Bicycle pile cooperative resonance coupling radio charging and discharging system

Abstract

The invention, which relates to the vehicle sharing wireless charging and discharging system field, discloses a vehicle pile cooperative resonant coupling wireless charging and discharging system comprising a vehicle owner terminal, a vehicle information acquisition module, a processor module, a wireless charging terminal, a parking space image acquisition module and a storage module. According to the vehicle pile cooperative resonance coupling wireless charging and discharging system, the alignment degree of a vehicle and a parking space charging coil can be greatly improved, the problems of low alignment degree and low charging efficiency caused by self judgment of a vehicle owner are effectively solved, the charging efficiency is improved, the charging duration is shortened, and the wireless charging parking space circulation rate is improved; the vehicle discharge income electricity price is distributed according to the charging and parking operation, the vehicle owner is stimulated to park regularly, and the charging efficiency and the parking space circulation rate are further improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-sharing wireless charging and discharging systems, and particularly to a vehicle-pile collaborative resonant coupling radio charging and discharging system. Background Art

[0002] The technology of wireless charging for automobiles has developed rapidly. In order to cope with the increasing number of wireless charging vehicles, many shared wireless charging parking spaces have emerged on the market. These parking spaces not only carry out the work of wirelessly charging automobiles, but also can be connected to the power grid to undertake the task of peak shaving and valley filling for the power grid, that is, they can supply power for vehicles to discharge, using the vehicle's battery as a mobile energy storage for the power grid. Vehicle owners can obtain the income of differential electricity prices through charging and discharging.

[0003] In the wireless charging and discharging technology using resonant coupling, when two charging coils are completely aligned, the magnetic field coupling between them is the strongest, the coupling coefficient is the largest, the resonant effect is the best, and the energy transfer efficiency is the highest. However, as the alignment degree deviates, the energy transfer efficiency decreases. Therefore, during charging, the accuracy of the vehicle's parking posture has a great impact on the utilization rate of charging energy and the charging duration. However, the arrangements of the charging coils of different vehicles are often different. Therefore, different vehicles have different optimal parking postures on the wireless charging parking spaces. Existing shared wireless charging and discharging systems often cannot recommend the optimal parking posture information to vehicle owners accordingly, so that during charging, parking and charging rely solely on the vehicle owners' self-judgment, resulting in ineffective improvement of charging efficiency. Summary of the Invention

[0004] In order to make up for the deficiencies of the existing technology problems, the purpose of the present invention is to provide a vehicle-pile collaborative resonant coupling radio charging and discharging system, which analyzes the actual size of the vehicle, outputs the optimal parking posture data for the vehicle owner, and distributes the vehicle discharge income according to the parking operation, thus solving the problems of low vehicle parking accuracy, deviation of coil alignment degree, and low charging efficiency caused by relying solely on the vehicle owners' self-judgment and self-behavior norms in the existing technology.

[0005] In order to solve the existing technology problems, the technical solution of the present invention is as follows:

[0006] A vehicle-pile collaborative resonant coupling radio charging and discharging system includes a vehicle owner terminal, a vehicle information acquisition module, a processor module, a wireless charging terminal, a parking space image acquisition module, and a storage module, and the specific operation is as follows:

[0007] Vehicle parameter acquisition: The vehicle information acquisition module is arranged on the vehicle to acquire vehicle parameters;

[0008] Optimal parking attitude calculation: The wireless charging terminal is installed in the wireless charging parking space to supply power to the vehicle. The parking space image acquisition module acquires the parking space image of the wireless charging parking space. When the vehicle arrives, the processor module obtains the optimal parking attitude data based on the vehicle parameters and the parking space image, and feeds it back to the vehicle owner's terminal;

[0009] Parking image analysis and storage: The parking space image acquisition module captures the parking image of the vehicle in the wireless charging parking space to obtain the parking video of the charging event. The processor module stores the analysis result of the parking video in the storage module;

[0010] Discharge income calculation and electricity price allocation: At the end of the set period S, the processor module calculates the vehicle discharge income proportion value J for the next set period S based on the analysis results in the storage module, and accordingly allocates the discharge income electricity price to the vehicle in the next set period S.

[0011] Preferably, the vehicle parameters at least include vehicle size parameters and vehicle charging coil configuration parameters.

