Charging device and vehicle charging control method based on charging device

Abstract

This application provides a charging device and a vehicle charging control method based on the charging device, relating to the field of power electronics technology. The charging device includes a charging host and multiple charging terminals. The charging host, after establishing a communication connection with a target vehicle, receives charging information from the target vehicle and sends communication connection commands to the target vehicle and the target charging terminals respectively based on the target vehicle's charging information. The target charging terminal, upon receiving the communication connection command from the charging host, establishes a communication connection with the target vehicle, enabling the target vehicle to obtain first distance information and a first azimuth angle between the target vehicle and the target charging terminal, and / or enabling the target vehicle to obtain second distance information and a second azimuth angle between the target vehicle and the target charging location. The first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging location.

Description

Technical Field

[0001] This application relates to the field of power electronics, and more particularly to a charging device and a vehicle charging control method based on the charging device. Background Technology

[0002] With the rapid popularization of new energy vehicles, the application of electric vehicle charging stations as supporting facilities is becoming increasingly widespread. During the operation of electric vehicle charging stations, on the one hand, there are various brands of electric vehicles and charging piles on the market. Faced with electric vehicles of different brands, electrical parameters, and communication protocols, there is a problem of finding the optimal charging pile for each vehicle entering the charging station. On the other hand, in electric vehicle charging stations equipped with multiple charging piles, after an electric vehicle enters the station, the owner needs to quickly find the matching charging pile and accurately park in the corresponding parking space before charging. Therefore, in order to reduce the time electric vehicles spend searching for charging piles and improve the overall charging efficiency of charging stations, how to achieve high-precision and reliable charging pile guidance for electric vehicles is also one of the technical problems that urgently needs to be solved in current electric vehicle charging station development. Summary of the Invention

[0003] This application provides a charging device and a vehicle charging control method based on the charging device, which can ensure that the vehicle is effectively charged under a matching charging terminal, and at the same time achieve high-precision and reliable charging path guidance for electric vehicles.

[0004] Firstly, this application provides a charging device, which includes a charging host and multiple charging terminals. Each charging terminal is equipped with a charging gun for connecting to a target vehicle. The charging terminal receives DC power output from the charging host and outputs DC power to the target vehicle through the charging gun. Each charging terminal is associated with at least one charging position, and the target vehicle is located in one of the associated charging positions while the charging terminal is supplying power to the target vehicle. After establishing a communication connection with the target vehicle, the charging host receives charging information from the target vehicle and, based on this information, sends communication connection commands to the target vehicle and the target charging terminal among the multiple charging terminals. The target charging terminal is one of the multiple charging terminals. The target charging terminal is used to establish a communication connection with the target vehicle after receiving a communication connection command sent by the charging host, so that the target vehicle obtains the first distance information and the first azimuth angle between the target vehicle and the target charging terminal, and / or, so that the target vehicle obtains the second distance information and the second azimuth angle between the target vehicle and the target charging position. The target charging position is an idle charging position associated with the target charging terminal. The first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging position.

[0005] In this application, after the target charging terminal establishes a wireless communication connection with the target vehicle, the target vehicle obtains first distance information and a first azimuth angle between the target vehicle and the target charging terminal through the communication connection. The central control screen of the target vehicle can display the aforementioned first distance information and first azimuth angle to the vehicle owner, enabling the vehicle owner to accurately locate the target charging terminal based on the first distance information and first azimuth angle. Alternatively, the target vehicle can obtain second distance information and a second azimuth angle between the target vehicle and a target charging location, where the target charging location is an available charging location associated with the target charging terminal, through the communication connection. The vehicle owner can accurately locate the target charging location associated with the target charging terminal based on the second distance information and second azimuth angle displayed on the central control screen. Alternatively, the target vehicle can simultaneously obtain the first distance information and the first azimuth angle, as well as the second distance information and the second azimuth angle between the target vehicle and the target charging terminal through the communication connection. The central control screen of the target vehicle can display the aforementioned first distance information, first azimuth angle, second distance information, and second azimuth angle to the vehicle owner. Compared to methods where the target vehicle obtains navigation information from the cloud, establishing a direct communication connection between the target vehicle and its corresponding charging terminal ensures stability of the guidance service, as it is independent of network conditions and cloud server status. Furthermore, the short-range wireless communication between the target vehicle and the charging terminal results in minimal distance and azimuth errors between the target vehicle and the corresponding charging terminal or charging location. This enables precise positioning and route guidance, significantly reducing the time spent by electric vehicles searching for charging stations.

