Opening and closing control method of vehicle charging port cover, vehicle, storage medium and product

Abstract

The embodiment of the invention discloses an opening and closing control method for a vehicle charging port cover, a vehicle, a storage medium and a product, and the method comprises the steps: determining an environment image, determining the state of the vehicle, responding to the condition that the vehicle is in a stop state and the environment image is matched with a target image, controlling the charging port cover of the vehicle to be opened, and determining the state of a charging gun. And in response to the condition that the charging gun is not inserted into the charging base in the first time period, the charging port cover is controlled to be closed, and the environment image is obtained through real-time shooting of a camera of the vehicle. Therefore, opening and closing of the charging port cover can be automatically controlled through an image recognition method, and the automatic driving level of the vehicle and the charging experience of a user are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle charging, and in particular to a method for controlling the opening and closing of a vehicle charging port cover, a vehicle, a storage medium, and a product. Background Art

[0002] As the level of autonomous driving of electric vehicles improves, in order to cope with the automatic charging of vehicles when no one is driving, the charging port cover currently has no interactive association with the charging pile / charging station, and cannot automatically identify features and provide opening and closing operations of the charging port cover, which affects the charging of the vehicle and limits the level of autonomous driving of the vehicle. Summary of the Invention

[0003] In view of this, an embodiment of the present invention provides a method for controlling the opening and closing of a vehicle charging port cover, a vehicle, a storage medium, and a product, which can automatically control the opening and closing of the charging port cover, thereby improving the vehicle's autonomous driving level and the user's charging experience.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling the opening and closing of a vehicle charging port cover, the method comprising:

[0005] Determine an environmental image, where the environmental image is obtained by real-time capture by a camera of the vehicle;

[0006] Determine vehicle status;

[0007] In response to the vehicle being in a stopped state and the environment image matching a target image, controlling a charging port cover of the vehicle to open;

[0008] Determine the status of the charging gun;

[0009] In response to the charging gun being not inserted into the charging base within a first time period, the charging port cover is controlled to be closed.

[0010] Furthermore, controlling the opening of the charging port cover of the vehicle includes:

[0011] Controlling the drive motor to rotate in a first direction;

[0012] In response to the number of rotations of the drive motor in the first direction reaching a first rotation threshold, the drive motor is controlled to stop moving, and it is determined that the charging port cover is in the open state.

[0013] Furthermore, the controlling the opening of the charging port cover of the vehicle further includes:

[0014] In response to the driving motor being in a non-smooth running state, the driving motor is controlled to rotate in a second direction until it stops moving when it is reset, and the second direction is opposite to the first direction.

[0015] Furthermore, in response to the driving motor being in a non-smooth running state, controlling the driving motor to rotate in the second direction until it stops moving when reset includes:

[0016] In response to the operating current of the drive motor not being within the first current threshold range within the second time period, and / or the number of operating revolutions of the drive motor not reaching the first revolution threshold, the drive motor is controlled to rotate in the second direction until it stops moving when reset.

[0017] Furthermore, the controlling the opening of the charging port cover of the vehicle further includes:

[0018] In response to the number of rotations of the drive motor in the second direction reaching a first threshold within a third time period, uploading abnormal information of the charging port cover to a server;

[0019] In response to the driving motor rotating in the second direction for a number of times not reaching the first threshold within the third time period, the environment image is re-determined.

[0020] Furthermore, controlling the closing of the charging port cover of the vehicle includes:

[0021] controlling the drive motor to rotate in a second direction;

[0022] In response to the number of rotations of the drive motor in the second direction reaching a second rotation threshold, the drive motor is controlled to stop moving, and it is determined that the charging port cover is in a closed state.

[0023] Furthermore, controlling the closing of the charging port cover of the vehicle further includes:

[0024] In response to the driving motor being in a non-smooth running state, the driving motor is controlled to rotate in a first direction until it stops moving when it is reset, and the second direction is opposite to the first direction.

[0025] Furthermore, in response to the driving motor being in a non-smooth running state, controlling the driving motor to rotate in a first direction until it stops moving when reset includes:

[0026] In response to the drive motor not being within the second current threshold range and / or the number of revolutions of the drive motor not reaching the second revolution threshold within the fourth time period, the drive motor is controlled to rotate in the first direction until it stops moving when reset.

[0027] Furthermore, controlling the closing of the charging port cover of the vehicle further includes:

[0028] In response to the number of rotations of the drive motor in the first direction reaching a second threshold within a fifth time period, uploading abnormal information of the charging port cover to a server;

[0029] In response to the driving motor rotating in the first direction for a number of times not reaching a second threshold within a fifth time period, the state of the charging gun is re-determined.

[0030] Furthermore, determining the status of the charging gun includes:

[0031] Determining the status of the charging gun based on the change in the vehicle's power level during the first time period; and / or,

[0032] The state of the charging gun is determined by changes in an image of the charging gun or an image of the charging port cover within a first time period, wherein the image of the charging gun and the image of the charging port cover are obtained by real-time capture by a camera of the vehicle.

[0033] Furthermore, determining the vehicle state includes:

[0034] Determining the speed and acceleration of the vehicle, wherein the speed and acceleration are respectively detected by a vehicle speed sensor and an acceleration sensor;

[0035] In response to the speed and the acceleration being zero, it is determined that the vehicle is in a stopped state.

