unit 35b. The parking position detection unit 35a detects the target parking position in the parking space 2 based on the recognition data of the outside obtained by the camera 12a. The target parking position is the position where the primary coil 4 and the secondary coil 7 face each other. More specifically, the target parking position is the position where the centers of the primary coil 4 and the secondary coil 7 coincide when viewed from above, in other words, the position where the horizontal relative distance between the centers of the primary coil 4 and the secondary coil 7 is zero. When this relative distance is zero, the charging power during non-contact charging becomes maximum, and the charging efficiency also becomes maximum.

[0074] Specifically, the parking position detection unit 35a detects the position where the relative distance between the centers of the primary coil 4 and the secondary coil 7 is zero as the target parking position based on the recognition data related to the white line (or an obstacle such as an outer wall) that divides the parking space 2 obtained by the camera 12a, the curb, the primary coil 4 (pad 4a) provided on the ground, etc.

[0075] In addition, when the parking space 2 is a parking space with a high parking frequency such as a home parking lot or a monthly rental parking lot, the parking space 2 may be stored in the storage unit 32 as a parking space with a high parking frequency according to the user's request via the touch panel 14a, for example. In this case, the parking position detection unit 35a stores the recognition data of the primary coil 4 and the recognition data of the characteristic points around the parking space 2 obtained by the external recognition unit 34 in the storage unit 32. As the characteristic points around the parking space 2, characteristic buildings, obstacles, etc. existing in the vicinity can be cited. Thereby, when parking in the parking space 2 next time and thereafter, the user can easily make a request for parking control to the parking space 2 via the touch panel 14a, or automatically perform parking control when the vehicle 10 approaches the parking space 2.

[0076] The host vehicle position detection unit 35b detects the host vehicle position as the relative position of the vehicle 10's current position relative to the target parking position detected by the parking position detection unit 35a. Specifically, the host vehicle position detection unit 35b detects the host vehicle position based on the recognition data of the primary coil 4 and the recognition data of the characteristic points around the parking space 2 obtained by the external recognition unit 34.

[0077] The parking control unit 36 performs parking control of the vehicle 10 with automatic steering based on the steering device 46. During parking control, operations of the steering device 46, the accelerator pedal 52, the brake pedal 62, etc. are automatically performed. The parking control unit 36 automatically moves the vehicle 10 to the target parking position in the parking space 2 and parks it based on the external recognition data recognized by the external recognition unit 34 and the target parking position and the position of the own vehicle detected by the position detection unit 35.

[0078] The charging result detection unit 37 detects charging result information of non-contact charging based on the current value and voltage value obtained by a current-voltage sensor (not shown) provided in the power receiving device 6. The charging result information includes the above-mentioned charging power and charging efficiency.

[0079] [Search for the optimal charging position by the parking control device]

[0080] Through the parking control executed by the parking control device 30, the vehicle 10 can be parked at the target parking position in the parking space 2 with a high reproduction rate. On the other hand, due to the deviation of the control of the parking control unit 36, the deviation of the detection result of the position detection unit 35, the surrounding environment, etc., even when the parking control device 30 determines that the vehicle 10 has been parked at the target parking position, that is, the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 is zero, in fact, there is sometimes a deviation between the center of the primary coil 4 and the center of the secondary coil 7, and the horizontal relative distance between the two is not zero. At this time, the charging power and charging efficiency of non-contact charging cannot be maximized.

[0081] Figure 4 is a diagram showing the deviation generated between the center of the primary coil 4 and the center of the secondary coil 7. As Figure 1 shown, Figure 4 in the X direction is the direction of entering and exiting the parking space 2, and the Y direction is the direction orthogonal to the X direction. Figure 4 The horizontal axis and vertical axis of respectively represent the actual deviation amount in the X direction (also referred to as the actual X deviation amount) and the actual deviation amount in the Y direction (also referred to as the actual Y deviation amount) of the center of the secondary coil 7 relative to the center of the primary coil 4 when the vehicle 10 is parked at the target parking position in the parking space 2 through parking control. When both the actual X deviation amount and the actual Y deviation amount are zero, the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 is zero, so the charging power and charging efficiency in non-contact charging become the maximum. The position (0, 0) where the actual X deviation amount and the actual Y deviation amount become zero is also referred to as the optimal charging position. On the other hand, if the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 increases, the charging power and charging efficiency gradually decrease.