[0006] In one possible implementation, the target vehicle is equipped with multiple ranging anchor points. Upon receiving a communication connection command from the charging host, the target charging terminal establishes communication connections with these anchor points. This allows the target vehicle to acquire third distance information between the anchor points and the charging terminal, and calculate first distance information and a first azimuth angle based on this third distance information. On one hand, by directly establishing a communication connection between the target vehicle and the corresponding charging terminal to guide the vehicle, the stability of the guidance service is ensured, as it is independent of network conditions and cloud server status. On the other hand, the high-precision distance measurement between the target vehicle and the charging terminal, based on ultra-wideband and satellite homing, results in minimal errors in the distance information and azimuth angle acquired by the target vehicle. This enables precise positioning and path guidance of the charging terminal, significantly reducing the time spent by the electric vehicle searching for the charging terminal.

[0007] In one possible implementation, the target charging terminal is further configured to, when the target vehicle's computing resources are insufficient, receive third distance information from the target vehicle and calculate first distance information and a first azimuth angle, and then send the first distance information and the first azimuth angle to the target vehicle. By having the target charging terminal undertake the task of calculating the first distance information and the first azimuth angle when the target vehicle's computing resources are insufficient, the reliability of guiding the target vehicle to charge can be improved, ensuring that the target vehicle obtains the first distance information and the first azimuth angle even with insufficient computing resources.

[0008] In one possible implementation, the target charging terminal sends the location information of the target charging location to the target vehicle after establishing a communication connection. This allows the target vehicle to calculate a second distance and a second azimuth angle based on the location information of the target charging location and the target vehicle's own location. On one hand, by directly establishing a communication connection between the target vehicle and the corresponding target charging terminal to guide the vehicle, the stability of the guidance service is ensured, as it is independent of network conditions and cloud server status. On the other hand, the high-precision distance measurement between the target vehicle and the target charging terminal, based on ultra-wideband and satellite homing, ensures that the distance information and azimuth angle obtained by the target vehicle are less erroneous. This enables precise positioning and path guidance of the target charging terminal, significantly reducing the time spent by electric vehicles searching for charging terminals.

[0009] In one possible implementation, the target charging terminal is further configured to, when the target vehicle's computing resources are insufficient, receive location information from the target vehicle and calculate a second distance and a second azimuth angle based on the location information of the target charging location and the target vehicle's location information, and then send the second distance and second azimuth angle to the target vehicle. By having the target charging terminal undertake the task of calculating the second distance and second azimuth angle when the target vehicle's computing resources are insufficient, the reliability of guiding the target vehicle to charge can be improved, ensuring that the target vehicle obtains the second distance and second azimuth angle even with limited computing resources.

[0010] In one possible implementation, the charging terminal is further configured to, when supplying power to any vehicle and the charging terminal does not contain location information of the charging position where any vehicle is located, acquire and store location information sent by any vehicle to obtain the location information of the charging position where any vehicle is located, thereby enabling the charging terminal to acquire and store the location information of each charging position associated with the charging terminal, wherein any vehicle includes the target vehicle. Compared to manually mapping and uploading data, collecting the location information of charging positions is more efficient and the location information used to guide vehicles is more accurate.

[0011] In one possible implementation, the charging host is used to establish communication connections with up to L vehicles simultaneously, where L is a positive integer. The charging host is also used to receive multiple first ranging feedback signals sent by multiple candidate vehicles. Furthermore, the charging host is used to send communication connection requests to the L candidate vehicles corresponding to the L first ranging feedback signals with the highest signal strength among the multiple first ranging feedback signals, triggering the L candidate vehicles to send either a connection acceptance signal or a connection rejection signal based on the received communication connection requests. The charging host is also used to establish a communication connection with the candidate vehicle that sent the connection acceptance signal after receiving it, and to send communication connection requests to the other candidate vehicles (excluding the L candidate vehicles) after receiving the connection rejection signal, until the number of vehicles with established communication connections with the charging host reaches L. Here, since the signal strength of the first ranging feedback signal sent by each candidate vehicle directly reflects the physical distance between the candidate vehicle and the charging host, prioritizing the establishment of communication connections with the nearest L candidate vehicles based on the signal strength of the multiple first ranging feedback signals shortens the wireless transmission distance between the charging host and the vehicles, improves the connection establishment success rate and subsequent communication quality, and avoids the ineffective occupation of wireless resources by distant vehicles with poor signals.

[0012] In one possible implementation, the charging host is further configured to obtain the number R of idle charging guns among multiple charging terminals. After establishing communication connections with L vehicles, the charging host sends ranging commands to the L vehicles, triggering each of the L vehicles to send a second ranging feedback signal to the charging host based on the received ranging commands. This allows the charging host to obtain fourth distance information between each of the L vehicles and the charging host, where the L vehicles include the target vehicle. The charging host is further configured to send communication connection commands sequentially to R of the L vehicles, or sequentially to the L vehicles, according to the fourth distance information between each of the L vehicles and the charging host. Here, after the charging host establishes communication connections with the L vehicles simultaneously, by obtaining more accurate and precise distance information with the L vehicles, vehicles that are closer to the target charging terminal are prioritized for connection. Since vehicles that are closer can reach the corresponding target charging terminal and charge faster, the waiting time for each vehicle can be reduced when the number of vehicles exceeds the number of idle charging terminals, thus improving overall charging efficiency.

