Position detection system, detection method, device, storage medium, program product, and vehicle

Abstract

The invention discloses a position detection system, a detection method, equipment, a storage medium, a program product and a vehicle. The position detection system comprises a first sensing device used for detecting a first distance between a wireless charging vehicle end device of a vehicle and a target plane; and the second sensing device is used for detecting a second distance between the wireless charging vehicle end equipment and wireless charging ground end equipment, and the wireless charging ground end equipment is located on the target plane. According to the position detection system provided by the invention, through the arrangement of the first sensing device and the second sensing device, the first distance and the second distance of the wireless charging vehicle end equipment relative to the wireless charging ground end equipment in different directions can be detected; and the position detection precision of the relative position of the wireless charging vehicle end equipment and the wireless charging ground end equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle wireless charging, and in particular to a position detection system, a detection method, a device, a storage medium, a program product, and a vehicle. Background Art

[0002] With the rapid development of intelligent vehicles, users are increasingly demanding wireless charging capabilities. In wireless charging systems, due to issues such as parking accuracy, the wireless charging vehicle-side device and the wireless charging ground-side device may be offset, resulting in reduced system output power and transmission efficiency. Therefore, auxiliary positioning functions in wireless charging are particularly important, especially the requirements for position detection accuracy.

[0003] The related art position detection solution uses positioning coils on both the ground and vehicle sides. Using the principle of electromagnetic induction, the induced electromotive force generated by each coil is compared to determine the relative position of the coils, guiding and changing the vehicle's direction of travel, thereby achieving alignment between the wireless charging vehicle-side device and the wireless charging ground-side device. However, this position detection method has a limited detection range, resulting in low vehicle position detection accuracy. Therefore, there is room for improvement. Summary of the Invention

[0004] Embodiments of the present invention provide a position detection system, detection method, device, storage medium, program product, and vehicle. By providing a first sensor device and a second sensor device, the position detection accuracy of the relative position between a wireless charging vehicle-end device and a wireless charging ground-end device can be improved.

[0005] In order to achieve the above-mentioned objectives, according to a first aspect of the present invention, a position detection system is provided, which includes: a first sensing device for detecting a first distance between a wireless charging vehicle-end device of a vehicle and a target plane; and a second sensing device for detecting a second distance between the wireless charging vehicle-end device and a wireless charging ground-end device, wherein the wireless charging ground-end device is located in the target plane.

[0006] According to the position detection system of the embodiment of the present invention, through the provision of the first sensor device and the second sensor device, it is possible to detect the first distance and the second distance of the wireless charging vehicle-end device relative to the wireless charging ground-end device in different directions, thereby improving the position detection accuracy of the relative position of the wireless charging vehicle-end device and the wireless charging ground-end device.

[0007] According to some embodiments of the present invention, the first sensing device includes a first sensor sending module and a first sensor receiving module, and the first sensor sending module corresponds to the first sensor receiving module; the first sensing device is used to determine the first distance based on the time difference between the signal sent by the first sensor sending module and the signal received by the first sensor receiving module.

[0008] According to some embodiments of the present invention, the first sensor sending module is used to send a signal perpendicular to the target plane, and the first sensor receiving module is used to receive a signal fed back by the target plane.

[0009] According to some embodiments of the present invention, the first sensor device further includes a first driving circuit and a first decoding circuit, the first driving circuit is connected to the first sensor sending module, and the first decoding circuit is connected to the first sensor receiving module.

[0010] According to some embodiments of the present invention, the second sensing device includes a second sensor sending module and a second sensor receiving module, and the second sensing device is configured to determine the second distance based on a time difference between a signal sent by the second sensor sending module and a signal received by the second sensor receiving module.

[0011] According to some embodiments of the present invention, the wireless charging terminal device includes a third sensor receiving module and a third sensor sending module, the second sensor sending module is suitable for sending a signal corresponding to the third sensor receiving module, and the second sensor receiving module is suitable for receiving a signal corresponding to the third sensor sending module.

[0012] According to some embodiments of the present invention, the second sensor transmitting module and the second sensor receiving module are symmetrically arranged about the center line of the vehicle; the third sensor receiving module and the third sensor transmitting module are symmetrically arranged about the ground terminal median reference line of the wireless charging ground terminal device.

[0013] According to some embodiments of the present invention, the second sensor device further includes a second driving circuit and a second decoding circuit, the second driving circuit is connected to the second sensor sending module, and the second decoding circuit is connected to the second sensor receiving module.

[0014] According to some embodiments of the present invention, the position detection system and the wireless charging vehicle-side device are located within a preset distance range.