[0012] Preferably, the wireless charging terminal is a parking space charging coil.

[0013] Preferably, the steps for the processor module to obtain the optimal parking attitude data are as follows:

[0014] A1. By analyzing the acquired parking space image, taking the lower left corner of the wireless charging parking space as the origin P, establish a parking space plane rectangular coordinate system, take the long side of the wireless charging parking space as the x 车位 axis, take the short side of the wireless charging parking space as the y 车位 axis, and determine the coordinates (x c , y c ) of the geometric center of the parking space charging coil in the parking space plane rectangular coordinate system;

[0015] A2. Determine the offset (Δx v , Δy v ) between the geometric center of the vehicle charging coil and the geometric center of the vehicle;

[0016] A3. Calculate the x coordinate x lx of the ideal position of the geometric center of the vehicle in the parking space plane rectangular coordinate system through the following formula:

[0017] x lx = x c - Δx v ;

[0018] Among them, x c represents the x 车位 coordinate of the geometric center of the parking space charging coil in the parking space plane rectangular coordinate system;

[0019] Calculate the y coordinate of the ideal position of the geometric center of the vehicle in the rectangular coordinate system of the parking space through the following formula 车位 Coordinate y lx :

[0020] y lx = y c - Δy v ;

[0021] Among them, y c represents the y coordinate of the geometric center of the charging coil in the parking space in the rectangular coordinate system of the parking space 车位 ;

[0022] A5. Consider the constraints between the vehicle boundary and the wireless charging parking space boundary to adjust the ideal position of the geometric center of the vehicle;

[0023] A6. According to the ideal position of the geometric center of the adjusted vehicle, the processor module calculates the coordinates of the ideal positions of the four corner points of the vehicle in the rectangular coordinate system of the parking space, which are the optimal parking attitude data.

[0024] Preferably, the A5 specifically includes the following steps:

[0025] A51. There are three cases for adjusting x lx :

[0026] Case 1: If x lx < d f + l / 2, then x lx is adjusted to d f + l / 2;

[0027] Case 2: If x lx > L - d r - l / 2, then x lx is adjusted to L - d r - l / 2;

[0028] Case 3: If d f + l / 2 ≤ x lx ≤ L - d r - l / 2, then x lx is not adjusted;

[0029] Among them, L is the length of the wireless charging parking space, l is the length of the vehicle, d f represents the minimum safety distance between the rear of the vehicle and the left side of the wireless charging parking space, and d r represents the minimum safety distance between the front of the vehicle and the right side of the wireless charging parking space;

[0030] A52. There are three cases for adjusting y lx :

[0031] Case 1: If ylx <d l + w / 2, then y lx is adjusted to d l + w / 2;

[0032] Case 2: y lx > W - d i - w / 2, then y lx is adjusted to W - d i - w / 2;

[0033] Case 3: d l + w / 2 ≤ y lx ≤ W - d i - w / 2, then y lx is not adjusted;

[0034] Among them, W is the width of the wireless charging parking space, w is the width of the vehicle, and d l represents the minimum safety distance between the right side of the vehicle and the lower side of the wireless charging parking space, and d i represents the minimum safety distance between the left side of the vehicle and the upper side of the wireless charging parking space.

[0035] Preferably, the ideal position coordinates of the four corner points in the parking space plane rectangular coordinate system are respectively

[0036]

[0037] Preferably, the analysis result includes the parking accuracy Q and the number of vehicle trajectory adjustments.

[0038] Preferably, the steps of parking video analysis are as follows:

[0039] B1. According to the best parking attitude data, the processor module combines the parking video and calculates the parking accuracy Q when the vehicle stops during the charging event through the following formula:

[0040]

[0041] Among them, i = 1, 2, 3, 4, x ai and y ai respectively represent the x 车位 coordinate and y 车位 coordinate of the actual position of the i-th corner point of the vehicle in the parking space plane rectangular coordinate system when the vehicle stops in the parking video, and x li and y li respectively represent the x 车位 coordinate and y 车位 coordinate of the ideal position of the i-th corner point of the vehicle in the parking space plane rectangular coordinate system;

[0042] B2. The processor module determines the number of vehicle trajectory adjustments in the charging event, integrates Q in the charging event with the number of vehicle trajectory adjustments into a data packet and stores it in the storage module, and constructs a data set h = (h1, h2,..., h e ), where h e represents the e-th data packet.