[0036] Furthermore, the opening and closing control method includes:

[0037] Perform deep learning on charging gun images and establish a charging gun training model;

[0038] The charging gun training model is stored and the target image is generated.

[0039] In a second aspect, an embodiment of the present invention provides a vehicle, comprising:

[0040] Vehicle body;

[0041] a camera, disposed on the vehicle body, configured to capture an image of the environment;

[0042] The charging port cover includes a panel, a box body, and a drive motor. The box body and the drive motor are arranged on the vehicle body. The panel is provided with sliding hooks on the upper and lower sides. The box body is provided with sliding grooves that cooperate with the sliding hooks on the upper and lower sides. The drive motor is connected to the sliding hooks via a zipper to drive the panel to open or close.

[0043] A controller is electrically connected to the camera and the drive motor, and the controller executes the method for controlling the opening and closing of the vehicle charging port cover as described in the first aspect.

[0044] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the method for controlling the opening and closing of a vehicle charging port cover as described in the first aspect.

[0045] In a fourth aspect, an embodiment of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the method for controlling the opening and closing of a vehicle charging port cover as described in the first aspect.

[0046] Embodiments of the present invention provide a method, vehicle, storage medium, and product for controlling the opening and closing of a vehicle's charging port lid. The method determines the vehicle's state by determining an environmental image. In response to the vehicle being stopped and the environmental image matching a target image, the method controls the vehicle's charging port lid to open. The method also determines the state of the charging gun. In response to the charging gun being unplugged from the charging dock within a first time period, the method controls the charging port lid to close. The environmental image is captured in real time by the vehicle's camera. Thus, embodiments of the present invention can utilize image recognition methods to automatically control the opening and closing of the charging port lid, improving the vehicle's autonomous driving capabilities and the user's charging experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0048] Figure 1 is a flow chart of a method for controlling the opening and closing of a vehicle charging port cover according to an embodiment of the present invention;

[0049] Figure 2 is a flow chart of a method for determining a vehicle state according to an embodiment of the present invention;

[0050] Figure 3 is a flow chart of a method for controlling the opening of a charging port cover of a vehicle according to an embodiment of the present invention;

[0051] Figure 4 is a flow chart of a method for controlling closing of a charging port cover of a vehicle according to an embodiment of the present invention;

[0052] Figure 5 is another flow chart of a method for controlling the opening and closing of a vehicle charging port cover according to an embodiment of the present invention;

[0053] Figure 6 is a schematic diagram of a vehicle according to an embodiment of the present invention;

[0054] Figure 7 is a schematic diagram of a charging port cover according to an embodiment of the present invention;

[0055] Figure 8 is a front view of the connection between the charging port cover and the drive motor according to an embodiment of the present invention;

[0056] Figure 9 4 is a cross-sectional view of a charging port cover according to an embodiment of the present invention.

[0057] Reference numerals:

[0058] 1-Vehicle body; 2-Camera; 3-Charging port cover; 31-Panel; 32-Box body; 33-Drive motor; 34-Slide hook; 35-Slide slot; 36-Zip; 4-Controller. DETAILED DESCRIPTION

[0059] The present application is described below based on the following embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without the description of these details. To avoid obscuring the essence of the present application, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0060] Furthermore, persons of ordinary skill in the art will appreciate that the figures provided herein are for illustration purposes only and are not necessarily drawn to scale.

[0061] Unless the context clearly requires otherwise, words like “include”, “comprising” and the like throughout this application should be interpreted as including rather than exclusive or exhaustive; that is, as meaning “including but not limited to”.

[0062] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0063] Where the solutions described in this specification and in the examples involve the processing of personal information, such processing will be conducted with a legitimate basis (e.g., with the consent of the personal information subject or as necessary for the performance of a contract) and only within the prescribed or agreed scope. A user's refusal to process personal information other than that required for basic functions will not affect the user's use of these basic functions.

[0064] The technical solution of the present application can be applied to scenarios where the vehicle's charging port cover is automatically controlled to open when the vehicle needs to be charged, and automatically controlled to close after charging is completed. The vehicle is preferably an autonomous vehicle or an unmanned vehicle that can automatically open and close the charging port cover, further improving the vehicle's intelligence and automation, and enhancing the vehicle's autonomous and unmanned driving capabilities. In addition, the vehicle can also be an ordinary manned vehicle that can automatically open and close the charging port cover without user operation when charging is required.

[0065] Figure 1 This is a flow chart of the method for controlling the opening and closing of the vehicle charging port cover. Figure 1 As shown, the vehicle charging port cover opening and closing control method includes:

[0066] Step S110: Determine the environment image.

[0067] For autonomous driving vehicles and unmanned vehicles, multiple cameras are arranged on the vehicle to capture real-time images of the surrounding environment (such as surround-view cameras, blind spot cameras, etc.), so that the vehicle can judge the environmental conditions around the vehicle in real time based on the environmental images, thereby controlling the vehicle's driving trajectory and avoiding dangerous driving.

[0068] In this embodiment, the environment image can be captured in real time by the vehicle's own camera, especially the camera near the charging port cover. In other words, no matter where the vehicle is or what state it is in, the camera can capture the environment image in real time.

[0069] The environmental images captured by the camera can be uploaded to the vehicle's controller, which can process the environmental images through image recognition technology to determine the vehicle's current location information, etc.

[0070] Step S120: Determine the vehicle status.