[0015] According to some embodiments of the present invention, the first sensing device and the second sensing device are disposed on the bottom of the vehicle.

[0016] According to some embodiments of the present invention, the first sensing device and / or the second sensing device are arranged on the wireless charging vehicle-end device, or the first sensing device and / or the second sensing device are arranged on the chassis of the vehicle.

[0017] According to some embodiments of the present invention, the first sensing device is an ultrasonic sensor or a radar sensor; and the second sensing device is an ultrasonic sensor or a radar sensor.

[0018] According to a second aspect of the present invention, a position detection method is provided for use in the above-mentioned position detection system, the method comprising the following steps: determining a first distance of a wireless charging vehicle-end device relative to a target plane based on a first sensing device; determining a second distance between the wireless charging vehicle-end device and a wireless charging ground-end device based on a second sensing device, wherein the wireless charging ground-end device is located on the target plane; and determining a parking position of the vehicle based on the first distance and the second distance.

[0019] According to the position detection method of the embodiment of the present invention, due to the arrangement of the first sensing device and the second sensing device, the first distance and the second distance of the wireless charging vehicle-end device relative to the wireless charging ground-end device in different directions can be detected, thereby improving the position detection accuracy of the relative position of the vehicle's wireless charging vehicle-end device and the wireless charging ground-end device.

[0020] According to some embodiments of the present invention, the first sensing device includes a first sensor sending module and a first sensor receiving module; determining the first distance of the wireless charging vehicle-end device relative to the target plane based on the first sensing device includes: determining the first distance based on the time difference between the signal sent by the first sensor sending module and the signal received by the first sensor receiving module.

[0021] According to some embodiments of the present invention, the frequency of the first sensing device is different from the frequency of the second sensing device.

[0022] According to some embodiments of the present invention, the second sensing device includes a second sensor sending module and a second sensor receiving module; determining the second distance between the wireless charging vehicle-end device and the wireless charging ground-end device based on the second sensing device includes: determining the second distance based on the time difference between the signal sent by the second sensor sending module and the signal received by the second sensor receiving module.

[0023] According to some embodiments of the present invention, a transmitting frequency of the second sensor transmitting module and a receiving frequency of the second sensor receiving module are different.

[0024] According to some embodiments of the present invention, the wireless charging terminal device includes a third sensor receiving module and a third sensor sending module; the second sensor sending module is suitable for sending a signal corresponding to the third sensor receiving module, and the sending frequency of the second sensor sending module is the same as the receiving frequency of the third sensor receiving module; the second sensor receiving module is suitable for receiving a signal corresponding to the third sensor sending module, and the receiving frequency of the second sensor receiving module is the same as the sending frequency of the third sensor sending module.

[0025] According to some embodiments of the present invention, determining the parking position of a vehicle based on the first distance and the second distance includes: determining a third distance between the wireless charging vehicle-end device and the wireless charging ground-end device in the horizontal projection plane based on the first distance and the second distance; and determining the parking position of the vehicle based on the third distance.

[0026] According to a third aspect of the present invention, an electronic device is provided, comprising a processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the above-mentioned position detection method.

[0027] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes the above-mentioned position detection method.

[0028] According to a fifth aspect of the present invention, a computer program product is provided. The computer program product includes computer instructions. When the computer instructions are run on a computer, the computer is caused to execute the above-mentioned position detection method.

[0029] According to a sixth aspect of the present invention, a vehicle is provided, the vehicle including the above-mentioned position detection system or the above-mentioned electronic device.

[0030] According to the vehicle of the embodiment of the present invention, through the arrangement of the first sensing device and the second sensing device, the distance between the wireless charging vehicle-end device and the wireless charging ground-end device in different directions can be detected, thereby improving the position detection accuracy of the relative position of the wireless charging vehicle-end device and the wireless charging ground-end device of the vehicle.

[0031] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of a position detection system according to an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the distance between the wireless charging vehicle-end device and the wireless charging ground-end device;

[0034] Figure 3 is a schematic diagram of the working principle of the first sensing device;

[0035] Figure 4 is a structural block diagram of a first sensing device;

[0036] Figure 5 is a schematic diagram of the working principle of the second sensing device;

[0037] Figure 6 It is a structural block diagram of the second sensing device.