[0082] In the parking control of the parking control device 30, even when it is determined in control that the deviation amounts in the X direction and the Y direction are both zero, actual X and Y deviation amounts may sometimes occur due to the aforementioned control deviation or the like. In Figure 4 In an example shown, when parking of the parking space 2 at the target parking position is completed by parking control, the center of the secondary coil 7 deviates by -10 mm from the center of the primary coil 4 in the X direction, and the center of the secondary coil 7 deviates by +20 mm from the center of the primary coil 4 in the Y direction. When the target parking position in control deviates from the actual optimal charging position, the charging power and charging efficiency of non-contact charging are not maximized.

[0083] Therefore, every time parking control and non-contact charging are performed in a specific parking space 2, the parking control device 30 performs an offset process on the target parking position and offsets the target parking position to the optimal charging position. Specifically, every time parking control and non-contact charging are performed in the parking space 2, the parking control device 30 stores the parking position information of the vehicle 10 at the time of performing non-contact charging and the charging result information in the storage unit 32 in a corresponding manner. Then, the parking control device 30 offsets the target parking position of the parking control performed in the parking space 2 based on the past parking position information and charging result information stored in the storage unit 32.

[0084] To explain in more detail, when the vehicle 10 parks at the target parking position in the parking space 2 by parking control and performs non-contact charging, the parking control unit 36 offsets the target parking position of the next parking control to be performed in the parking space 2 by a specified distance (hereinafter, also referred to as the offset amount). Every time parking control and non-contact charging are performed in the parking space 2, the parking control device 30 stores the offset amount and the charging result information in the storage unit 32 in a corresponding manner. Then, the parking control device 30 searches for the optimal charging position in the parking space 2 based on the offset amount and the charging result information stored in the storage unit 32, and sets the target parking position as the optimal charging position.

[0085] Figure 5 The outline of the process of searching for the optimal charging position performed by the parking control device 30 is shown. Every time parking control and non-contact charging are performed in the parking space 2, the parking control unit 36 acquires the parking position information and the charging result information from the position detection unit 35 and the charging result detection unit 37 respectively, and stores them in the storage unit 32. The parking position information acquired from the position detection unit 35 is, for example, information related to the target parking position including the offset amount.

[0086] The parking control unit 36 searches for the optimal charging position based on the parking position information and the charging result information stored in the storage unit 32. The parking control unit 36 sets an offset obtained by searching for the target parking position so that the target parking position of the parking control in the parking space 2 coincides with the optimal charging position. Thus, the parking control unit 36 can park the vehicle 10 at the optimal charging position in the parking space 2 through parking control.

[0087] If the process of searching for the optimal charging position is described in more detail, in the present embodiment, the parking control unit 36 performs offset processing in the X direction and the Y direction, respectively. Specifically, the parking control unit 36 first offsets the target parking position only in one of the X direction and the Y direction, that is, the first direction (for example, the Y direction), to search for the position of the optimal charging position in the first direction. After searching for the position of the optimal charging position in the first direction, the target parking position is offset along the second direction (for example, the X direction) as the other direction to search for the position of the optimal charging position in the second direction.

[0088] As Figure 6A shown, every time parking control and non-contact charging are performed in the parking space 2, the parking control unit 36 offsets the target parking position, which is the position where the deviation amounts in the X direction and the Y direction are both determined to be zero in control, to the negative side of the Y direction by ΔY (for example, 2 mm). Then, the parking control unit 36 searches for the position where the charging power becomes the maximum value Py_max in the Y direction, that is, the position where the actual Y deviation amount becomes zero. In addition, in Figure 6A 、 6B an example of searching for the position where the charging power becomes the maximum value is shown, but the parking control unit 36 may also search for the position where the charging efficiency becomes the maximum value.

[0089] After searching for the position of the optimal charging position in the Y direction, as Figure 6B shown, every time parking control and non-contact charging are performed in the parking space 2, the parking control unit 36 offsets the target parking position to the positive side of the X direction by ΔX (for example, 2 mm). Then, the parking control unit 36 searches for the position where the charging power becomes the maximum value in the X direction, that is, the position where the actual X deviation amount becomes zero. Since the position where the actual Y deviation amount and the actual X deviation amount are zero is the optimal charging position, the charging power becomes the maximum value P_max.