[0013] Secondly, this application provides a vehicle charging control method based on a charging device. The method includes establishing a communication connection with a target vehicle. It involves receiving charging information from the target vehicle and, based on this information, sending communication connection instructions to the target vehicle and a target charging terminal among multiple charging terminals. The target charging terminal is one of the multiple charging terminals. The communication connection instructions trigger the establishment of a communication connection between the target charging terminal and the target vehicle, enabling the target vehicle to obtain first distance information and a first azimuth angle between the target vehicle and the target charging terminal, and / or enabling the target vehicle to obtain second distance information and a second azimuth angle between the target vehicle and a target charging location. The target charging location is an available charging location associated with the target charging terminal. The first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging location.

[0014] In this application, compared to the method of obtaining navigation information from the cloud, the method of directly establishing a communication connection between the target vehicle and the corresponding charging terminal to guide the target vehicle can ensure the stability of the guidance service for the target vehicle without relying on network conditions and cloud server status. Furthermore, the communication connection between the target vehicle and the charging terminal is a short-range wireless communication, resulting in small errors in the distance information and azimuth angle between the target vehicle and the corresponding charging terminal or charging location. This enables precise positioning of the charging terminal and route guidance, greatly reducing the time spent by the electric target vehicle searching for the charging terminal.

[0015] In one possible implementation, the method further includes receiving multiple first ranging feedback signals sent by multiple candidate vehicles. Communication connection requests are sent to the L candidate vehicles corresponding to the L first ranging feedback signals with the largest signal strengths among the multiple first ranging feedback signals, triggering the L candidate vehicles to send either a connection acceptance signal or a connection rejection signal based on the received communication connection requests. Upon receiving a connection acceptance signal, a communication connection is established with the candidate vehicle that sent the connection acceptance signal; or upon receiving a connection rejection signal, a communication connection request is sent to the other candidate vehicles besides the L candidate vehicles.

[0016] In one possible implementation, the method further includes establishing communication connections with L vehicles, sending ranging commands to the L vehicles, triggering the L vehicles to send second ranging feedback signals based on the received ranging commands, where the L vehicles include the target vehicle. Based on the second ranging feedback signals sent by the L vehicles, fourth distance information between each of the L vehicles and the charging host is obtained. According to the fourth distance information between each of the L vehicles and the charging host, communication connection commands are sent sequentially to R of the L vehicles, or, sequentially to the L vehicles.

[0017] Thirdly, this application provides a vehicle charging control method based on a charging device. The method includes receiving a communication connection command sent by a charging host. After receiving the communication connection command from the charging host, a communication connection is established with a target vehicle, enabling the target vehicle to obtain first distance information and a first azimuth angle between the target vehicle and a target charging terminal, and / or enabling the target vehicle to obtain second distance information and a second azimuth angle between the target vehicle and a target charging position. The target charging position is an available charging position associated with the target charging terminal. The first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging position.

[0018] In this application, compared to the method of obtaining navigation information from the cloud, the method of directly establishing a communication connection between the target vehicle and the corresponding charging terminal to guide the target vehicle can ensure the stability of the guidance service for the target vehicle without relying on network conditions and cloud server status. Furthermore, the communication connection between the target vehicle and the charging terminal is a short-range wireless communication, resulting in small errors in the distance information and azimuth angle between the target vehicle and the corresponding charging terminal or charging location. This enables precise positioning of the charging terminal and route guidance, greatly reducing the time spent by the electric target vehicle searching for the charging terminal.

[0019] In one possible implementation, the target vehicle is equipped with multiple ranging anchor points. Upon receiving a communication connection command from the charging host, these anchor points establish a communication connection with the target vehicle, enabling the target vehicle to obtain first distance information and a first azimuth angle between itself and the target charging terminal. This includes establishing communication connections with the multiple ranging anchor points after receiving the communication connection command, allowing the target vehicle to obtain third distance information between the anchor points and the target charging terminal, and calculating the first distance information and the first azimuth angle based on this third distance information. On one hand, by directly establishing a communication connection between the target vehicle and the corresponding target charging terminal to guide the target vehicle, the stability of the target vehicle guidance service is ensured, as it is independent of network conditions and cloud server status. On the other hand, the high-precision distance measurement between the target vehicle and the target charging terminal, based on ultra-wideband and satellite telemetry, results in minimal error in the distance information and azimuth angle obtained by the target vehicle, enabling precise positioning and path guidance of the target charging terminal and significantly reducing the time spent by the electric target vehicle searching for the charging terminal.

[0020] In one possible implementation, the method further includes receiving third distance information from the target vehicle and calculating first distance information and a first azimuth angle when the target vehicle's computing resources are insufficient, and then sending the first distance information and the first azimuth angle to the target vehicle. By undertaking the task of calculating the first distance information and the first azimuth angle when the target vehicle's computing resources are insufficient, the method ensures that the target vehicle obtains the first distance information and the first azimuth angle, thereby improving the reliability of charging guidance for the target vehicle.