[0038] Reference numerals:

[0039] First sensing device 10; first sensor transmitting module 11; first sensor receiving module 12; first control unit 13; first drive circuit 14; first decoding circuit 15; second sensing device 20; second sensor transmitting module 21; second sensor receiving module 22; second control unit 23; second drive circuit 24; second decoding circuit 25; wireless charging vehicle-end device 30; wireless charging ground-end device 40; third sensor receiving module 41; third sensor transmitting module 42; third control unit 43; third drive circuit 44; third decoding circuit 45; first distance d1; second distance d2; ground-end mid-reference line L. DETAILED DESCRIPTION

[0040] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0041] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0042] The following combination Figures 1-6 A position detection system, a detection method, an apparatus, a storage medium, a program product, and a vehicle according to embodiments of the present invention are described in detail.

[0043] Reference Figure 1 As shown, the position detection system according to an embodiment of the present invention includes: a first sensing device 10, used to detect a first distance d1 of the wireless charging vehicle-end device 30 of the vehicle relative to the target plane; a second sensing device 20, the second sensing device 20 is used to detect a second distance d2 between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40, wherein the wireless charging ground-end device 40 is located in the target plane.

[0044] According to the position detection system of an embodiment of the present invention, the first distance d1 is the distance between the wireless charging vehicle-end device 30 and the target plane along the first direction, and the second distance d2 is the distance between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 along the second direction. Through the arrangement of the first sensing device 10 and the second sensing device 20, the first distance d1 and the second distance d2 of the wireless charging vehicle-end device 30 relative to the wireless charging ground-end device 40 along different directions can be simultaneously detected, thereby improving the position detection accuracy of the relative position of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40, thereby providing a precise parking assistance function to determine the accurate parking position; at the same time, the position detection system also has the advantages of simple installation and operation, high reliability, and low cost.

[0045] In some embodiments of the present invention, reference Figure 2 As shown, the first distance d1 is the vertical distance between the target plane where the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 are located; and / or the first distance d2 is the straight-line distance between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40. That is, the first direction is the vertical direction of the vehicle, and the second direction is the straight-line direction between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40. Based on the vertical distance d1 and the straight-line distance d2 between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40, a third distance between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 within the horizontal projection plane can be calculated, thereby improving the position detection accuracy of the relative position of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40, thereby providing accurate position feedback information for the alignment of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40. Optionally, before the vehicle reaches the optimal parking position, the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 are aligned in the lateral direction of the parking space at the ground end, so that the accurate parking position can be determined more easily.

[0046] In some embodiments of the present invention, the first sensing device 10 is an ultrasonic sensor or a radar sensor; the second sensing device 20 is an ultrasonic sensor or a radar sensor. Both ultrasonic sensors and radar sensors can be used for ranging. Ultrasonic sensors are relatively low-cost and widely used. For ease of description, the following uses an ultrasonic sensor as an example.

[0047] In some embodiments of the present invention, reference Figure 3As shown, the first sensing device 10 includes a first sensor transmitting module 11 and a first sensor receiving module 12. The first sensor transmitting module 11 corresponds to the first sensor receiving module 12. The first sensing device 10 is configured to determine a first distance d1 based on the time difference between the signal transmitted by the first sensor transmitting module 11 and the signal received by the first sensor receiving module 12. Based on the time difference between the ultrasonic signal transmitted by the first sensor transmitting module 11 and the ultrasonic signal received by the first sensor receiving module 12, the first distance d1 between the wireless charging vehicle-end device 30 and the target plane where the wireless charging ground-end device 40 is located is calculated using the principle of ultrasonic ranging.

[0048] In some embodiments of the present invention, the first sensor transmitting module 11 is used to transmit a signal perpendicular to the target plane, and the first sensor receiving module 12 is used to receive a signal fed back from the target plane. The first sensing device 10 is a self-transmitting and self-receiving sensor device. The first sensor transmitting module 11 transmits a signal to the target plane at the ground end. When the vehicle detects an obstacle (such as the ground or the wireless charging ground end device 40), an ultrasonic signal is returned to the first sensor receiving module 12. The first distance d1 of the wireless charging vehicle end device 30 relative to the target plane where the wireless charging ground end device 40 is located is calculated using the ultrasonic ranging principle.