[0071] When a vehicle needs to be charged, the current state of the vehicle must be determined. Charging can only be performed when the vehicle is stopped, which improves charging safety and reliability. A moving or starting vehicle cannot be charged, so the process returns to step S110 and restarts the cycle.

[0072] Specifically, Figure 2 is a flow chart of a method for determining a vehicle state. Figure 2 , the method of determining the vehicle status includes:

[0073] Step S121: Determine the speed and acceleration of the vehicle.

[0074] Vehicles are typically equipped with speed sensors and acceleration sensors. These sensors are connected to a controller. The speed sensor transmits real-time vehicle speed information to the controller, while the acceleration sensor transmits real-time vehicle acceleration information to the controller. The controller can then determine the vehicle's current state based on these speed and acceleration information.

[0075] Step S122: In response to the speed and the acceleration being zero, determine that the vehicle is in a stopped state.

[0076] When the vehicle speed is zero and the acceleration is zero, it can be determined that the vehicle is in a stopped state. When the vehicle speed is not zero and / or the acceleration is not zero, it can be determined that the vehicle is in a non-stop state, and it is necessary to return to step S110 or step S121 and restart the cycle.

[0077] Step S130: In response to the vehicle being in a stopped state and the environment image matching the target image, controlling the charging port cover of the vehicle to open.

[0078] When the vehicle is stopped, the controller compares the received ambient image with the stored target image to determine whether the vehicle is parked in the parking space corresponding to the charging station. Only when the vehicle is parked in the parking space corresponding to the charging station can the charging gun be inserted into the vehicle's charging dock under the control of the robot. The method for connecting the charging gun and the vehicle for charging is not detailed here; reference can be made to the existing technology.

[0079] In this embodiment, the target image can be the output of the charging gun training model. In other words, the target image is used to represent the charging gun and contains characteristic information of the charging gun. This application utilizes the vehicle's own cameras, such as surround-view cameras and blind spot cameras, and uses image recognition technology to send the captured environmental images to the trained charging gun training model. This can achieve high-accuracy recognition of the target object (i.e., the charging gun) and timely detect whether the environmental image contains characteristic information of the charging gun.

[0080] Among them, the charging gun training model requires image recognition technology that performs deep learning on charging gun images, and is obtained after training and learning with a certain amount of data.

[0081] Specifically, images of the charging gun in various orientations are captured, with several images captured in each orientation. The images are then preprocessed: one or more operations are performed on the images, such as random cropping, zooming in or out, blurring, rotating, flipping, adjusting brightness, color processing, adjusting contrast, and randomly adding noise. Then, various simulated training samples are generated according to the various morphological changes that may occur when the camera captures the image, to improve the success rate of detection for abnormal conditions such as image tilt, rotation, scaling, color attenuation or loss. Deep learning-based image recognition training is performed on the preprocessed images to generate a charging gun training model. The edge contour information and edge gradient features of the object (charging gun) in the charging gun training model are then extracted and fused to obtain the output of the training model, i.e., the target image. The trained model input is then stored in the vehicle.

[0082] When the vehicle is stopped, the controller needs to compare the environmental image received at this time with the stored target image. When the environmental image matches the target image (that is, the environmental image is consistent with the outline of the charging gun in the target image), it is determined that the vehicle is parked at the parking position corresponding to the charging pile or the vehicle needs to be charged. At this time, the controller controls the vehicle's charging port cover to open so that the charging gun can be inserted into the vehicle's charging seat for charging. If the vehicle is stopped and the environmental image does not match the target image, return to step S110.

[0083] In another embodiment, when it is detected that the vehicle is in a stopped state, the controller also needs to determine whether the current battery level of the vehicle is lower than a certain threshold. Only when the battery level is lower than a certain threshold will it detect and determine whether the environmental image matches the target image. That is to say, only when the vehicle is stopped and the vehicle battery level is low will it be determined whether the vehicle is stopped near the charging gun and subsequent control. Furthermore, whether the vehicle needs to be charged can also be determined based on whether the current battery level of the vehicle can complete the distance of the next trip. In another embodiment, the determination of whether the current battery level of the vehicle is lower than a certain threshold can be set to be executed after the environmental image and the target image are matched.

[0084] Figure 3 A flow chart of a method for controlling the opening of a vehicle's charging port cover. Figure 3 , the method for controlling the opening of the charging port cover of the vehicle includes:

[0085] Step S131 : controlling the driving motor to rotate in a first direction.

[0086] See also Figure 7As shown, the charging port cover includes a panel, a cover body, and a drive motor. The drive motor is connected to the panel via a zipper. The drive motor rotates to tighten or loosen the zipper, driving the panel to slide open or close relative to the cover body. The charging dock is located within the cover body and is exposed when the panel is opened.

[0087] When it is determined that the vehicle's charging port cover needs to be opened, the controller controls the drive motor to rotate in a first direction. The first direction refers to the direction in which the panel can be opened when the drive motor rotates clockwise or counterclockwise.

[0088] When the charging port cover is opened, the controller will monitor the operating current of the drive motor and the number of revolutions of the drive motor in real time to ensure that it can be opened accurately for charging.

[0089] Step S132: In response to the number of rotations of the drive motor in the first direction reaching a first rotation threshold, the drive motor is controlled to stop moving, and it is determined that the charging port cover is in the open state.