[0021] In one possible implementation, after receiving a communication connection instruction from the charging host, a communication connection is established with the target vehicle, enabling the target vehicle to obtain the second distance information and the second azimuth angle between the target vehicle and the target charging position. This includes sending the location information of the target charging position to the target vehicle after establishing a communication connection with the target vehicle, and triggering the target vehicle to calculate the second distance information and the second azimuth angle based on the location information of the target charging position and the location information of the target vehicle.

[0022] In one possible implementation, the method further includes receiving location information from the target vehicle and calculating a second distance and a second azimuth angle based on the location information of the target charging location and the target vehicle's location information when the target vehicle's computing resources are insufficient, and then sending the second distance and second azimuth angle to the target vehicle. By undertaking the task of calculating the second distance and second azimuth angle when the target vehicle's computing resources are insufficient, the method ensures that the target vehicle can obtain the second distance and second azimuth angle, thereby improving the reliability of charging guidance for the target vehicle. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a charging system architecture; Figure 2 This is a schematic diagram illustrating the communication connection between the charging host and the vehicle provided in this application; Figure 3 This is a schematic diagram illustrating the communication connection between the charging terminal and the vehicle provided in this application; Figure 4 This is a schematic diagram illustrating vehicle charging guidance provided in this application; Figure 5 This is another schematic diagram illustrating vehicle charging guidance provided in this application; Figure 6 This is another schematic diagram illustrating vehicle charging guidance provided in this application; Figure 7 This is a schematic flowchart of a vehicle charging control method based on charging equipment provided in this application; Figure 8 This is another schematic diagram of the vehicle charging control method based on charging equipment provided in this application; Figure 9 This is another schematic diagram of the vehicle charging control method based on charging equipment provided in this application; Figure 10 This is another schematic diagram of the vehicle charging control method based on charging equipment provided in this application. Detailed Implementation

[0024] See Figure 1 , Figure 1 This is a schematic diagram of a charging system architecture. (Example) Figure 1 As shown, the charging system includes charging equipment and vehicles. The charging equipment includes a charging host and multiple charging terminals, which can be charging piles. Taking an example where the charging equipment includes n charging terminals, Figure 1 The central charging unit is connected to charging terminals a1 to an, and each charging terminal is connected to at least one charging gun. Each charging gun is used to connect to one vehicle. Taking each charging terminal connected to one charging gun as an example, charging terminals a1 to an are respectively connected to charging guns b1 to bn, and charging guns b1 to bn are respectively connected to vehicles 1 to n. Furthermore, each charging terminal can also be associated with at least one charging station (…). Figure 1 (Not shown) During the power supply process for the corresponding vehicles, charging terminals a1 to an are located in a charging position associated with each charging terminal. The charging host in the charging equipment can be used to receive AC power output from the external power grid and convert it into stable DC power before outputting it to each charging terminal. Alternatively, the charging host can also receive DC power output from photovoltaic modules, energy storage batteries, etc., and output the DC power to each charging terminal. The charging terminal is used to receive the DC power output from the charging host and output DC power to the vehicle through the charging gun.

[0025] In the charging system described above, when charging multiple vehicles, several issues arise. First, because the vehicles in the system come from various brands and have different electrical parameters and communication protocols, there is a problem of optimal charging terminal matching. For example, if a vehicle's charging requirement is 120kW, and the matched charging terminal's output power is lower than 120kW, the vehicle will not be able to charge properly. Or, if the vehicle's maximum charging voltage is 400V, and the matched charging terminal can only output a maximum of 800V, the vehicle's battery may be damaged due to overvoltage. Furthermore, the charging terminal in the system may be faulty or already occupied by other vehicles; if the matched charging terminal is in such a state, the vehicle will also be unable to charge properly.

[0026] On the other hand, in charging stations equipped with multiple charging terminals, after a vehicle enters the station, the owner needs to quickly find the matching charging terminal and park precisely in the corresponding space before charging. Currently, the charging system obtains the vehicle's location through a cloud control platform, recommends the nearest available charging terminal, and provides a two-dimensional planar navigation path to guide the vehicle to the target area. However, the above-mentioned method of obtaining navigation information from the cloud relies on 4G / 5G networks and cloud servers. If the charging system is located in a place with poor signal or the cloud server network fluctuates, the guidance function for the vehicle will fail. In addition, the two-dimensional planar navigation path provided by the cloud control platform is prone to significant errors in scenarios such as complex underground parking lots and old urban areas, making it difficult to achieve accurate positioning and path guidance of the charging terminal, resulting in a long time for the vehicle to find the charging terminal.