[0049] In some embodiments of the present invention, reference Figure 4 As shown, the first sensing device 10 also includes a first drive circuit 14 and a first decoding circuit 15. The first drive circuit 14 is connected to the first sensor transmitting module 11, and the first decoding circuit 15 is connected to the first sensor receiving module 12. When the first sensor transmitting module 11 is in operation and the first timer is simultaneously activated, the first drive circuit 14 drives the piezoelectric ceramic of the first sensor transmitting module 11 to vibrate, converting electrical energy into mechanical energy. When the ultrasonic wave is transmitted to the ground, it is reflected. When the first sensor receiving module 12 receives the ultrasonic signal, the piezoelectric ceramic converts the ultrasonic wave into an electrical signal, which is then converted into a recognizable signal (such as a PWM signal) by the first decoding circuit 15. Thus, the first sensing device 10 can determine the first distance d1 based on the time difference between the signal transmitted by the first sensor transmitting module 11 and the signal received by the first sensor receiving module 12. It should be noted that the ultrasonic sensor used in the first sensing device 10 can be of a type other than piezoelectric ceramic and can be configured according to usage requirements to better meet practical applications. This is not specifically limited here.

[0050] In some embodiments of the present invention, the first sensing device 10 further includes a first control unit 13, which is connected to the first sensor transmitting module 11 and the first sensor receiving module 12, respectively, and is configured to determine the first distance d1 based on the time difference between the signal transmitted by the first sensor transmitting module 11 and the signal received by the first sensor receiving module 12. The first control unit 13 sends control instructions (such as I / O channel control) to the first sensor transmitting module 11 and calculates the first distance d1 between the wireless charging vehicle-end device 30 and the target plane where the wireless charging ground-end device 40 is located based on the time difference between the signal transmitted by the first sensor transmitting module 11 and the signal received by the first sensor receiving module 12 using the ultrasonic ranging principle. Optionally, the first control unit 13 is a vehicle-end MCU.

[0051] In some embodiments of the present invention, reference Figure 4 As shown, the first drive circuit 14 is connected between the first control unit 13 and the first sensor transmitting module 11, and the first decoding circuit 15 is connected between the first control unit 13 and the first sensor receiving module 12. The first control unit 13 sends an enable signal to the first sensor transmitting module 11, triggering the first sensor transmitting module 11 to operate and simultaneously starting the first timer. The first drive circuit 14 drives the piezoelectric ceramic of the first sensor transmitting module 11 to vibrate, converting electrical energy into mechanical energy. When the ultrasonic wave is transmitted to the ground, it is reflected. When the first sensor receiving module 12 receives the ultrasonic wave signal, the piezoelectric ceramic converts the ultrasonic wave into an electrical signal. The first decoding circuit 15 then converts the electrical signal into a signal (such as a PWM signal) that can be recognized by the first control unit 13. Therefore, the first control unit 13 can calculate the first distance d1 based on the timing of the first timer (i.e., the time difference between the first sensor transmitting module 11 sending the ultrasonic signal and the first sensor receiving module 12 receiving the ultrasonic wave).

[0052] In some embodiments of the present invention, reference Figure 5 As shown, the second sensing device 20 includes a second sensor transmitting module 21 and a second sensor receiving module 22. The second sensing device 20 is configured to determine a second distance d2 based on the time difference between the signal transmitted by the second sensor transmitting module 21 and the signal received by the second sensor receiving module 22. Based on the time difference between the ultrasonic signal transmitted by the second sensor transmitting module 21 and the ultrasonic signal received by the second sensor receiving module 22, the second distance d2 between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 is calculated using the principle of ultrasonic ranging.

[0053] In some embodiments of the present invention, the wireless charging ground device 40 includes a third sensor receiving module 41 and a third sensor transmitting module 42. The second sensor transmitting module 21 is adapted to transmit a signal corresponding to the third sensor receiving module 41 of the wireless charging ground device 40, and the second sensor receiving module 22 is adapted to receive a signal corresponding to the third sensor transmitting module 42 of the wireless charging ground device 40. The second sensor transmitting module 21 transmits a signal to the third sensor receiving module 41, which then returns an ultrasonic signal via the third sensor transmitting module 42. The second sensor receiving module 22 receives the ultrasonic signal transmitted by the third sensor transmitting module 42 and calculates the second distance d2 between the wireless charging vehicle-side device 30 and the wireless charging ground device 40 using the ultrasonic ranging principle.

[0054] In some embodiments of the present invention, the second sensor transmitting module 22 and the second sensor receiving module 23 are symmetrically arranged about the centerline of the vehicle; and the third sensor receiving module 41 and the third sensor transmitting module 42 are symmetrically arranged about the ground mid-reference line L of the wireless charging ground device 40. By arranging the second sensor device 20 symmetrically about the centerline of the vehicle and the third sensor receiving module 41 and the third sensor transmitting module 42 symmetrically about the ground mid-reference line L, accurate detection of the second distance d2 between the wireless charging vehicle-side device 30 and the wireless charging ground device 40 can be achieved, thereby ensuring that the wireless charging vehicle-side device 30 and the wireless charging ground device 40 are in a facing position.