[0090] In this way, the parking control unit 36 performs offset processing in sequence for each direction, specifically in the order of the Y direction and the X direction, and thus can search for the optimal charging position with a simple algorithm.

[0091] In addition, when the parking control and non-contact charging are initially performed in the parking space 2, it is not clear in which direction the target parking position in terms of control is located relative to the optimal charging position. Therefore, the parking control unit 36, for example, first offsets the target parking position in the positive direction of the Y axis. In the case where the charging power becomes smaller, it is presumed that the positive side is the direction in which the actual Y-axis deviation amount increases. Therefore, in the next non-contact charging, it is offset in the negative direction of the Y axis. The same process applies to the X axis.

[0092] Next, an example of the process in which the parking control device 30 searches for the optimal charging position will be described with reference to Figures 7 to 9 the flowchart shown. Each time the parking control and non-contact charging are performed in the parking space 2, the parking control device 30 repeatedly executes this flowchart. In addition, in this flowchart, an example of searching for the position where the charging power becomes the maximum value is shown, but the parking control device 30 may also search for the position where the charging efficiency becomes the maximum value.

[0093] The parking control device 30 first determines whether the current non-contact charging is performed for the first time in the target parking space 2 (step S100). For example, in the case where the charging result information and the target parking position during the past non-contact charging in the parking space 2 are stored in the storage unit 32 in a corresponding manner, the parking control device 30 determines that the current non-contact charging is not performed for the first time in the parking space 2.

[0094] In the case where it is determined that the current non-contact charging is performed for the first time in the parking space 2 (step S100: YES), the parking control device 30 stores the current offset amount and the charging power in the storage unit 32 in a corresponding manner (step S102). The offset amount here includes a prescribed distance in the X axis direction, i.e., the X-axis offset amount, and a prescribed distance in the Y axis direction, i.e., the Y-axis offset amount. Since the current non-contact charging is performed for the first time in the parking space 2 and the offset process has not been performed in the past, the X-axis offset amount and the Y-axis offset amount are stored as zero in the storage unit 32.

[0095] The parking control device 30 stores the current charging power as the maximum charging power at the current time in the storage unit 32 (step S104). Since the current non-contact charging is performed for the first time in the parking space 2, the current charging power becomes the maximum charging power at the current time.

[0096] The parking control device 30 offsets the target parking position by ΔY in the positive direction of the Y axis (step S106). As a result, the target parking position will be offset in the positive direction of the Y axis when the vehicle 10 automatically parks in the parking space 2 next time. Then, the parking control device 30 ends the current flowchart.

[0097] In the case of performing parking control and non-contact charging for the second and subsequent times in the parking space 2 as the object, the parking control device 30 determines that the current parking control and non-contact charging are not the first time in the parking space 2 as the object (step S100: No), and determines whether the Y search completion flag is 1 (step S108). When the search for the position of the optimal charging position in the Y direction is completed in the Y direction search process S110 described later, the Y search completion flag is 1, and when the search is not completed, the Y search completion flag is 0. When the Y search completion flag is not 1 (step S108: No), the process proceeds to the Y direction search process S110.

[0098] In the Y direction search process S110, first, the parking control device 30 determines whether the +Y side search completion flag is 1 (step S202). When the search for the position of the optimal charging position in the Y direction is completed by shifting the target parking position in the control in the positive side of the Y direction, and when it is presumed that the position of the optimal charging position in the Y direction is not on the positive side but on the negative side by shifting the target parking position in the control in the positive side of the Y direction, the +Y side search completion flag becomes 1.

[0099] When the +Y side search completion flag is not 1 (step S202: No), the parking control device 30 stores the Y offset amount and the charging power of the current parking control and non-contact charging in the storage unit 32 in a corresponding manner (step S204). When the parking control and non-contact charging in the parking space 2 are the second time, the Y offset amount is +ΔY set in step S106, and the charging power is the charging power detected in the current non-contact charging.

[0100] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the Y direction stored in the storage unit 32 up to the current time (step S206). The maximum charging power in the Y direction is the maximum power among the charging powers stored corresponding to the Y offset amount. When the parking control and non-contact charging in the parking space 2 are the second time, the maximum charging power stored in step S104 (i.e., the charging power of the first time) becomes the maximum charging power in the Y direction.