[0027] To ensure vehicles are effectively charged at matched charging terminals and to provide high-precision, reliable charging path guidance, the charging equipment includes a charging host and multiple charging terminals. The charging host receives charging information from the target vehicle after establishing a communication connection. This charging information may include the vehicle's charging mode (which may include fast charging, supercharging, etc.), battery level, required charging power, and maximum charging voltage. Next, the charging host selects a matching charging terminal from the multiple terminals based on this information. The matching charging terminal must be in an idle state, its charging mode must support the target vehicle's charging mode, its output power must be greater than or equal to the target vehicle's required charging power, and its output voltage must be less than or equal to the target vehicle's maximum charging voltage. By selecting a matching charging terminal based on the target vehicle's charging information, the system avoids situations where the vehicle cannot charge properly after entering the charging station, improving the reliability of charging. Finally, the charging host sends communication connection commands to both the target vehicle and the matching charging terminal, establishing a communication connection between them. Specifically, each charging terminal in the charging equipment is equipped with a short-range wireless communication module. This module provides short-range wireless communication capabilities, enabling the target charging terminal to establish a communication connection with the target vehicle. The short-range wireless communication module can be low-power satellite flash, Bluetooth low-power, or ultra-wideband, among others. The charging host sends a communication connection command to the target vehicle, informing it to establish a wireless communication connection with the corresponding target charging terminal. The communication connection command received by the target vehicle contains the wireless identifier of the target charging terminal. Simultaneously, the charging host sends a communication connection command to the target charging terminal, informing it to activate its short-range wireless communication module and prepare to receive connection requests from the target vehicle. Upon receiving the communication connection command, the target charging terminal activates its short-range wireless communication module, entering a searchable or connectable state, thus establishing a wireless communication connection with the target vehicle upon receiving its connection request.

[0028] After establishing a wireless communication connection between the target charging terminal and the target vehicle, the target vehicle obtains the first distance information and the first azimuth angle between the target vehicle and the target charging terminal through the communication connection. The central control screen of the target vehicle can display the aforementioned first distance information and the first azimuth angle to the driver, enabling the driver to accurately locate the target charging terminal based on the first distance information and the first azimuth angle. Alternatively, the target vehicle can obtain the second distance information and the second azimuth angle between the target vehicle and the target charging location, which is an available charging location associated with the target charging terminal, through the communication connection. The driver can accurately locate the target charging location associated with the target charging terminal based on the second distance information and the second azimuth angle displayed on the central control screen. Alternatively, the target vehicle can simultaneously obtain the first distance information and the first azimuth angle between the target vehicle and the target charging terminal, as well as the second distance information and the second azimuth angle between the target vehicle and the target charging location, through the communication connection. The central control screen of the target vehicle can display the aforementioned first distance information, first azimuth angle, second distance information, and second azimuth angle to the driver, thereby enabling the driver to accurately locate the target charging terminal and the target charging location associated with the target charging terminal. Here, compared to the method of obtaining navigation information from the cloud, establishing a direct communication connection between the target vehicle and the corresponding charging terminal to guide the target vehicle eliminates reliance on network conditions and cloud server status, ensuring the stability of the target vehicle guidance service. Furthermore, the communication connection between the target vehicle and the charging terminal is a short-range wireless communication, resulting in minimal distance and azimuth errors between the target vehicle and the corresponding charging terminal or charging location. This enables precise positioning of the charging terminal and route guidance, significantly reducing the time spent by the target vehicle searching for the charging terminal.