[0055] In some embodiments of the present invention, reference Figure 6 As shown, the second sensing device 20 also includes a second drive circuit 24 and a second decoding circuit 25. The second drive circuit 24 is connected to the second sensor transmitting module 21, and the second decoding circuit 25 is connected to the second sensor receiving module 22. When the second sensor transmitting module 21 is in operation, the second timer is simultaneously activated. The second drive circuit 24 drives the piezoelectric ceramic of the second sensor transmitting module 21 to vibrate, converting electrical energy into mechanical energy. The ultrasonic wave is transmitted to the third sensor receiving module 41. After a fixed delay, the third sensor transmitting module 42 transmits an ultrasonic signal to the second sensor receiving module 22. When the second sensor receiving module 22 receives the ultrasonic signal, the piezoelectric ceramic converts the ultrasonic wave into an electrical signal, which is then converted into a recognizable signal by the second decoding circuit 25. Thus, the second sensing device 20 can calculate the second distance d2 based on the timing of the second timer (i.e., the time difference between the second sensor transmitting module 21 transmitting the ultrasonic signal and the second sensor receiving module 22 receiving the ultrasonic signal). It should be noted that the ultrasonic sensor used in the second sensing device 20 can be of a type other than piezoelectric ceramic and can be configured according to usage requirements to better meet practical applications. This is not specifically limited here.

[0056] In some embodiments of the present invention, the second sensing device 20 further includes a second control unit 23, which is connected to the second sensor transmitting module 21 and the second sensor receiving module 22, respectively, and is configured to determine the second distance d2 based on the time difference between the signal transmitted by the second sensor transmitting module 21 and the signal received by the second sensor receiving module 22. The second control unit 23 sends control instructions (such as I / O channel control) to the second sensor transmitting module 21 and calculates the second distance d2 between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 based on the time difference between the signal transmitted by the second sensor transmitting module 21 and the signal received by the second sensor receiving module 22. Optionally, the second control unit 23 is a vehicle-end MCU.

[0057] In some embodiments of the present invention, the first control unit 13 and the second control unit 23 may be the same controller or different controllers.

[0058] In some embodiments of the present invention, the wireless charging ground device 40 further includes a third control unit 43, which is connected to the third sensor receiving module 41 and the third sensor transmitting module 42. The third sensor receiving module 41 is configured to receive ultrasonic signals transmitted by the second sensor transmitting module 21, and the third sensor transmitting module 42 is configured to transmit ultrasonic signals to the second sensor receiving module 22. After the third sensor receiving module 41 receives the ultrasonic signal from the vehicle, the third control unit 43 controls the third sensor transmitting module 42 to transmit the ultrasonic signal to the vehicle after a fixed delay.

[0059] In some embodiments of the present invention, reference Figure 6 As shown, the second driving circuit 24 is connected between the second control unit 23 and the second sensor transmitting module 21, and the second decoding circuit 25 is connected between the second control unit 23 and the second sensor receiving module 22. The second control unit 23 sends an enable signal to the second sensor transmitting module 21, triggering the second sensor transmitting module 21 to work and simultaneously starting the second timer. The second driving circuit 24 drives the piezoelectric ceramic of the second sensor transmitting module 21 to vibrate, converting electrical energy into mechanical energy, and transmitting ultrasonic waves to the third sensor receiving module 41. After a fixed delay, the third sensor transmitting module 42 sends an ultrasonic signal to the second sensor receiving module 22. When the second sensor receiving module 22 receives the ultrasonic signal, the piezoelectric ceramic converts the ultrasonic wave into an electrical signal, which is then converted into a signal recognizable by the second control unit 23 through the second decoding circuit 25. Therefore, the second control unit 23 can calculate the second distance d2 based on the timing of the second timer (i.e., the time difference between the second sensor transmitting module 21 sending the ultrasonic signal and the second sensor receiving module 22 receiving the ultrasonic signal).

[0060] In some embodiments of the present invention, the wireless charging ground device 40 further includes a third drive circuit 44 and a third decoder circuit 45. The third drive circuit 44 is connected between the third control unit 43 and the third sensor transmitting module 42, and the third decoder circuit 45 is connected between the third control unit 43 and the third sensor receiving module 41. The third decoder circuit 45 is configured to convert the electrical signal transmitted by the third sensor receiving module 41 into a signal (e.g., a PWM signal) recognizable by the third control unit 43. After a fixed delay, the third drive circuit 44 controls the third sensor transmitting module 42 to transmit an ultrasonic signal to the vehicle. The third drive circuit 44 is configured to trigger the operation of the third sensor transmitting module 42 when the third control unit 43 sends a control instruction (e.g., I / O channel control) to the third sensor transmitting module 42.