[0101] When the current charging power is greater than the maximum charging power in the Y direction (step S206: Yes), the maximum charging power in the Y direction is updated to the current charging power, and the current Y offset amount is stored corresponding to the maximum charging power in the Y direction (step S208).

[0102] The parking control device 30 further offsets the target parking position by ΔY in the positive direction (step S210). As a result, the target parking position will be further offset in the positive direction of the Y-axis when the vehicle 10 automatically parks in the parking space 2 next time. For example, when the parking control and non-contact charging in the parking space 2 are the second time, the Y offset amount is +ΔY × 2. Then, the parking control device 30 ends the current flowchart. Whenever parking control and non-contact charging are performed in the parking space 2, the parking control device 30 repeatedly executes steps S204 to S210, increasing the Y offset amount in the positive direction, and searching for the position of the optimal charging position in the Y direction until the detected charging power becomes equal to or less than the maximum charging power in the Y direction.

[0103] When the current charging power is equal to or less than the maximum charging power in the Y direction (step S206: No), the parking control device 30 sets the +Y side search completion flag to 1 (step S212). That is, when the current charging power is equal to or less than the maximum charging power in the Y direction stored in the past, it is presumed that the charging power will decrease even if the vehicle is further offset in the positive direction of the Y-axis. Therefore, the search in the positive direction of the Y-axis is ended.

[0104] After setting the +Y side search completion flag to 1, the parking control device 30 resets the Y offset amount and offsets the next target parking position by ΔY in the negative direction (step S214). As a result, the Y offset amount becomes -ΔY. Then, the parking control device 30 ends the current flowchart. In addition, the Y offset amount stored in the storage unit 32 in the past and the corresponding charging power are not deleted but are retained.

[0105] When the +Y side search completion flag becomes 1 (step S202: Yes), the parking control device 30 stores the Y offset amount and the charging power of the current parking control and non-contact charging in the storage unit 32 in correspondence with each other (step S216). In step S212, when step S216 is first executed after the +Y side search completion flag becomes 1, the Y offset amount is -ΔY set in step S214, and the charging power is the charging power detected in the current non-contact charging.

[0106] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the Y direction stored in the storage unit 32 up to the current time (step S218). The maximum charging power in the Y direction here is any one of the maximum charging power stored in step S104, the maximum charging power stored in step S208, and the maximum charging power stored in the storage unit 32 in step S220 described later.

[0107] When the charging power in this time is greater than the maximum charging power in the Y direction (step S218: Yes), update the maximum charging power in the Y direction to the charging power in this time, and store the Y offset amount in this time and the maximum charging power in the Y direction in correspondence with each other (step S220).

[0108] The parking control device 30 further offsets the target parking position by ΔY in the negative direction (step S222). Thus, the next time the vehicle 10 automatically parks in the parking space 2, the target parking position will be further offset in the negative direction of the Y direction. Then, the parking control device 30 ends the flowchart in this time. Whenever parking control and non-contact charging are performed in the parking space 2, the parking control device 30 repeatedly executes steps S216 to S222, increases the Y offset amount in the negative direction, and searches for the position of the optimal charging position in the Y direction until the detected charging power becomes less than or equal to the maximum charging power in the Y direction.

[0109] When the charging power in this time is less than or equal to the maximum charging power in the Y direction (step S218: No), the parking control device 30 sets the Y search completion flag to 1 (step S224). That is, when the charging power in this time is less than or equal to the maximum charging power in the Y direction stored in the past, it is presumed that the charging power will decrease even if it is further offset in the negative direction of the Y direction, so the search in the negative direction of the Y direction is ended.

[0110] The parking control device 30 sets the Y offset amount corresponding to the maximum charging power in the Y direction stored in the storage unit 32 as the Y offset amount of the target parking position when the vehicle 10 automatically parks in the parking space 2 next time and thereafter (step S226). For example, in Figure 6A In the case of the example shown, the Y offset amount is set to the Y offset amount corresponding to the maximum charging power Py_max in the Y direction, that is, -20 mm.