[0090] When the number of revolutions of the drive motor in the first direction reaches the first revolution threshold, the panel is fully opened under the drive of the drive motor, exposing the charging seat, that is, the charging port cover is in the open state at this time. Therefore, the controller needs to control the drive motor to stop moving so that the panel stops moving to avoid damage caused by the drive motor being transported in vain. The first revolution threshold is used to characterize that when the drive motor rotates to this value, the charging port cover opens, that is, the drive motor runs smoothly. The first revolution threshold can be obtained through repeated tests during the vehicle production and debugging process. The number of revolutions of the drive motor can be monitored by the drive motor with its own reading function and uploaded to the controller.

[0091] Step S133: In response to the driving motor being in a non-smooth running state, controlling the driving motor to rotate in a second direction until it stops moving when reset.

[0092] Drive motor malfunction means the panel encounters an obstacle during rotation and cannot continue opening. When the drive motor's operating current and number of revolutions are insufficient, the charging port cover cannot be opened for charging. The number of revolutions and current of the drive motor can be monitored by the drive motor itself and transmitted to the controller.

[0093] If the operating current of the drive motor is not within the first current threshold range and / or the number of revolutions of the drive motor does not reach the first revolution threshold within the second time period, it indicates that the drive motor is not operating smoothly and the charging port cover has encountered an obstacle and needs to be reversed back to its initial position. Therefore, the controller controls the drive motor to rotate in the second direction until it stops upon resetting. The second time period and the first current threshold range can be determined through repeated testing during vehicle production and commissioning.

[0094] The second direction is opposite to the first direction. The second direction refers to the direction in which the panel can be closed when the drive motor rotates clockwise or counterclockwise. In other words, when the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise.

[0095] In the present application, after the controller controls the drive motor to rotate in the second direction until it stops moving when resetting, the controller can return to step S110 to re-determine the environmental image, or directly return to the step of comparing the environmental image with the target image.

[0096] In this embodiment, when the controller controls the drive motor to rotate in the second direction until it stops moving when resetting, the method for controlling the opening of the charging port cover of the vehicle further includes the following steps:

[0097] Step S134: In response to the number of rotations of the drive motor in the second direction reaching a first threshold within a third time period, uploading the abnormality information of the charging port cover to the server.

[0098] If the number of rotations of the drive motor in the second direction reaches a first threshold within a third time period (i.e., if the drive motor repeatedly experiences difficulty and requires reverse rotation, and the obstruction of the charging port cover cannot be resolved by repeated reverse and forward rotation), the controller will upload the charging port cover anomaly information to a server to notify the manufacturer or service personnel to perform maintenance and inspection on the vehicle's charging port cover. Both the third time period and the first threshold can be defined by the designer or determined through repeated testing based on different obstructions.

[0099] Step S135 : In response to the driving motor rotating in the second direction for a number of times within the third time period not reaching the first threshold, re-determine the environment image.

[0100] When the number of rotations of the driving motor in the second direction within the third time period does not reach the first threshold, the controller may return to step S110 to redetermine the environmental image, or directly return to the step of comparing the environmental image with the target image.

[0101] Step S140: Determine the status of the charging gun.

[0102] When the charging port cover is opened, it is necessary to determine the status of the charging gun in real time. The status of the charging gun includes that the charging gun is not inserted into the charging seat within the first time period and that the charging gun is inserted into the charging seat within the first time period. When the charging gun is inserted into the charging seat within the first time period, the charging gun charges the vehicle. Among them, the charging gun is not inserted into the charging seat within the first time period includes: the charging gun has never been inserted into the charging seat after the charging port cover is opened, and the time after the charging gun is charged and unplugged from the charging seat reaches the first time period (that is, the delay time after the charging gun is unplugged from the vehicle). In other words, the charging gun is not inserted into the charging seat within the first time period means that there is no charging gun in the charging seat. One is that the charging gun has been fully charged, and the other is that the charging gun has an abnormality and is not charging. At this time, it is necessary to control the charging port cover to be closed.

[0103] The status of the charging gun can be determined by the change in the battery level of the vehicle within a first time period, and / or by the change in the image of the charging gun (i.e., the environmental image) or the image of the charging port cover within a first time period. That is, within a certain period of time, when the battery level does not change, the charging gun is not inserted into the charging base or the charging gun is inserted into the charging base but not charging; within a certain period of time, when the image of the charging gun does not change, it means that the charging gun has not been unplugged and inserted into the charging base; within a certain period of time, when the image of the charging port cover does not change, it means that the charging gun has not been unplugged and inserted into the charging base. The image of the charging gun and the image of the charging port cover can be obtained by real-time capture by the vehicle's camera. The image of the charging gun is an image of the charging gun taken when the charging port cover is open.

[0104] In another embodiment, the charging gun communicates with the vehicle and may be equipped with a sensor. When the charging gun is inserted into and removed from the charging station, the pressure changes of the sensor can be transmitted to the vehicle, and the vehicle can use this information to monitor the time when the charging gun is removed from the charging station.

[0105] In autonomous or unmanned vehicles, the vehicle and the charging gun (charging station) can communicate with each other based on existing technologies. After the charging port cover is opened, the charging gun can receive the information that the charging port cover has been opened, and then control the robot to insert the charging gun into the charging port cover for charging. After charging is completed, the controller sends the power level information to the charging gun and controls the robot to remove the charging gun from the charging port cover. In ordinary vehicles, after the charging port cover automatically opens, the gas station attendant inserts the charging gun into the charging station.