[0061] In some embodiments of the present invention, the position detection system is located within a preset distance range from the wireless charging vehicle-end device 30. Placing the position detection system within the preset distance range from the wireless charging vehicle-end device 30 enables more accurate detection of the first distance d1 and the second distance d2, thereby improving the accuracy of position detection of the relative position of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40.

[0062] In some embodiments of the present invention, the first sensor device 10 and the second sensor device 20 are disposed on the bottom of the vehicle. The first sensor device 10 and the second sensor device 20 are disposed on the bottom of the vehicle to detect a first distance d1 and a second distance d2 of the wireless charging vehicle-end device 30 relative to the wireless charging ground-end device 40 in different directions.

[0063] In some embodiments of the present invention, the first sensor device 10 and / or the second sensor device 20 are provided on the wireless charging vehicle-end device 30, or the first sensor device 10 and / or the second sensor device 20 are provided on the chassis of the vehicle. The first sensor device 10 and the second sensor device 20 can be provided on the wireless charging vehicle-end device 30 or the chassis of the vehicle according to the assembly and installation requirements. Optionally, refer to Figure 1 As shown, the first sensor device 10 is arranged at the front end of the wireless charging vehicle-end device 30, and the second sensor device 20 is arranged at the rear end of the wireless charging vehicle-end device 30, and correspondingly, the third sensor receiving module 41 and the third sensor sending module 42 are arranged at the rear end of the wireless charging ground-end device 40; or, the first sensor device 10 is arranged at the rear end of the wireless charging vehicle-end device 30, and the second sensor device 20 is arranged at the front end of the wireless charging vehicle-end device 30, and correspondingly, the third sensor receiving module 41 and the third sensor sending module 42 are arranged at the front end of the wireless charging ground-end device 40.

[0064] According to another embodiment of the present invention, a position detection method is used in the position detection system of the above embodiment. The position detection method includes the following steps: determining a first distance d1 of the wireless charging vehicle-end device 30 relative to a target plane using a first sensor device 10; determining a second distance d2 between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 using a second sensor device 20, where the wireless charging ground-end device 40 is located on the target plane; and determining the parking position of the vehicle based on the first distance d1 and the second distance d2. By configuring the first sensor device 10 and the second sensor device 20, the first distance d1 and the second distance d2 of the wireless charging vehicle-end device 30 relative to the wireless charging ground-end device 40 in different directions can be simultaneously detected. The third distance between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 within the horizontal projection plane can be calculated, thereby improving the position detection accuracy of the relative position of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40.

[0065] According to the position detection method of the embodiment of the present invention, due to the provision of the first sensing device 10 and the second sensing device 20, the first distance d1 and the second distance d2 of the wireless charging vehicle-end device 30 relative to the wireless charging ground-end device 40 in different directions can be simultaneously detected, thereby improving the position detection accuracy of the relative position of the vehicle's wireless charging vehicle-end device 30 and the wireless charging ground-end device 40, thereby providing a precise parking assistance function to determine the accurate parking position for the vehicle; at the same time, the vehicle position detection system also has the advantages of simple installation and operation, high reliability, and low cost.

[0066] In some embodiments of the present invention, reference Figure 3-4 As shown, the first sensor device 10 includes a first sensor sending module 11 and a first sensor receiving module 12; determining the first distance d1 of the wireless charging vehicle-end device 30 relative to the target plane based on the first sensor device 10 includes: determining the first distance d1 based on the time difference between the signal sent by the first sensor sending module 11 and the signal received by the first sensor receiving module 12. The first sensor device 10 is a self-transmitting and self-receiving sensor device. The first sensor sending module 11 sends a signal to the ground end, and the vehicle detects an obstacle (such as the ground, the wireless charging ground end device 40) and returns an ultrasonic signal to the first sensor receiving module 12. The first distance d1 of the wireless charging vehicle-end device 30 relative to the target plane where the wireless charging ground end device 40 is located is calculated based on the ultrasonic ranging principle.

[0067] In some embodiments of the present invention, the transmitting frequency of the first sensor transmitting module 11 is the same as the receiving frequency of the first sensor receiving module 12. The transmitting frequency of the first sensor transmitting module 11 and the receiving frequency of the first sensor receiving module 12 are both f0.

[0068] In some embodiments of the present invention, the frequency of the first sensor device 10 is different from the frequency of the second sensor device 20. The first sensor device 10 and the second sensor device 20 use different frequencies for ranging to avoid mutual interference between different sensors.