[0029] In some feasible implementations, the number of vehicles that the charging host can simultaneously establish communication connections with is limited. See also... Figure 2 , Figure 2 This is a schematic diagram illustrating the communication connection between the charging host and the vehicle provided in this application. Figure 2As shown, when the charging host is operating in scanning mode, it can receive all broadcast signals (which can be called the first ranging feedback signal) within a certain range that conform to its protocol standard. Candidate vehicles entering the area where the charging host is located, such as vehicle 1, vehicle 2, and vehicle 3, can send broadcast signals to the charging host to request a communication connection. When the number of candidate vehicles needing charging exceeds the maximum number of connections the charging host can make, the charging host establishes communication connections with multiple candidate vehicles according to a priority mechanism. For example, if the charging host can establish communication connections with a maximum of L vehicles simultaneously, where L is a positive integer. Specifically, when a vehicle is out of power, it can display information about searching for charging stations to the owner through the central control screen. After receiving a confirmation command, the candidate vehicle can send a first ranging feedback signal. This first ranging feedback signal includes the candidate vehicle's device identifier and a corresponding Received Signal Strength Indicator (RSSI) value. Here, the RSSI value of the first ranging feedback signal is used to indicate the signal strength of the first ranging feedback signal, and the RSSI value of the first ranging feedback signal is related to the distance between the candidate vehicle and the charging host. The farther the candidate vehicle is from the charging host, the smaller the RSSI value of the first ranging feedback signal received by the charging host; the closer the candidate vehicle is to the charging host, the larger the RSSI value of the first ranging feedback signal received. When the charging host is operating in scanning mode, it receives multiple first ranging feedback signals from multiple candidate vehicles, such as first ranging feedback signals from vehicle 1, vehicle 2, and vehicle 3. The charging host can then sort the first ranging feedback signals from highest to lowest RSSI value to obtain a signal strength ranking of the multiple first ranging feedback signals. The charging host then sends communication connection requests to the L candidate vehicles corresponding to the L first ranging feedback signals with the highest signal strength among the multiple first ranging feedback signals, i.e., the L first ranging feedback signals ranked in the signal strength ranking. For example, if the signal strength of the first ranging feedback signals sent by vehicle 1 and vehicle 2 belongs to the L first ranging feedback signals with the highest signal strength, then the charging host sends communication connection requests to vehicle 1 and vehicle 2. Next, each candidate vehicle sends a connection acceptance signal or a connection rejection signal based on the received communication connection request, and the charging host establishes a communication connection with the corresponding candidate vehicle based on the received connection acceptance signal. For example, after receiving a communication connection request, vehicle 1 sends a connection acceptance signal to the charging host, and vehicle 2 sends a connection rejection signal to the charging host. Then, the charging host and vehicle 1 establish a communication connection.Furthermore, after the charging host sends communication connection requests to the aforementioned L candidate vehicles, if the charging host receives a connection rejection signal from any of the candidate vehicles, or if the charging host sends a communication connection request to any candidate vehicle and does not receive any signal from that candidate vehicle within a set time, the charging host continues to send communication connection requests to other candidate vehicles besides the aforementioned L candidate vehicles to establish communication connections with them, until the number of vehicles with established communication connections with the charging host reaches L. Here, since the signal strength of the first ranging feedback signal sent by each candidate vehicle directly reflects the physical distance between the candidate vehicle and the charging host, communication connections are preferentially established with the nearest L candidate vehicles based on the signal strength of multiple first ranging feedback signals. This shortens the wireless transmission distance between the charging host and the vehicles, improves the success rate of connection establishment and subsequent communication quality, and avoids the ineffective occupation of wireless resources by distant vehicles with poor signals.

[0030] In some feasible implementations, after the charging host establishes communication connections with L vehicles simultaneously, the charging host can also sequentially assign corresponding target charging terminals to the L vehicles according to a priority mechanism. Specifically, the charging host can obtain the number of idle charging guns among the multiple charging terminals, taking R as an example. The charging host sends a second ranging command to the L vehicles that have established communication connections. For example, the charging host sends a second ranging command to vehicle 1, and vehicle 1 sends a second ranging feedback signal to the charging host, allowing the charging host to obtain the fourth distance information between vehicle 1 and the charging host based on the second ranging feedback signal sent by vehicle 1. If the number of idle charging guns R is less than or equal to L, after obtaining the fourth distance information between each of the L vehicles and the charging host, the charging host sequentially sends communication connection commands to R of the L vehicles according to the fourth distance information between each of the L vehicles and the charging host. If the number of idle charging guns R is greater than L, the charging host sequentially sends communication connection commands to the L vehicles. Here, the fourth distance information between each vehicle and the charging host includes the straight-line distance value between each vehicle and the charging host. This fourth distance information can be obtained through technologies such as high-precision distance measurement based on Bluetooth, high-precision distance measurement based on low-power star flash, high-precision distance measurement based on high-power star flash, and high-precision distance measurement based on ultra-wideband. Specifically, before sending a communication connection command to each vehicle, the charging host receives the charging information of each vehicle and selects a target charging terminal that matches the charging of that vehicle from multiple charging terminals. For example, after the charging host obtains multiple fourth distance information between L vehicles, including vehicle 1, and the charging host, it sends communication connection commands to R vehicles out of the L vehicles according to the rule of prioritizing the vehicle closest to the charging host. Before sending a communication connection command to vehicle 1, vehicle 1 sends charging information to the charging host. Based on the charging information of vehicle 1, the charging host selects a target charging terminal that matches the charging of that vehicle as charging terminal 1 from multiple charging terminals. Then, the charging host sends a communication connection command to both the vehicle and charging terminal 1, and the vehicle and charging terminal 1 establish a communication connection. Here, after the charging host establishes communication connections with L vehicles simultaneously, it acquires more precise and accurate distance information to these vehicles, prioritizing the allocation of vehicles closer to the target charging terminal and establishing communication connections with them. Since vehicles closer to the target charging terminal can reach and charge faster, this reduces the waiting time for each vehicle when the number of vehicles exceeds the number of available charging terminals, thus improving overall charging efficiency.