[0043] Preferably, the calculation formula for the vehicle discharge revenue ratio value J is as follows:

[0044]

[0045] where U m represents the temporary allocation value of the vehicle in the m-th charging event within the set period S, Q m represents the parking accuracy of the vehicle in the m-th charging event within the set period S, N m represents the number of vehicle trajectory adjustments in the m-th charging event of the vehicle within the set period S, n represents the total number of charging events of the vehicle within the set period S, and k represents the adjustment coefficient.

[0046] Compared with the prior art, the advantages of the present invention are as follows:

[0047] The present invention utilizes the obtained images of the wireless charging parking spaces and vehicle parameters, generates the optimal parking attitude data of the vehicle based on the vehicle size and charging coil configuration parameters, and feeds it back to the vehicle owner to help them accurately determine the most suitable parking attitude, greatly improving the alignment degree between the vehicle and the charging coil of the parking space, effectively solving the problems of low alignment degree and low charging efficiency caused by the vehicle owner's self-judgment, improving the charging efficiency, shortening the charging duration, increasing the turnover rate of the wireless charging parking spaces. In addition, according to the charging parking operation, the vehicle discharge revenue electricity price is allocated to encourage the vehicle owner to park in a standardized manner, further improving the charging efficiency and the turnover rate of the parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a system schematic diagram of the present invention;

[0049] Figure 2 is a logic block diagram of the present invention;

[0050] Figure 3 is a schematic diagram of the parking space plane rectangular coordinate system of the present invention;

[0051] Figure 4 is a schematic diagram of the relationship between the two-dimensional simplified geometric model based on the vehicle outer contour and the wireless charging parking space of the present invention.

[0052] Reference numerals: 1. Wireless charging parking space; 2. Two-dimensional simplified geometric model based on the vehicle outer contour; 3. Charging coil of the parking space; 4. Geometric center of the charging coil of the parking space; 5. Geometric center of the vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0054] Please refer to Figures 1 to 4 , this embodiment provides a vehicle-pile collaborative resonant coupling radio charging and discharging system, including a vehicle owner terminal, a vehicle information acquisition module, a processor module, a wireless charging terminal, a parking space image acquisition module, and a storage module. The wireless charging terminal is a parking space charging coil, and the specific operation is as follows:

[0055] Vehicle parameter acquisition: The vehicle information acquisition module is arranged on the vehicle to acquire vehicle parameters, and the vehicle parameters at least include vehicle size parameters and vehicle charging coil configuration parameters;

[0056] Optimal parking attitude calculation: The wireless charging terminal is arranged at the wireless charging parking space to supply power to the vehicle. The parking space image acquisition module acquires the parking space image of the wireless charging parking space. When the vehicle arrives, the processor module obtains the optimal parking attitude data based on the vehicle parameters and the parking space image, and feeds it back to the vehicle owner terminal;

[0057] The steps for the processor module to obtain the optimal parking attitude data are as follows:

[0058] A1. By analyzing the acquired parking space image, determine the size data of the wireless charging parking space, the size data of the parking space charging coil, and the positional relationship between the wireless charging parking space and the parking space charging coil. The processor module can obtain this by analyzing the image of the wireless charging parking space using computer vision technology;

[0059] Taking the lower left corner of the wireless charging parking space as the origin P, establish a rectangular coordinate system for the parking space plane. Use the long side of the wireless charging parking space to establish the x 车位 axis, and use the wide side of the wireless charging parking space to establish the y 车位 axis, and analyze the parking space image again to determine the coordinates (x c , y c ) of the geometric center of the parking space charging coil in the rectangular coordinate system of the parking space plane. The geometric center of the parking space charging coil is also obtained by the processor module using computer vision technology for analysis;