[0069] In some embodiments of the present invention, reference Figure 5-6 As shown, the second sensor device 20 includes a second sensor sending module 21 and a second sensor receiving module 22; determining the second distance d2 between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 based on the second sensor device 20 includes: determining the second distance d2 based on the time difference between the signal sent by the second sensor sending module 21 and the signal received by the second sensor receiving module 22.

[0070] In some embodiments of the present invention, the transmitting frequency of the second sensor transmitting module is different from the receiving frequency of the second sensor receiving module. The transmitting frequency of the second sensor transmitting module is f1, and the receiving frequency of the second sensor receiving module is f2. f1 and f2 are different. The second sensor transmitting module and the second sensor receiving module use different frequencies for ranging, thereby avoiding mutual interference between the different sensors. Preferably, f1 is different from f2 and f0.

[0071] In some embodiments of the present invention, the wireless charging terminal device 40 includes a third sensor receiving module 41 and a third sensor transmitting module 42. The second sensor transmitting module 21 is adapted to transmit a signal corresponding to the third sensor receiving module 41. The transmitting frequency of the second sensor transmitting module 21 and the receiving frequency of the third sensor receiving module 41 are the same, namely, f1. The second sensor receiving module 22 is adapted to receive a signal corresponding to the third sensor transmitting module 42. The receiving frequency of the second sensor receiving module 22 and the receiving frequency of the third sensor transmitting module 42 are the same, namely, f2. The second sensor transmitting module 21 transmits an ultrasonic signal having a frequency of f1 to the third sensor receiving module 41. After a fixed delay, the third sensor transmitting module 42 transmits an ultrasonic signal to the second sensor receiving module 22. The second distance d2 is determined based on the time difference between the signal transmitted by the second sensor transmitting module 21 and the signal received by the second sensor receiving module 22.

[0072] In some embodiments of the present invention, determining a vehicle's parking position based on a first distance d1 and a second distance d2 includes: determining a third distance between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 within a horizontal projection plane based on the first distance d1 and the second distance d2; and determining the vehicle's parking position based on the third distance. Calculating the third distance between the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 within the horizontal projection plane based on the first distance d1 and the second distance d2 improves the accuracy of detecting the relative positions of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40, thereby determining the vehicle's parking position when the third distance falls within a predetermined numerical range.

[0073] According to another embodiment of the present invention, an electronic device includes a processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the above-described position detection method. This electronic device has all the advantages of the above-described position detection method, and the present invention will not be further described here.

[0074] According to another embodiment of the present invention, a computer-readable storage medium stores computer instructions, which, when executed on a computer, enable the computer to execute the above-mentioned position detection method.

[0075] According to another aspect of the present invention, a computer program product includes computer instructions. When the computer instructions are executed on a computer, the computer is caused to execute the above-mentioned position detection method.

[0076] According to yet another aspect of an embodiment of the present invention, a vehicle includes the position detection system of the above embodiment, or the electronic device of the above embodiment.

[0077] According to the vehicle of the embodiment of the present invention, through the provision of the first sensing device 10 and the second sensing device 20, it is possible to simultaneously detect the first distance d1 and the second distance d2 of the wireless charging vehicle-end device 30 relative to the wireless charging ground-end device 40 in different directions. This improves the position detection accuracy of the relative position of the wireless charging vehicle-end device 30 and the wireless charging ground-end device 40 of the vehicle, thereby providing a precise parking assistance function to determine the accurate parking position of the vehicle. At the same time, the vehicle position detection system also has the advantages of simple installation and operation, high reliability, and low cost.

[0078] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the systems, methods, electronic devices, and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0081] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0082] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections, or communication; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0083] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0084] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A position detection system, characterized in that: include: A first sensing device is configured to detect a first distance between the wireless charging vehicle-end device of the vehicle and a target plane; A second sensing device, configured to detect a second distance between the wireless charging vehicle-end device and the wireless charging ground-end device; Wherein, the wireless charging ground terminal device is located on the target plane.

2. The position detection system according to claim 1, characterized in that: The first sensing device includes a first sensor sending module and a first sensor receiving module, and the first sensor sending module corresponds to the first sensor receiving module; The first sensing device is configured to determine the first distance based on a time difference between a signal sent by the first sensor sending module and a signal received by the first sensor receiving module.

3. The position detection system according to claim 2, characterized in that: The first sensor sending module is used to send a signal perpendicular to the target plane, and the first sensor receiving module is used to receive a signal fed back by the target plane.