[0106] Step S150: In response to the charging gun being not inserted into the charging base within a first time period, controlling the charging port cover to close.

[0107] The charging gun is not inserted into the charging base within the first time period, which means that there is no charging gun in the charging base within the first time period, and the charging port cover needs to be closed.

[0108] Figure 4 A flow chart of a method for controlling the closing of a vehicle's charging port cover. Figure 4 , the method for controlling the closing of the charging port cover of the vehicle includes:

[0109] Step S151: Control the driving motor to rotate in the second direction.

[0110] When it is determined that the vehicle's charging port cover needs to be closed, the controller controls the drive motor to rotate in a second direction. The second direction refers to the direction in which the panel can be closed when the drive motor rotates clockwise or counterclockwise.

[0111] During the closing process of the charging port cover, the controller will monitor the operating current of the drive motor and the number of rotations of the drive motor in real time to ensure that the charging port cover can be closed.

[0112] Step S152: In response to the number of rotations of the drive motor in the second direction reaching a second rotation threshold, the drive motor is controlled to stop moving, and it is determined that the charging port cover is in a closed state.

[0113] When the number of revolutions of the drive motor in the second direction reaches the second revolution threshold, the panel is completely closed under the drive of the drive motor, that is, the charging port cover is in the closed state. Therefore, the controller needs to control the drive motor to stop so that the panel stops moving to avoid damage caused by the drive motor being transported in vain. The second revolution threshold is used to indicate that the charging port cover is closed when the drive motor rotates to this value. The second revolution threshold can be obtained through repeated tests during the vehicle production and debugging process. The number of revolutions of the drive motor can be monitored by the drive motor with its own reading function and uploaded to the controller.

[0114] Step S153: In response to the driving motor being in a non-smooth running state, controlling the driving motor to rotate in a first direction until it stops moving when reset.

[0115] If the drive motor is not operating smoothly, it means that the panel encounters an obstacle during the closing process and cannot continue to close. When the drive motor is not operating smoothly, the operating current and number of revolutions of the drive motor cannot meet the requirements, and the charging port cover cannot be closed. The number of revolutions and operating current of the drive motor can be monitored by the drive motor itself and transmitted to the controller.

[0116] If the operating current of the drive motor is not within the second current threshold range and / or the number of revolutions of the drive motor does not reach the second revolution threshold within the fourth time period, it indicates that the drive motor is operating unsmoothly and the charging port cover has encountered an obstacle and needs to be reversed back to the open position. Therefore, the controller controls the drive motor to rotate in the first direction until it stops upon resetting. The fourth time period and the second current threshold range can be determined through repeated testing during vehicle production and commissioning.

[0117] The second direction is opposite to the first direction. The second direction refers to the direction in which the panel can be closed when the drive motor rotates clockwise or counterclockwise. In other words, when the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise.

[0118] In the present application, after the controller controls the driving motor to rotate in the first direction until it stops moving when reset, the controller can return to step S140 to re-determine the state of the charging gun.

[0119] In this embodiment, when the controller controls the drive motor to rotate in the first direction until it stops moving when resetting, the method for controlling the closing of the charging port cover of the vehicle further includes the following steps:

[0120] Step S154: In response to the number of rotations of the drive motor in the first direction reaching a second threshold within the fifth time period, uploading the abnormality information of the charging port cover to the server.

[0121] If the number of rotations of the drive motor in the first direction reaches a second threshold within a fifth time period (i.e., if the drive motor repeatedly experiences difficulty and requires reverse rotation, and the obstruction of the charging port cover cannot be resolved by repeated reverse and forward rotation), the controller will upload the charging port cover anomaly information to a server to notify the manufacturer or service personnel to perform maintenance and inspection on the vehicle's charging port cover. Both the fifth time period and the second threshold can be defined by the designer or determined through repeated testing based on different obstructions.

[0122] Step S155 : In response to the driving motor rotating in the first direction for a number of times within the fifth time period not reaching the second threshold, re-determine the state of the charging gun.

[0123] When the number of rotations of the driving motor in the first direction within the fifth time period does not reach the second threshold, the controller may return to step S140 to re-determine the state of the charging gun.

[0124] Thus, in this embodiment of the present invention, the vehicle camera captures environmental images, and the controller uses image recognition methods to identify the environmental images. When the environmental images match the features of the trained model (such as the outline of the charging gun), the controller controls the opening of the charging port cover. When the charging gun is unplugged from the vehicle, the controller controls the closing of the charging port cover by delaying the time or by detecting the area where the charging gun is away from the vehicle body with the camera. This vehicle charging port cover opening and closing control method enables the charging port cover to be opened and closed automatically, improving the vehicle's autonomous driving level and the user's charging experience.

[0125] Figure 5 Another flow chart of the method for controlling the opening and closing of the vehicle charging port cover. Figure 5 As shown, the vehicle charging port cover opening and closing control method includes:

[0126] Step S01: Determine an environment image.

[0127] In this embodiment, the environment image can be captured in real time by the vehicle's own camera, especially the camera near the charging port cover. In other words, no matter where the vehicle is or what state it is in, the camera can capture the environment image in real time.

[0128] The environmental image acquired by the camera is uploaded to the vehicle controller, which can process the environmental image through image recognition technology to determine the vehicle's current location information, etc. The specific implementation is the same as the above embodiment.