[0031] In some feasible implementations, the vehicle is equipped with multiple ranging anchor points. The target charging terminal, upon receiving a communication connection command from the charging host, establishes communication connections with these multiple ranging anchor points on the target vehicle. This allows the target vehicle to obtain third distance information between the multiple ranging anchor points and the target charging terminal. The third distance information includes the distance value between each ranging anchor point and the target charging terminal. For example, if the target vehicle has four ranging anchor points, please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram illustrating the communication connection between the charging terminal provided in this application and the vehicle. For example... Figure 3 As shown, taking vehicle 1 as the target vehicle as an example, four ranging anchor points are set around vehicle 1 in sequence: ranging anchor point d1, ranging anchor point d2, ranging anchor point d3, and ranging anchor point d4. The target charging terminal corresponding to vehicle 1 is charging terminal 1, and charging terminal 1 establishes a communication connection with each ranging anchor point. Specifically, the short-range wireless communication module on charging terminal 1 establishes a communication connection with each ranging anchor point, so that each ranging anchor point can perform wireless ranging with charging terminal 1. Taking the wireless ranging between ranging anchor point d1 and charging terminal 1 as an example, and the distance measurement between ranging anchor point d1 and charging terminal 1 is based on ultra-wideband high-precision distance measurement, firstly, ranging anchor point d1 sends a ranging request data packet to charging terminal 1. After receiving the ranging request data packet, charging terminal 1 replies with a response data packet to ranging anchor point d1 after a fixed delay T_reply. Next, ranging anchor d1 records the total time T_round from sending the ranging request data packet to receiving the response data packet, and thus obtains the flight time Tf = (T_round - T_reply) / 2 based on T_round and T_reply. Finally, ranging anchor d1 multiplies the obtained flight time Tf by the speed of light (approximately 3 × 10^8 m / s) to obtain the distance value L11 between ranging anchor d1 and charging terminal 1. Similarly, ranging anchors d2, d3, and d4 perform wireless ranging with charging terminal 1 according to the above process, and ranging anchors d2, d3, and d4 obtain the distance values ​​L12, L13, and L14 respectively, thereby enabling vehicle 1 to obtain the distance values ​​between ranging anchors d1 to d4 and charging terminal 1.

[0032] Furthermore, after the target vehicle acquires the third distance information between multiple ranging anchor points and the target charging terminal, the target vehicle can calculate the first distance information and the first azimuth angle based on the third distance information. Alternatively, if the target vehicle lacks sufficient computing resources, the target charging terminal can receive the third distance information from the target vehicle, calculate the first distance information and the first azimuth angle, and send the first distance information and the first azimuth angle to the target vehicle.

[0033] Taking vehicle 1 as the target vehicle and charging terminal 1 as the target charging terminal, during the process of the charging host determining that the target charging terminal of vehicle 1 is charging terminal 1 and sending a communication connection command to both vehicle 1 and charging terminal 1, the charging host can confirm with vehicle 1 whether it can act as the master node. If vehicle 1 has sufficient computing resources, for example, if the internal chip load rate or available memory capacity of vehicle 1 is low, vehicle 1 can send information indicating sufficient computing resources to the charging host. Based on the computing resource information sent by the vehicle, the charging host informs vehicle 1 and charging terminal 1 respectively to designate vehicle 1 as the master node and charging terminal 1 as the slave node. Specifically, vehicle 1 obtains the third distance information between each ranging anchor point and charging terminal 1, namely the distance values ​​between ranging anchor points d1 to d4 and charging terminal 1, and calculates the first distance information and the first azimuth angle by combining the distance values ​​between ranging anchor points d1 to d4 and charging terminal 1. The first distance information includes the distance value between vehicle 1 and charging terminal 1, and the first azimuth angle is the horizontal azimuth angle of vehicle 1 relative to charging terminal 1. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram illustrating vehicle charging guidance provided in this application. Figure 4 As shown, after obtaining the first distance information and the first azimuth angle, vehicle 1 displays these information to the driver via the vehicle's central control screen. The first distance information and the first azimuth angle inform the driver of the current distance La and horizontal azimuth angle a1 between vehicle 1 and charging terminal 1, thereby enabling vehicle 1 to accurately navigate to charging terminal 1. Here, on the one hand, by establishing a direct communication connection between vehicle 1 and the corresponding charging terminal 1 to guide vehicle 1, the system can operate independently of network conditions and cloud server status, ensuring the stability of the guidance service for vehicle 1. On the other hand, the high-precision distance measurement between vehicle 1 and charging terminal 1, based on ultra-wideband and satellite imagery, ensures that the distance information and azimuth angle obtained by vehicle 1 are less erroneous, enabling precise positioning and path guidance of the charging terminal and significantly reducing the time spent searching for the charging terminal.