[0111] The parking control device 30 offsets the target parking position by ΔX in the positive direction of the X direction (step S228). Thus, the next time the vehicle 10 automatically parks in the parking space 2, the target parking position will be offset in the positive direction of the X direction. Then, the parking control device 30 ends the flowchart in this time.

[0112] When the Y search completion flag is 1 in step S224, in the direction of "Yes" in step S108, the parking control unit 36 determines whether the X search completion flag is 1 (step S112). Regarding the X search completion flag, when the search for the position of the optimal charging position in the X direction is completed in the X direction search process S114 described later, the X search completion flag is 1, and when the search is not completed, the X search completion flag is 0. When the X search completion flag is not 1 (step S112: No), enter the X direction search process S114.

[0113] In the X-direction search process S114, first, the parking control device 30 determines whether the +X-side search completion flag is 1 (step S302). In the case where the search for the position of the optimal charging position in the X-direction is completed by shifting the target parking position in the control in the positive direction of the X-direction, and in the case where the target parking position in the control is shifted in the positive direction of the X-direction and it is presumed that the position of the optimal charging position in the X-direction is not on the positive side but on the negative side, the +X-side search completion flag becomes 1.

[0114] In the case where the +X-side search completion flag is not 1 (step S302: No), the parking control device 30 stores the X offset amount and the charging power of the current parking control and non-contact charging in the storage unit 32 in a corresponding manner (step S304). In the case of initially executing the X-direction search process S114, the X offset amount is +ΔX set in step S228, and the charging power is the charging power detected in the current non-contact charging.

[0115] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the X-direction stored in the storage unit 32 up to the current time (step S306). The maximum charging power in the X-direction is the maximum power among the charging powers stored corresponding to the X offset amount. In the case of initially executing the X-direction search process S114, the maximum charging power in the Y-direction searched in the Y-direction search process S110 becomes the maximum charging power in the X-direction (the X offset amount at this time is zero).

[0116] In the case where the current charging power is greater than the maximum charging power in the X-direction (step S306: Yes), the maximum charging power in the X-direction is updated to the current charging power, and the current X offset amount is stored corresponding to the maximum charging power in the X-direction (step S308).

[0117] The parking control device 30 further shifts the target parking position by ΔX in the positive direction (step S310). As a result, the target parking position will be further shifted in the positive direction of the X-direction when the vehicle 10 automatically parks in the parking space 2 next time. For example, in the case of initially executing the X-direction search process S114, the X offset amount is +ΔX × 2. Then, the parking control device 30 ends the current flowchart. Whenever parking control and non-contact charging are performed in the parking space 2, the parking control device 30 repeatedly executes steps S304 to S310, increases the X offset amount on the positive side, and searches for the position of the optimal charging position in the X-direction until the detected charging power becomes less than or equal to the maximum charging power in the X-direction.

[0118] When the charging power in this time is equal to or less than the maximum charging power in the X direction (step S306: No), the parking control device 30 sets the +X side search completion flag to 1 (step S312). That is, when the charging power in this time is equal to or less than the maximum charging power in the X direction stored in the past, it is presumed that the charging power will decrease even if the vehicle further offsets in the positive side of the X direction. Therefore, the search for the positive side of the X direction is ended.

[0119] After the +X side search completion flag becomes 1, the parking control device 30 resets the X offset amount, and offsets the next target parking position by ΔX in the negative side (step S314). Thereby, the X offset amount becomes -ΔX. Then, the parking control device 30 ends the current flowchart. In addition, the X offset amount stored in the storage unit 32 in the past and the corresponding charging power are kept without being deleted.

[0120] When the +X side search completion flag becomes 1 (step S302: Yes), the parking control device 30 stores the X offset amount and the charging power of the current parking control and non-contact charging in the storage unit 32 in correspondence with each other (step S316). In step S312, when step S316 is first executed after the +X side search completion flag becomes 1, the X offset amount is -ΔX set in step S314, and the charging power is the charging power detected in the current non-contact charging.

[0121] Next, the parking control device 30 determines whether the charging power in this time is greater than the maximum charging power in the X direction stored in the storage unit 32 until the current time (step S318). The maximum charging power in the X direction here is any one of the maximum charging power set in the Y direction search process S110, the maximum charging power stored in the storage unit 32 in step S308, and the maximum charging power stored in the storage unit 32 in step S320 described later.