[0060] Based on the above, it should be further noted that due to different chassis layouts of different vehicle models, there are certain differences in the actual layout positions of vehicle charging coils. However, according to statistics of the actual situation, the existing layouts of vehicle charging coils usually have certain commonalities. That is, they are usually arranged in the mid-rear part of the vehicle chassis and are basically located near the central axis in the length direction of the entire chassis. In order to meet the needs of a wider range of wireless charging vehicles, all the charging coils in the shared wireless charging parking spaces are arranged at the same position on the wireless charging parking spaces, that is, in the mid-rear part of the wireless charging parking spaces and at the central axis position in the length direction of the wireless charging parking spaces. The corresponding rule for the vehicle and the parking space plane rectangular coordinate system is that the positive direction of the vehicle along the x 车位 axis is the head direction of the vehicle, and the negative direction of the vehicle along the x 车位 axis is the tail direction of the vehicle;

[0061] A2. Determine the offset (Δx v , Δy v ) between the geometric center of the vehicle charging coil and the geometric center of the vehicle through the obtained vehicle parameters;

[0062] For the acquisition of vehicle size parameters and the configuration parameters of vehicle charging coils, the vehicle information acquisition module accesses the in-vehicle system. In the prior art, the in-vehicle system is often connected to the vehicle's electronic control unit (ECU) through various communication protocols, such as the Controller Area Network (CAN) bus protocol. The CAN bus is a widely used communication standard within vehicles, which can achieve information interaction between various vehicle electronic systems. As a node in the vehicle network, the in-vehicle system can receive vehicle parameter information sent from different ECUs through the CAN bus;

[0063] Moreover, the design and functions of existing in-vehicle software usually can directly preset vehicle parameters. Some vehicle manufacturers integrate a vehicle information display function in the in-vehicle system. Through the built-in software application program, the basic parameters of the vehicle can be directly read and displayed, including the length, width, and height of the vehicle body, the weight of the vehicle body, the wheelbase of the vehicle body, and the engine model, etc., as well as the basic configuration parameters of the vehicle charging coil, including the shape, number of turns, rated power, operating frequency, and inductance value of the charging coil;

[0064] Based on the above, it should be further noted that:

[0065] After obtaining the vehicle size parameters, the processor module simplifies and models the vehicle, that is, a two-dimensional simplified geometric model based on the vehicle's outer contour is obtained. The length of the two-dimensional simplified geometric model based on the vehicle's outer contour is the length l of the vehicle, and the width of the two-dimensional simplified geometric model based on the vehicle's outer contour is the width w of the vehicle. The processor module can determine the geometric center of the vehicle by analyzing the two-dimensional simplified geometric model based on the vehicle's outer contour. The four corners of the two-dimensional simplified geometric model based on the vehicle's outer contour are the four corner points of the vehicle. These four corner points are a virtual concept and do not exist on the vehicle itself, but only in the two-dimensional simplified geometric model based on the vehicle's outer contour;

[0066] According to the configuration parameters of the vehicle charging coil, the vehicle charging coil is simplified and modeled to obtain a two-dimensional simplified geometric model based on the outer contour of the charging coil, and then the geometric center of the vehicle charging coil is analyzed and determined;

[0067] Further, according to the configuration parameters of the vehicle charging coil, a body plane rectangular coordinate system is constructed. Taking the geometric center of the vehicle as the origin T, and taking the axis in the length direction of the two-dimensional simplified geometric model based on the vehicle's outer contour as the x 车身 axis, and taking the axis in the width direction of the two-dimensional simplified geometric model based on the vehicle's outer contour as the y 车身 axis. In the body plane rectangular coordinate system, the two-dimensional simplified geometric model based on the vehicle's outer contour is in the positive x 车身 axis direction is the head direction of the vehicle, and along the negative x 车身 axis direction of the vehicle body is the tail direction of the vehicle. Therefore, according to the known information, the x 车身 coordinate Δx v and y 车身 coordinate Δy v of the geometric center of the vehicle charging coil in the body plane rectangular coordinate system can be determined, and then the offset (Δx v , Δy v ) between the geometric center of the vehicle charging coil and the geometric center of the vehicle is obtained;

[0068] A3. Calculate the x coordinate x lx of the ideal position of the geometric center of the vehicle in the parking space plane rectangular coordinate system through the following formula:

[0069] x lx = x c -Δx v ;

[0070] Among them, x c represents the x 车位 coordinate of the geometric center of the parking space charging coil in the parking space plane rectangular coordinate system;

[0071] Calculate the y coordinate of the ideal position of the geometric center of the vehicle in the rectangular coordinate system of the parking space through the following formula 车位 y lx :