4. The position detection system according to claim 3, wherein: The first sensing device further includes a first driving circuit and a first decoding circuit. The first driving circuit is connected to the first sensor sending module, and the first decoding circuit is connected to the first sensor receiving module.

5. The position detection system according to claim 1, wherein: The second sensing device includes a second sensor sending module and a second sensor receiving module; The second sensing device is used to determine the second distance according to a time difference between a signal sent by the second sensor sending module and a signal received by the second sensor receiving module.

6. The position detection system according to claim 5, characterized in that: The wireless charging terminal device includes a third sensor receiving module and a third sensor sending module, the second sensor sending module is suitable for sending a signal corresponding to the third sensor receiving module, and the second sensor receiving module is suitable for receiving a signal corresponding to the third sensor sending module.

7. The position detection system according to claim 6, characterized in that: The second sensor transmitting module and the second sensor receiving module are symmetrically arranged about the center line of the vehicle; the third sensor receiving module and the third sensor transmitting module are symmetrically arranged about the ground terminal median reference line of the wireless charging ground terminal device.

8. The position detection system according to claim 5, characterized in that: The second sensing device further includes a second driving circuit and a second decoding circuit. The second driving circuit is connected to the second sensor sending module, and the second decoding circuit is connected to the second sensor receiving module.

9. The position detection system according to any one of claims 1 to 8, characterized in that: The position detection system and the wireless charging vehicle-end device are located within a preset distance range.

10. The position detection system according to any one of claims 1 to 8, characterized in that: The first sensing device and the second sensing device are disposed on the bottom of the vehicle.

11. According to the position detection system of claim 10, the first sensing device and / or the second sensing device are arranged on the wireless charging vehicle-end device, or the first sensing device and / or the second sensing device are arranged on the chassis of the vehicle.

12. The position detection system according to any one of claims 1 to 8, characterized in that: The first sensing device is an ultrasonic sensor or a radar sensor; the second sensing device is an ultrasonic sensor or a radar sensor.

13. A position detection method, characterized in that: For use in a position detection system according to any one of claims 1 to 12, the method comprises the following steps: Determining a first distance between the wireless charging vehicle-end device and the target plane according to the first sensing device; determining a second distance between the wireless charging vehicle-end device and the wireless charging ground-end device according to a second sensing device, wherein the wireless charging ground-end device is located on the target plane; A parking position of the vehicle is determined based on the first distance and the second distance.

14. The position detection method according to claim 13, characterized in that: The first sensing device includes a first sensor sending module and a first sensor receiving module; and determining a first distance between the wireless charging vehicle-end device and the target plane based on the first sensing device includes: The first distance is determined according to a time difference between a signal sent by the first sensor sending module and a signal received by the first sensor receiving module.

15. The position detection method according to claim 13, characterized in that: The frequency of the first sensing device is different from the frequency of the second sensing device.

16. The position detection method according to claim 13, characterized in that: The second sensing device includes a second sensor sending module and a second sensor receiving module; The determining of the second distance between the wireless charging vehicle-end device and the wireless charging ground-end device according to the second sensing device includes: The second distance is determined according to a time difference between a signal sent by the second sensor sending module and a signal received by the second sensor receiving module.

17. The position detection method according to claim 16, characterized in that: The transmitting frequency of the second sensor transmitting module is different from the receiving frequency of the second sensor receiving module.

18. The position detection method according to claim 17, characterized in that: The wireless charging ground terminal device includes a third sensor receiving module and a third sensor sending module; The second sensor sending module is adapted to send a signal corresponding to the third sensor receiving module, and a sending frequency of the second sensor sending module is the same as a receiving frequency of the third sensor receiving module; The second sensor receiving module is adapted to receive a signal corresponding to the third sensor sending module, and a receiving frequency of the second sensor receiving module is the same as a sending frequency of the third sensor sending module.

19. The position detection method according to claim 13, wherein: Determining the parking position of the vehicle according to the first distance and the second distance includes: Determining a third distance between the wireless charging vehicle-end device and the wireless charging ground-end device in a horizontal projection plane based on the first distance and the second distance; A parking position of the vehicle is determined based on the third distance.

20. An electronic device, characterized in that: The method comprises a processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the position detection method according to any one of claims 13 to 19.

21. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is enabled to execute the position detection method according to any one of claims 13 to 19.

22. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are run on a computer, the computer is caused to perform the position detection method according to any one of claims 13 to 19.

23. A vehicle, characterized in that: The device comprises the position detection system according to any one of claims 1 to 12, or the electronic device according to claim 20.

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