[0129] Step S02: Determine whether the vehicle is in a parked state.

[0130] The vehicle can only be charged when it is in a parked state. Therefore, the controller needs to determine whether the vehicle is in a parked state, which can be determined based on the vehicle's speed and acceleration. Figure 2 As shown, the specific implementation method is the same as the above embodiment and will not be repeated here.

[0131] When the vehicle is in a parked state, step S03 is executed; when the vehicle is in a non-parked state, it is necessary to return to step S01 and restart the cycle.

[0132] Step S03: Determine whether the environment image matches the target image.

[0133] When the vehicle is stopped, the controller compares the received environmental image with the stored target image to determine whether the vehicle is parked in the parking space corresponding to the charging pile. Only when the vehicle is parked in the parking space corresponding to the charging pile can the charging gun be inserted into the vehicle's charging station under the control of the robot.

[0134] The judgment method is the same as that in the above embodiment, and specifically refer to step S130. When the environment image does not match the target image, the process returns to step S01.

[0135] Step S04: Determine whether the charging port cover needs to be opened.

[0136] When the environment image matches the target image, it is clear that the charging port cover of the vehicle needs to be opened.

[0137] Step S05: controlling the driving motor to rotate in a first direction.

[0138] After determining that the charging port cover needs to be opened, the controller controls the drive motor to rotate in a first direction, so that the charging port cover can be opened. See step S131 for details.

[0139] Step S06: Determine whether the driving motor runs smoothly.

[0140] During the opening of the charging port cover, it is necessary to determine whether the charging port operates smoothly to ensure that the charging gun can be inserted into the charging dock for charging after the charging port cover is fully opened. The smooth operation of the drive motor can be determined by the current change and the number of revolutions during the opening of the charging port cover. For specific determination methods, please refer to the above embodiment.

[0141] Step S07: Control the driving motor to rotate in the second direction until it stops when it is reset.

[0142] If the drive motor is determined to be operating unevenly, the controller controls the drive motor to rotate in the second direction until it stops upon resetting. Specifically, if the drive motor is operating unevenly, the controller controls the drive motor to rotate in the opposite direction and return to its initial position, i.e., the closed position of the charging port cover. For details, see step S133.

[0143] Step S08: Determine whether the number of rotations of the driving motor in the second direction reaches a first threshold.

[0144] After the drive motor rotates in the second direction until it stops upon resetting, the controller determines whether the number of rotations of the drive motor in the second direction has reached a first threshold. In other words, it determines the number of reverse rotations of the drive motor within a certain time period. By repeatedly controlling the drive motor to rotate forward and reverse, the charging port cover can remove some obstructions through repeated movement. If the number of rotations of the drive motor in the second direction has not reached the first threshold, the process returns to step S01.

[0145] Step S09: Upload the abnormal information of the charging port cover to the server.

[0146] If the number of rotations of the drive motor in the second direction reaches a first threshold within a third time period (i.e., if the drive motor repeatedly experiences difficulty and requires reverse rotation, and the obstruction of the charging port cover cannot be resolved by repeated reverse and forward rotation), the controller will upload the charging port cover anomaly information to a server to notify the manufacturer or service personnel to perform maintenance and inspection on the vehicle's charging port cover. Both the third time period and the first threshold can be defined by the designer or determined through repeated testing based on different obstructions.

[0147] Step S10: When the number of rotations reaches a first threshold, it is determined that the charging port cover is in the open state.

[0148] During the process of opening the charging port cover, if the driving motor runs smoothly, the number of revolutions of the driving motor can reach a first revolution threshold within a certain period, indicating that the charging port cover has been fully opened and is in the open state. For details, see step S132 of the above embodiment.

[0149] Step S11: Determine whether the charging gun is not inserted into the charging base within a first time period.

[0150] The status of the charging gun includes that the charging gun is not inserted into the charging seat within the first time period and that the charging gun is inserted into the charging seat within the first time period. When the charging gun is inserted into the charging seat within the first time period, the charging gun charges the vehicle. Among them, the charging gun is not inserted into the charging seat within the first time period, including: the charging gun has never been inserted into the charging seat after the charging port cover is opened, and the time after the charging gun is fully charged and unplugged from the charging seat reaches the first time period (that is, the delay time after the charging gun is unplugged from the vehicle). In other words, the charging gun is not inserted into the charging seat within the first time period means that there is no charging gun in the charging seat. One of the reasons is that the charging gun has been fully charged, and the other is that the charging gun has an abnormality and is not charging. At this time, the charging port cover needs to be controlled to be closed.

[0151] The status of the charging gun can be determined by changes in the vehicle's battery level during the first time period, and / or by changes in the charging gun image (i.e., the environment image) or the charging port cover image during the first time period. For details, see step S140 of the above embodiment.

[0152] Step S12: Determine whether the charging port cover needs to be closed.

[0153] When the charging gun is not inserted into the charging base within the first time period, it can be determined that the vehicle no longer needs to be charged and the charging port cover can be closed.

[0154] Step S13: Control the driving motor to rotate in the second direction.

[0155] When it is determined that the charging port cover needs to be closed, the controller controls the driving motor to rotate in the second direction (ie, the direction in which the charging port cover is closed).

[0156] Step S14: Determine whether the driving motor is smooth.