[0072] y lx = y c - Δy v ;

[0073] Among them, y c represents the y coordinate of the geometric center of the charging coil of the parking space in the rectangular coordinate system of the parking space 车位 coordinate;

[0074] Further explanation, the ideal position of the geometric center of the vehicle is the position of the geometric center of the vehicle when the geometric center of the vehicle charging coil coincides with the geometric center of the parking space charging coil. When the geometric centers of the vehicle charging coil and the parking space charging coil coincide, the magnetic field coupling effect is the best. The wireless charging technology is based on the principle of electromagnetic induction, and the electric energy is transmitted through the magnetic field coupling between the primary coil (parking space charging coil) and the secondary coil (vehicle charging coil). When the centers of the two coils coincide, the magnetic field lines can be more effectively transmitted from the primary coil to the secondary coil, reducing magnetic field leakage and energy loss;

[0075] A5. Consider the constraints of the vehicle boundary and the wireless charging parking space boundary to adjust the ideal position of the geometric center of the vehicle:

[0076] A51. There are three cases for adjusting x lx :

[0077] Case 1: x lx < d f + l / 2, then x lx is adjusted to d f + l / 2;

[0078] Case 2: x lx > L - d r - l / 2, then x lx is adjusted to L - d r - l / 2;

[0079] Case 3: d f + l / 2 ≤ x lx ≤ L - d r - l / 2, then x lx is not adjusted;

[0080] Among them, L is the length of the wireless charging parking space, l is the length of the vehicle, d f represents the minimum safety distance between the rear of the vehicle and the left side of the wireless charging parking space, d r represents the minimum safety distance between the front of the vehicle and the right side of the wireless charging parking space;

[0081] A52. For y lx Making adjustments has the following three situations:

[0082] Situation 1: If y lx <d l + w / 2, then the value of y lx is adjusted to d l + w / 2;

[0083] Situation 2: If y lx > W - d i - w / 2, then the value of y lx is adjusted to W - d i - w / 2;

[0084] Situation 3: If d l + w / 2 ≤ y lx ≤ W - d i - w / 2, then the value of y lx is not adjusted;

[0085] Among them, W is the width of the wireless charging parking space, w is the width of the vehicle, and d l represents the minimum safety distance between the right side of the vehicle and the lower side of the wireless charging parking space, and d i represents the minimum safety distance between the left side of the vehicle and the upper side of the wireless charging parking space;

[0086] d f 、d r 、d l and d i The actual values of are obtained by adjusting according to the experimental measurement data of actual parking and the situation in actual operation. Specifically, it is to ensure that the vehicle can open the door normally after parking in the wireless charging parking space without affecting the entry and exit of vehicles in the front, rear, left, and right;

[0087] A6. According to the ideal position of the geometric center of the adjusted vehicle, the processor module calculates the coordinates of the ideal positions of the four corner points of the vehicle in the rectangular coordinate system of the parking space plane, which are the optimal parking attitude data. The coordinates of the ideal positions of the four corner points in the rectangular coordinate system of the parking space plane are respectively

[0089] When the optimal parking attitude data is fed back to the vehicle owner's terminal, it is fed back in the form of image data. The processor module generates image data using vector graphics drawing technology based on the data already obtained. The wireless charging parking space, the parking space charging coil, and the two-dimensional graph of the vehicle determined based on the vehicle size parameters are presented in the image, and the position of the two-dimensional graph of the vehicle in the wireless charging parking space in the image conforms to the coordinates of the ideal positions of the four corner points in the rectangular coordinate system of the parking space plane;

[0090] The front and rear of the vehicle, the wireless charging parking space, and the parking space charging coil are all indicated in the image, so as to facilitate the vehicle owner to better determine the optimal parking posture of the vehicle;

[0091] Parking image analysis and storage: The parking space image acquisition module captures the parking image of the vehicle on the wireless charging parking space to obtain the parking video of the charging event. The processor module stores the analysis result of the parking video in the storage module. The analysis result includes the parking accuracy Q and the number of vehicle trajectory adjustment times;

[0092] Discharge income calculation and electricity price allocation: At the end of the set period S, the processor module calculates the vehicle discharge income proportion value J for the next set period S according to the analysis result in the storage module, and accordingly allocates the discharge income electricity price to the vehicle in the next set period S;