[0122] When the charging power in this time is greater than the maximum charging power in the X direction (step S318: Yes), the maximum charging power in the X direction is updated to the charging power in this time, and the current X offset amount is stored in correspondence with the maximum charging power in the X direction (step S320).

[0123] The parking control device 30 further offsets the target parking position by ΔX in the negative side (step S322). Thereby, the next time the vehicle 10 automatically parks in the parking space 2, the target parking position will be further offset in the negative side of the X direction. Then, the parking control device 30 ends the current flowchart. Whenever the parking control and non-contact charging are executed in the parking space 2, the parking control device 30 repeatedly executes steps S316 to S322, increases the X offset amount in the negative side, and searches for the position of the optimal charging position in the X direction until the detected charging power becomes equal to or less than the maximum charging power in the X direction.

[0124] When the charging power in this time is equal to or less than the maximum charging power in the X direction (step S318: No), the parking control device 30 sets the X search completion flag to 1 (step S324). That is, when the charging power in this time is equal to or less than the maximum charging power in the X direction stored in the past, it is presumed that even if it further offsets to the negative side in the X direction, the charging power will decrease. Therefore, the search in the negative side of the X direction is ended.

[0125] The parking control device 30 sets the X offset amount corresponding to the maximum charging power in the X direction stored in the storage unit 32 as the X offset amount of the target parking position when the vehicle 10 automatically parks in the parking space 2 next time and thereafter (step S326). For example, in Figure 6B the case of the example shown, the X offset amount is set to the X offset amount corresponding to the maximum charging power P_max, that is, +10 mm. Thus, the search process in the X direction in the parking space 2 is ended, and the parking control device 30 ends the present flowchart.

[0126] As described above, through the Y direction search process and the X direction search process, the Y offset amount and the X offset amount in the parking space 2 can be set, and calibration can be performed to make the target parking position coincide with the optimal charging position. Therefore, the efficiency of non-contact charging can be improved.

[0127] The search for the optimal charging position can also be performed, for example, when the power transmission device 3 is provided in the parking space 2 such as at home. Specifically, when the power transmission device 3 is provided in the parking space 2, the parking control and non-contact charging can be repeatedly executed by the parking control device 30, and the X offset amount and the Y offset amount are searched based on the above flowchart. Thus, the effect of improving the efficiency of non-contact charging based on the search for the optimal charging position can be obtained immediately after the power transmission device 3 is provided.

[0128] (Modification example)

[0129] In the above-described embodiment, the parking control device 30 separately executes the offset process in the X direction and the offset process in the Y direction, but the two can also be executed simultaneously.

[0130] As Figure 10 shown by the thick arrow, the parking control device 30 can also offset the target parking position of the parking control to be executed next time in the parking space 2 in the X direction and the Y direction simultaneously. At this time, based on the charging power during non-contact charging being equal on the line (the single dotted line in the figure, also called the equal power line) that connects in a substantially circular shape with the optimal charging position as the center, whenever the parking control and non-contact charging are executed in the parking space 2, it is offset in the X direction and the Y direction simultaneously so that the target parking position in control approaches the optimal charging position. According to such a structure, the optimal charging position can be searched efficiently, and the number of offset processes can be reduced.

[0131] In addition, the target parking position may not be offset simultaneously in the X direction and the Y direction in all offset processes. For example, whenever parking control and non-contact charging are performed in the parking space 2, the parking control device 30 may also appropriately select a case where the offset process in the X direction and the offset process in the Y direction are performed simultaneously and a case where only the offset process in the X direction (or the Y direction) is performed.

[0132] As described above, one embodiment of the present invention has been described with reference to the accompanying drawings. However, the present invention is of course not limited to this embodiment. Obviously, those skilled in the art can conceive of various modification examples or correction examples within the scope described in the technical solution, and it should be understood that these modification examples and correction examples also of course belong to the technical scope of the present invention. In addition, within the scope not departing from the gist of the invention, the constituent elements in the above-described embodiment can be arbitrarily combined.

[0133] For example, in the non-contact power transmission system 1 of the above-described embodiment, the coil provided in the vehicle 10 functions as a power receiving unit (i.e., a secondary coil), but the coil provided in the vehicle 10 may also function as a power transmitting unit (i.e., a primary coil). In other words, the vehicle 10 in the non-contact power transmission system 1 may also be capable of non-contact power supply for transmitting power to the power receiving device provided in the parking space 2 in a non-contact manner.