[0157] During the closing process of the charging port cover, it is necessary to determine whether it operates smoothly to ensure that the charging port cover can be completely closed and prevent rain and dust from entering the charging station and affecting vehicle safety. The smooth operation of the drive motor can be determined by the current changes and the number of revolutions during the closing process. The specific determination method can be referred to the above embodiment.

[0158] Step S15: Control the driving motor to rotate in the first direction until it stops when it is reset.

[0159] When the drive motor is determined to be operating abnormally, the controller controls the drive motor to rotate in a first direction (i.e., the direction in which the charging port cover is opened) until it stops when it returns to its original position (fully opened). In other words, when the drive motor is operating abnormally, the controller controls the drive motor to rotate in the opposite direction and return to its initial position, i.e., the fully opened position of the charging port cover.

[0160] Step S16: Determine whether the number of rotations of the driving motor in the first direction reaches a second threshold.

[0161] After the drive motor rotates in the first direction until it stops upon resetting, the controller determines whether the number of rotations of the drive motor in the first direction has reached a second threshold. In other words, it determines the number of reverse rotations of the drive motor within a certain period of time. By repeatedly controlling the drive motor to rotate forward and reverse, the charging port cover can remove some obstructions through repeated movement. If the number of rotations of the drive motor in the first direction has not reached the second threshold, the process returns to step S11.

[0162] Step S17: Upload the abnormal information of the charging port cover to the server.

[0163] If the number of rotations of the drive motor in the first direction reaches a second threshold within a fifth time period (i.e., if the drive motor repeatedly experiences difficulty and requires reverse rotation, and the obstruction of the charging port cover cannot be resolved by repeated reverse and forward rotation), the controller will upload the charging port cover anomaly information to a server to notify the manufacturer or service personnel to perform maintenance and inspection on the vehicle's charging port cover. Both the fifth time period and the second threshold can be defined by the designer or determined through repeated testing based on different obstructions.

[0164] Step S18: When the number of rotations reaches a second threshold, it is determined that the charging port cover is in the closed state.

[0165] During the closing process of the charging port cover, if the driving motor operates smoothly, the number of revolutions of the driving motor can reach a second revolution threshold within a certain period, indicating that the charging port cover has been completely closed and is in the closed state. For details, see step S152 of the above embodiment.

[0166] Thus, in this embodiment of the present invention, the vehicle camera captures environmental images, and the controller uses image recognition methods to identify the environmental images. When the environmental images match the features of the trained model (such as the outline of the charging gun), the controller controls the opening of the charging port cover. When the charging gun is unplugged from the vehicle, the controller controls the closing of the charging port cover by delaying the time or by detecting the area where the charging gun is away from the vehicle body with the camera. This vehicle charging port cover opening and closing control method enables the charging port cover to be opened and closed automatically, improving the vehicle's autonomous driving level and the user's charging experience.

[0167] Figure 6 This is a structural diagram of a vehicle of the present application. Figure 6 The vehicle includes a vehicle body 1, a camera 2, a charging port cover 3 and a controller 4. The vehicle body can be the body of an autonomous vehicle, the body of an unmanned vehicle or the body of an ordinary vehicle. The camera is set on the vehicle body and can be set at any position of the vehicle body to capture environmental images. Figure 7 、 Figure 8 、 Figure 9 As shown, the charging port cover 3 includes a panel 31, a box body 32 and a drive motor 33. The box body 32 and the drive motor 33 are arranged on the vehicle body, and the upper and lower sides of the panel 31 are provided with sliding hooks 34, and the upper and lower sides of the box body 32 are provided with sliding grooves 35. The two sliding hooks 34 of the panel 31 are respectively connected to the two sliding grooves 35. One of the sliding hooks 34 is connected to the zipper 36 (such as a steel wire rope), and the drive motor 33 is connected to the zipper 36. The drive motor 33 controls the tightening or loosening of the zipper 36 by forward and reverse rotation, thereby driving the panel 31 to move, and then achieving the opening and closing of the charging port cover. The controller 4 is electrically connected to the camera 2 and the drive motor 33. The controller realizes automatic control of the opening and closing of the charging port cover by executing the opening and closing control method of the vehicle charging port cover of the above embodiment.

[0168] Among them, the charging port cover 3 adopts an electric drive solution, and the sliding hook is driven bidirectionally by the zipper to realize opening and closing control. The upper and lower sliding hooks 34 of the panel are designed to have the maximum spacing as much as possible, so that the panel 31 is firmly limited to ensure the reliability of the surface difference of the panel 31. According to the placement of the drive motor 33, the zipper 36 is determined to drive the upper or lower sliding hook 34. The outer side of the zipper 36 is equipped with a sheath to fix the direction of the zipper 36. The box body is designed with a slide groove 35 at the position of the sliding hook 34 to specify the movement direction of the sliding hook 34, thereby realizing the movement trajectory control of the panel 31. The structural reliability of the charging port cover is high and the operating quality is excellent, so that the controller can achieve good control of the charging port cover.

[0169] It will be understood by those skilled in the art that the embodiments of the present application may be provided as methods, devices (equipment), or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0170] The present application is described with reference to flowcharts of methods, apparatuses (devices), and computer program products according to embodiments of the present application. It should be understood that each process in the flowcharts can be implemented by computer program instructions.

[0171] These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device that implements the process Figure 1 A function specified in a process or multiple processes.

[0172] These computer program instructions can also be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the instructions for implementing the process Figure 1 A device that specifies functions in a process or multiple processes.