[0093] The steps of analyzing the parking video are as follows:

[0094] B1. According to the optimal parking posture data and combined with the parking video, the processor module calculates the parking accuracy Q when the vehicle stops in the charging event through the following formula:

[0095]

[0096] where i = 1, 2, 3, 4, x ai and y ai respectively represent the x 车位 coordinate and y 车位 coordinate of the actual position of the i-th corner point of the vehicle in the rectangular coordinate system of the parking space when the vehicle stops in the parking video, and x li and y li respectively represent the x 车位 coordinate and y 车位 coordinate of the ideal position of the i-th corner point of the vehicle in the rectangular coordinate system of the parking space;

[0097] An explanatory note on the Q calculation formula, is to accumulate the distance deviations of the four corner points to obtain a comprehensive measure of the overall position deviation of the vehicle. After averaging, the average distance deviation is converted into Q in the form of 1 / 1+..., and this form is a common method of mapping the deviation value to the accuracy index. For the explanation of the Q value, when the average deviation is 0, the x 车位 coordinate and y 车位 coordinate of the actual position of each corner point of the vehicle in the parking video in the rectangular coordinate system of the parking space are both 车位 coincident with the x 车位 coordinate and y 车位 coordinate of the ideal position in the rectangular coordinate system of the parking space, and the Q value is 1. Conversely, the Q value tends to 0;

[0098] The processor module analyzes the parking video, determines the frame image at the end of the vehicle parking operation, and determines the actual x coordinate and y coordinate of the corner points of the two-dimensional simplified geometric model based on the vehicle's outer contour in the rectangular coordinate system of the parking space according to the actual position of the vehicle in the frame image; 车位 coordinates and y 车位 coordinates;

[0099] B2. The processor module analyzes the parking video, determines the number of vehicle trajectory adjustments in the charging event, integrates Q in the charging event with the number of vehicle trajectory adjustments into a data packet and stores it in the storage module, and constructs a data set h = (h1, h2,..., h), where h e represents the e-th data packet;

[0100] For the determination of the number of vehicle trajectory adjustments, it can be determined through a preset determination principle. The determination principle can be as follows:

[0101] Sudden change in vehicle body angle: Monitor the angle between the vehicle body and the wireless charging parking space or the reference line. When there is an obvious sudden change in the angle, exceeding the set angle threshold, it is determined as one trajectory adjustment. For example, if the angle between the vehicle body and the axis of the wireless charging parking space suddenly changes from 10 degrees to 30 degrees within a short time (such as within 0.5 seconds), it is considered that the vehicle has made one trajectory adjustment;

[0102] Change in the direction of the vehicle head: Taking the direction of the vehicle head as the judgment basis, if the change angle of the vehicle head direction exceeds a certain value, it can be determined as a trajectory adjustment. For example, if the vehicle head changes more than 15 degrees to the left or right from the initial direction, it is regarded as one trajectory adjustment, which can be determined by detecting the change in the characteristic points at the front end of the vehicle or the direction of the vehicle's central axis;

[0103] Based on the preset determination principle, the processor module can obtain the number of vehicle trajectory adjustments by analyzing the parking video based on computer vision technology. Usually, the more the number of vehicle trajectory adjustments, it means that the vehicle owner has made more frequent operation attempts during the parking process to accurately park the vehicle and strive to adjust the vehicle position to the most appropriate state. This process reflects the energy and concentration invested by the vehicle owner in the parking task;

[0104] For the above analysis of the parking video, the processor module can complete it by using existing algorithm technologies such as computer image recognition algorithms. For these existing mature technologies, no further elaboration will be made here;

[0105] During the real-time charging process, the processor module analyzes the real-time parking video of the vehicle obtained, calculates the real-time parking accuracy Q each time when it determines that the vehicle has completed parking, 实 and Q 实Sent to the vehicle owner's terminal to give the vehicle owner auxiliary prompts to help the vehicle owner determine the accuracy of the parking position for the vehicle owner's reference;

[0106] The calculation formula for the vehicle discharge income ratio value J is as follows:

[0107]