[0134] In this case, whenever parking control and non-contact power supply are performed in the parking space 2, the parking control device 30 stores the parking position information of the vehicle 10 when non-contact power supply is performed and the power supply result information (at least one of power supply output and power supply efficiency) in a corresponding manner in the storage unit 32. Then, the parking control device 30 offsets the target parking position of the parking control performed in the parking space 2 based on the past parking position information and power supply result information stored in the storage unit 32.

[0135] In addition, in the above-described embodiment, the parking control unit 36 offsets the target parking position of the next parking control by a specified distance when parking control and non-contact charging (or non-contact power supply) are performed, but the time point of offset is not limited to this. For example, the parking control unit 36 may also offset the target parking position of the current parking control by a specified distance with reference to the past parking position information and power supply result information immediately before parking control and non-contact charging (non-contact power supply) are performed.

[0136] At least the following matters are described in this specification. In parentheses, corresponding constituent elements, etc. in the above-described embodiment are shown as an example, but are not limited thereto.

[0137] (1) A parking control device (parking control device 30) of a vehicle (vehicle 10), the vehicle being capable of performing non-contact power transmission for transmitting power in a non-contact manner between a first coil (primary coil 4) provided in a parking space (parking space 2) and a second coil (secondary coil 7) provided in the vehicle, wherein,

[0138] The parking control device includes:

[0139] A parking control unit (parking control unit 36) that performs parking control to automatically park the vehicle at a target parking position where the first coil and the second coil face each other in the parking space; and

[0140] A result detection unit (charging result detection unit 37) that detects transmission result information (charging result information) of the non-contact power transmission performed at the target parking position,

[0141] Whenever the non-contact power transmission is performed in the parking space, the parking control unit stores the parking position information (offset) of the vehicle when the non-contact power transmission is performed and the transmission result information in a storage unit (storage unit 32) in a corresponding manner.

[0142] Based on the past parking position information and the transmission result information stored in the storage unit, the target parking position of the parking control performed in the parking space is offset.

[0143] According to (1), even when the target parking position in terms of control does not coincide with the optimal position of the non-contact power transmission due to control deviation or the like, the target parking position is offset based on the past parking position information and the transmission result information stored in a corresponding manner each time the non-contact power transmission is performed in the parking space. Therefore, the efficiency of the non-contact power transmission can be improved.

[0144] (2) The parking control device according to (1), wherein,

[0145] The transmission result information includes at least one of charging output and charging efficiency, or at least one of power supply output and power supply efficiency,

[0146] The parking control unit offsets the target parking position of the parking control performed in the parking space to a position where at least one of the charging output and the charging efficiency, or at least one of the power supply output and the power supply efficiency is optimal.

[0147] According to (2), the optimal position can be searched based on at least one of the output and the efficiency of the non-contact power transmission.

[0148] (3)The parking control device according to (1) or (2), wherein

[0149] whenever the non-contact power transmission is performed in the parking space, the parking control unit offsets the target parking position of the parking control performed in the parking space by a predetermined distance, and stores the parking position information and the transmission result information at the time of performing the non-contact power transmission in the storage unit in a corresponding manner.

[0150] The parking control unit searches for the optimal position of the non-contact power transmission in the parking space based on the parking position information and the transmission result information stored in the storage unit.

[0151] According to (3), based on the past parking position information and transmission result information stored in a corresponding manner each time the non-contact power transmission is performed in the parking space, the optimal position of the non-contact power transmission in the parking space can be searched, and the target parking position can be set as the optimal position, so that the efficiency of the non-contact power transmission can be improved.

[0152] (4)The parking control device according to (3), wherein

[0153] The parking control unit offsets the target parking position along a first direction to search for the position of the optimal position in the first direction.

[0154] After searching for and setting the position of the optimal position in the first direction, the parking control unit offsets the target parking position along a second direction orthogonal to the first direction to search for the position of the optimal position in the second direction.

[0155] According to (4), since the offset processing is performed sequentially for each direction, the optimal position can be searched with a simple algorithm.