[0173] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, wherein the computer-readable program is used to enable a computer to execute part or all of the above method embodiments.

[0174] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by specifying relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0175] The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application are intended to be within the scope of protection of the present application.

Claims

1. A method for controlling the opening and closing of a vehicle charging port cover, characterized in that: The opening and closing control method includes: Determine an environmental image, where the environmental image is obtained by real-time capture by a camera of the vehicle; Determine vehicle status; In response to the vehicle being in a stopped state and the environment image matching a target image, controlling a charging port cover of the vehicle to open; Determine the status of the charging gun; In response to the charging gun being not inserted into the charging base within a first time period, the charging port cover is controlled to be closed.

2. The opening and closing control method according to claim 1, characterized in that: The controlling the opening of the charging port cover of the vehicle includes: Controlling the drive motor to rotate in a first direction; In response to the number of rotations of the drive motor in the first direction reaching a first rotation threshold, the drive motor is controlled to stop moving, and it is determined that the charging port cover is in the open state.

3. The opening and closing control method according to claim 2, characterized in that: The controlling the opening of the charging port cover of the vehicle further includes: In response to the driving motor being in a non-smooth running state, the driving motor is controlled to rotate in a second direction until it stops moving when it is reset, and the second direction is opposite to the first direction.

4. The opening and closing control method according to claim 3, characterized in that: In response to the driving motor being in a non-smooth running state, controlling the driving motor to rotate in the second direction until it stops when reset includes: In response to the operating current of the drive motor not being within the first current threshold range within the second time period, and / or the number of operating revolutions of the drive motor not reaching the first revolution threshold, the drive motor is controlled to rotate in the second direction until it stops moving when reset.

5. The opening and closing control method according to claim 3, characterized in that: The controlling the opening of the charging port cover of the vehicle further includes: In response to the number of rotations of the drive motor in the second direction reaching a first threshold within a third time period, uploading abnormal information of the charging port cover to a server; In response to the driving motor rotating in the second direction for a number of times not reaching the first threshold within the third time period, the environment image is re-determined.

6. The opening and closing control method according to claim 1, characterized in that: The controlling the closing of the charging port cover of the vehicle includes: controlling the drive motor to rotate in a second direction; In response to the number of rotations of the drive motor in the second direction reaching a second rotation threshold, the drive motor is controlled to stop moving, and it is determined that the charging port cover is in a closed state.

7. The opening and closing control method according to claim 6, characterized in that: The controlling the closing of the charging port cover of the vehicle further includes: In response to the driving motor being in a non-smooth running state, the driving motor is controlled to rotate in a first direction until it stops moving when it is reset, and the second direction is opposite to the first direction.

8. The opening and closing control method according to claim 7, characterized in that: In response to the driving motor being in a non-smooth running state, controlling the driving motor to rotate in a first direction until it stops when reset comprises: In response to the drive motor not being within the second current threshold range and / or the number of revolutions of the drive motor not reaching the second revolution threshold within the fourth time period, the drive motor is controlled to rotate in the first direction until it stops moving when reset.

9. The opening and closing control method according to claim 7, characterized in that: The controlling the closing of the charging port cover of the vehicle further includes: In response to the number of rotations of the drive motor in the first direction reaching a second threshold within a fifth time period, uploading abnormal information of the charging port cover to a server; In response to the driving motor rotating in the first direction for a number of times not reaching a second threshold within a fifth time period, the state of the charging gun is re-determined.

10. The opening and closing control method according to claim 1, characterized in that: Determining the status of the charging gun includes: Determining the status of the charging gun based on the change in the vehicle's power level during the first time period; and / or, The state of the charging gun is determined by changes in an image of the charging gun or an image of the charging port cover within a first time period, wherein the image of the charging gun and the image of the charging port cover are obtained by real-time capture by a camera of the vehicle.

11. The opening and closing control method according to claim 1, characterized in that: Determining the vehicle state includes: Determining the speed and acceleration of the vehicle, wherein the speed and acceleration are respectively detected by a vehicle speed sensor and an acceleration sensor; In response to the speed and the acceleration being zero, it is determined that the vehicle is in a stopped state.

12. The opening and closing control method according to claim 1, characterized in that: The opening and closing control method includes: Perform deep learning on charging gun images and establish a charging gun training model; The charging gun training model is stored and the target image is generated.

13. A vehicle, characterized in that: The vehicle comprises: Vehicle body (1); A camera (2) is provided on the vehicle body (1), and the camera (2) is configured to capture an image of the environment; A charging port cover (3) includes a panel (31), a box body (32) and a drive motor (33), wherein the box body (32) and the drive motor (33) are arranged on the vehicle body (1), the upper and lower sides of the panel (31) are provided with sliding hooks (34), the upper and lower sides of the box body (32) are provided with sliding grooves (35) that cooperate with the sliding hooks (34), and the drive motor (33) is connected to the sliding hooks (34) via a zipper (36) to drive the panel (31) to open or close; A controller (4) is electrically connected to the camera (2) and the drive motor (33), and the controller (4) executes a method for controlling the opening and closing of a vehicle charging port cover according to any one of claims 1 to 12.

14. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method for controlling the opening and closing of a vehicle charging port cover according to any one of claims 1 to 12 is implemented.

15. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method for controlling the opening and closing of a vehicle charging port cover according to any one of claims 1 to 12 is implemented.

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