[0108] Where U m represents the temporary allocation value of the vehicle's m-th charging event within the set period S, Q m represents the parking accuracy of the vehicle in the m-th charging event within the set period S, N m represents the number of vehicle trajectory adjustment times in the m-th charging event of the vehicle within the set period S, n represents the total number of charging events of the vehicle within the set period S, and k represents the adjustment coefficient, where the adjustment coefficient is set according to the specific actual situation;

[0109] For the allocation of the discharge income electricity price, it is allocated according to the preset in Table 1 below:

[0110] Table 1: Discharge Income Electricity Price Allocation Table

[0111] J gradient J>4 3<J≦4 2<J≦3 J≦2 Electricity price gradient Normal electricity price Normal electricity price * 90% Normal electricity price * 70% Normal electricity price * 50%

[0112] In the next set period S, when the vehicle owner drives the vehicle to discharge on the wireless charging parking space, for the electricity price of the discharge income, it is allocated according to Table 1 above. For example, after calculation, it is determined that J of the vehicle owner within the set period S is 3.5, then according to Table 1, the allocation of the electricity price for it is "normal electricity price * 90%", where the normal electricity price is determined according to the peak shaving and valley filling policy electricity price of the power grid;

[0113] In summary, the present invention can determine the optimal parking posture of the vehicle during wireless charging according to the wireless charging parking space and the actual parameters of the vehicle, and feedback to the vehicle owner to instruct the vehicle owner to park in a standardized manner. The optimal parking posture can ensure the charging efficiency to the greatest extent while ensuring the safe and stable parking of the vehicle, and can combine the parking video of the vehicle owner during the charging event. Based on the parking behavior characteristics of the vehicle during charging, the electricity price of the vehicle's discharge income in the next cycle is allocated, so as to achieve the effect of motivating the vehicle owner to park in a standardized manner, and the vehicle owner's standardized parking can greatly reduce the duration of the vehicle occupying the wireless charging parking space and improve the utilization rate of the wireless charging parking space.

[0114] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Vehicle-pile collaborative resonant coupling radio charging and discharging system, characterized in that It includes an owner terminal, a vehicle information acquisition module, a processor module, a wireless charging terminal, a parking space image acquisition module, and a storage module. The specific operation is as follows: Vehicle parameter acquisition: The vehicle information acquisition module acquires vehicle parameters; Optimal parking attitude calculation: The wireless charging terminal is provided at the wireless charging parking space to supply power to the vehicle. The parking space image acquisition module acquires the parking space image of the wireless charging parking space. When the vehicle arrives, the processor module obtains the optimal parking attitude data based on the vehicle parameters and the parking space image, and feeds it back to the owner terminal; Parking image analysis and storage: The parking space image acquisition module captures the parking image of the vehicle on the wireless charging parking space to obtain the parking video of the charging event. The processor module stores the analysis result of the parking video in the storage module; Discharge income calculation and electricity price allocation: At the end of the set period S, the processor module calculates the vehicle discharge income ratio value J of the next set period S based on the analysis result in the storage module, and accordingly allocates the discharge income electricity price to the vehicle in the next set period S.

2. The vehicle-pile collaborative resonant coupling radio charging and discharging system according to claim 1, wherein, The vehicle parameters at least include vehicle size parameters and vehicle charging coil configuration parameters.

3. The vehicle-pile collaborative resonant coupling radio charging and discharging system according to claim 2, wherein The wireless charging terminal is a parking space charging coil.

4. The vehicle-pile collaborative resonant coupling radio charging and discharging system according to claim 3, characterized in that, The steps for the processor module to obtain the optimal parking attitude data are as follows: A1. By analyzing the acquired parking space image, taking the lower left corner of the wireless charging parking space as the origin P, a rectangular coordinate system of the parking space plane is established. The long side of the wireless charging parking space is used to establish the x 车位 axis, and the short side of the wireless charging parking space is used to establish the y 车位 axis, and the coordinates (x c , y c ) of the geometric center of the charging coil of the parking space in the rectangular coordinate system of the parking space plane are determined; A2. Determine the offset (Δx v , Δy v ) between the geometric center of the vehicle charging coil and the geometric center of the vehicle; A3. Calculate the x coordinate x of the ideal position of the geometric center of the vehicle in the rectangular coordinate system of the parking space using the following formula lx :[[]]END]] x lx = x c - Δx v ; where x c represents the x 车位 coordinate of the geometric center of the parking space charging coil in the rectangular coordinate system of the parking space plane; Calculate the y coordinate of the ideal position of the geometric center of the vehicle in the rectangular coordinate system of the parking space using the following formula 车位 coordinate y lx : y lx = y c - Δy v ; Among them, y c represents the y 车位 coordinate of the geometric center of the parking space charging coil in the rectangular coordinate system of the parking space plane; A5. Consider the constraints of the vehicle boundary and the wireless charging parking space boundary to adjust the ideal position of the vehicle's geometric center; A6. According to the ideal position of the adjusted vehicle's geometric center, the processor module calculates the coordinates of the ideal positions of the four corner points of the vehicle in the rectangular coordinate system of the parking space plane, which are the optimal parking attitude data.