[0156] (5)The parking control device according to (3), wherein

[0157] The parking control unit offsets the target parking position simultaneously along a first direction and a second direction orthogonal to the first direction to search for the position of the optimal position in the first direction and the position of the optimal position in the second direction.

[0158] According to (5), since the offset processing is performed simultaneously in the first direction and the second direction, the optimal position can be searched efficiently, and the number of offset processing times can be reduced.

[0159] (6)A parking control method for a vehicle (vehicle 10) capable of performing contactless power transmission for transmitting power in a non-contact manner between a first coil (primary coil 4) provided in a parking space (parking space 2) and a second coil (secondary coil 7) provided in the vehicle, wherein the parking control method includes:

[0160] A parking control step of performing parking control in the parking space to automatically park the vehicle at a target parking position where the first coil and the second coil face each other;

[0161] A result detection step of detecting transmission result information of the contactless power transmission performed at the target parking position;

[0162] A storage step of storing the parking position information of the vehicle at the time of performing the contactless power transmission and the transmission result information in a storage unit in correspondence with each other every time the contactless power transmission is performed in the parking space; and

[0163] An offset step of offsetting the target parking position of the parking control to be performed next in the parking space based on the past parking position information and the transmission result information stored in the storage unit.

[0164] According to (6), even when the target parking position in terms of control is inconsistent with the optimal position of the contactless power transmission due to control deviation or the like, the target parking position is offset based on the past parking position information and the transmission result information stored in correspondence with each other every time the contactless power transmission is performed in the parking space, so that the efficiency of the contactless power transmission can be improved.

Claims

1. A parking control device, which is a parking control device for a vehicle capable of performing contactless power transmission between a first coil provided in a parking space and a second coil provided in the vehicle in a contactless manner, wherein: The parking control device comprises: a parking control unit that performs parking control in the parking space to automatically park the vehicle at a target parking position where the first coil and the second coil face each other; as well as a result detection unit for detecting transmission result information of the non-contact power transmission performed at the target parking position, Whenever the non-contact power transmission is performed in the parking space, the parking control unit stores the parking position information of the vehicle when the non-contact power transmission is performed and the transmission result information in a storage unit in correspondence with each other, The parking control unit shifts the target parking position of the parking control executed in the parking space based on the past parking position information and the transmission result information stored in the storage unit.

2. The parking control device according to claim 1, wherein: The transmission result information includes at least one of the charging output and the charging efficiency, or at least one of the power supply output and the power supply efficiency, The parking control unit shifts the target parking position of the parking control executed in the parking space to a position where at least one of the charging output and the charging efficiency or at least one of the power supply output and the power supply efficiency is optimized.

3. The parking control device according to claim 1 or 2, wherein: The parking control unit shifts the target parking position of the parking control performed in the parking space by a predetermined distance each time the non-contact power transmission is performed in the parking space, and stores the parking position information and the transmission result information when the non-contact power transmission is performed in the storage unit in correspondence with each other. The parking control unit searches for an optimal position for the contactless power transmission in the parking space based on the parking position information and the transmission result information stored in the storage unit.

4. The parking control device according to claim 3, wherein: The parking control unit shifts the target parking position along a first direction to search for a position of the optimal position in the first direction. After searching for and setting the position of the optimal position in the first direction, the parking control unit shifts the target parking position in a second direction orthogonal to the first direction to search for the position of the optimal position in the second direction.

5. The parking control device according to claim 3, wherein: The parking control unit shifts the target parking position simultaneously in a first direction and a second direction orthogonal to the first direction to search for a position of the optimal position in the first direction and a position of the optimal position in the second direction.

6. A parking control method for a vehicle capable of performing contactless power transmission between a first coil provided in a parking space and a second coil provided in the vehicle in a contactless manner, wherein: The parking control method comprises: a parking control step of performing parking control in the parking space so that the vehicle is automatically parked at a target parking position where the first coil and the second coil are opposite to each other; a result detection step of detecting transmission result information of the contactless power transmission performed at the target parking position; a storing step of storing, each time the non-contact power transmission is performed in the parking space, the parking position information of the vehicle when the non-contact power transmission is performed and the transmission result information in a storage unit in correspondence with each other; as well as The shifting step shifts the target parking position of the parking control to be performed next in the parking space based on the past parking position information and the transmission result information stored in the storage unit.

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