5. The vehicle-pile collaborative resonant coupling radio charging and discharging system according to claim 4, wherein The specific steps of A5 are as follows: A51. For x lx There are three cases for adjustment as follows: Case 1: x lx <d f +l / 2, then x lx is adjusted to d f +l / 2; Case 2: x lx > L - d r - l / 2, then x lx is adjusted to L - d r - l / 2; Case 3: d f +l / 2 ≤ x lx ≤ L - d r -l / 2, then x lx is not adjusted; Among them, L is the length of the wireless charging parking space, l is the length of the vehicle, and d f represents the minimum safety distance between the rear of the vehicle and the left side of the wireless charging parking space, and d r represents the minimum safety distance between the front of the vehicle and the right side of the wireless charging parking space; A52. For y lx There are three cases for the adjustment as follows: Case 1: y lx <d l + w / 2, then y lx The value is adjusted to d l + w / 2; Case 2: y lx >W - d i - w / 2, then y lx The value is adjusted to W - d i - w / 2; Case 3: d l +w / 2 ≤ y lx ≤ W - d i -w / 2, then y lx is not adjusted; Where, W is the width of the wireless charging parking space, w is the width of the vehicle, and d l represents the minimum safety distance between the right side of the vehicle and the lower side of the wireless charging parking space, and d i represents the minimum safety distance between the left side of the vehicle and the upper side of the wireless charging parking space.

6. The vehicle-pile cooperative resonant coupling radio charging and discharging system according to claim 5, characterized in that, The coordinates of the ideal positions of the four corner points in the rectangular coordinate system of the parking space plane are respectively 7. The vehicle-pile collaborative resonant coupling radio charging and discharging system according to claim 6, wherein The analysis result includes the parking accuracy Q and the number of vehicle trajectory adjustments.

8. The vehicle-pile cooperative resonant coupling radio charging and discharging system according to claim 7, characterized in that, The steps for analyzing the parking video are as follows: B1. The processor module calculates the parking accuracy Q when the vehicle stops in the charging event through the following formula according to the optimal parking attitude data and in combination with the parking video: where \(i = 1, 2, 3, 4\), \(x\) ai and \(y\) ai respectively represent the \(x\)-coordinate and \(y\)-coordinate of the actual position of the \(i\)-th corner point in the rectangular coordinate system of the parking space when the vehicle stops completely in the parking video 车位 coordinate and \(y\) 车位 , \(x\) li and \(y\) li respectively represent the \(x\)-coordinate and \(y\)-coordinate of the ideal position of the \(i\)-th corner point of the vehicle in the rectangular coordinate system of the parking space 车位 coordinate and \(y\) 车位 ; B2. The processor module judges the number of vehicle trajectory adjustments in the charging event, integrates Q and the number of vehicle trajectory adjustments in the charging event into a data packet and stores it in the storage module, and constructs a data set h = (h1, h2,..., he), where he represents the e-th data packet.

9. The vehicle-pile collaborative resonant coupling radio charging and discharging system according to claim 8, characterized in that The calculation formula for the vehicle discharge income ratio value J is as follows: Among them, U m represents the temporary allocation value of the m-th charging event of the vehicle within the set period S, Q m represents the parking accuracy in the m-th charging event of the vehicle within the set period S, N m represents the number of vehicle trajectory adjustments in the m-th charging event of the vehicle within the set period S, n represents the total number of charging events of the vehicle within the set period S, and k represents the adjustment coefficient.

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