[0034] In some feasible implementations, if vehicle 1 lacks sufficient computing resources, such as when the internal chip load rate of vehicle 1 is high or the available memory capacity is large, vehicle 1 can send a message indicating insufficient computing resources to the charging host. The charging host then uses vehicle 1 as a slave node and charging terminal 1 as a master node to calculate the first distance information and the first azimuth angle. Vehicle 1 obtains the third distance information between each ranging anchor point and charging terminal 1, and sends this information to charging terminal 1, allowing charging terminal 1 to receive the distance values ​​between ranging anchor points d1 to d4 and charging terminal 1. Next, charging terminal 1 combines the distance values ​​between ranging anchor points d1 to d4 and charging terminal 1 to calculate the first distance information and the first azimuth angle, and sends these information back to vehicle 1, thereby enabling vehicle 1 to accurately navigate to charging terminal 1. Here, by having the charging terminal 1 undertake the task of calculating the first distance information and the first azimuth angle when the vehicle 1 has insufficient computing resources, the vehicle 1 can obtain the first distance information and the first azimuth angle, thus improving the reliability of the charging guidance for the vehicle 1.

[0035] In some feasible implementations, after establishing a communication connection with the target vehicle, the target charging terminal sends the location information of the target charging position to the target vehicle, enabling the target vehicle to calculate the second distance information and the second azimuth angle based on the location information of the target charging position and the target vehicle's location information. Alternatively, if the target vehicle lacks sufficient computing resources, the target charging terminal can receive the location information from the target vehicle and calculate the second distance information and the second azimuth angle based on the location information of the target charging position and the target vehicle's location information, and then send the second distance information and the second azimuth angle to the target vehicle. Again, taking vehicle 1 as the target vehicle and charging terminal 1 as the target charging terminal corresponding to vehicle 1, while the charging host determines that the target charging terminal for vehicle 1 is charging terminal 1 and sends a communication connection command to vehicle 1 and charging terminal 1, the charging host can confirm with vehicle 1 whether it can act as the master node. If vehicle 1 has sufficient computing resources, the charging host will use vehicle 1 as the master node to calculate the second distance information and the second azimuth angle. After obtaining the location information of the target charging position from charging terminal 1, vehicle 1 calculates the second distance information and the second azimuth angle by combining the location information of the target charging position and the vehicle's location information. The location information of vehicle 1 and the target charging location can be Global Positioning System (GPS) information. The second distance information includes the distance between vehicle 1 and the target charging location, and the second azimuth angle is the horizontal azimuth angle of vehicle 1 relative to the target charging location. The target charging location is an available charging location associated with charging terminal 1.

[0036] Please see Figure 5 , Figure 5 This is another schematic diagram illustrating vehicle charging guidance provided in this application. (For example...) Figure 5 As shown, each charging terminal can be associated with two charging positions. For example, charging terminal 1 is associated with charging positions 11 and 12, and charging terminal 2 is associated with charging positions 21 and 22. Vehicles in each charging position can use a charging gun configured on the corresponding charging terminal. Figure 5 (Not shown) Charging. When both charging positions 11 and 12 associated with charging terminal 1 are idle, charging terminal 1 can use charging position 11 or 12 as the target charging position for vehicle 1. Taking charging position 11 as the target charging position for vehicle 1 as an example, after obtaining the second distance information and the second azimuth angle, vehicle 1 displays the second distance information and the second azimuth angle to the owner through the vehicle's central control screen. The second distance information and the second azimuth angle are used to inform the owner of the current distance Lb and horizontal azimuth angle a2 between vehicle 1 and charging position 11, thereby enabling vehicle 1 to accurately navigate to charging position 11. Here, on the one hand, by establishing a direct communication connection between vehicle 1 and the corresponding charging terminal 1 to guide vehicle 1, the stability of the guidance service for vehicle 1 can be ensured without relying on network conditions and cloud server status. On the other hand, the high-precision distance measurement between vehicle 1 and charging terminal 1 based on ultra-wideband, star-flash, etc., ensures that the distance information and azimuth angle error between vehicle 1 and the target charging position are small, enabling accurate positioning and path guidance of the target charging position, greatly reducing the time spent by the vehicle in finding the charging terminal.

[0037] In some feasible implementations, if vehicle 1 lacks sufficient computing resources, the charging host will treat vehicle 1 as a slave node and charging terminal 1 as the master node to calculate the second distance information and the second azimuth angle. Vehicle 1 obtains its location information and sends it to charging terminal 1. Then, charging terminal 1 combines vehicle 1's location information with the location information of the target charging location to calculate the second distance information and the second azimuth angle, and sends the second distance information and the second azimuth angle back to vehicle 1, thereby enabling vehicle 1 to accurately navigate to the target charging location. Here, by having charging terminal 1 undertake the task of calculating the second distance information and the second azimuth angle when vehicle 1's computing resources are insufficient, the reliability of vehicle 1's charging guidance is improved, ensuring that vehicle 1 obtains the second distance information and the second azimuth angle even with limited computing resources.

[0038] In some feasible implementations, the charging terminal can obtain the location information of each charging station associated with the charging terminal from the vehicle during the process of supplying power to the vehicle. Specifically, during the process of supplying power to any vehicle, if the charging terminal does not contain the location information of the charging station where the vehicle is located, it can obtain and store the location information sent by the vehicle to obtain the location information of the charging station where the vehicle is located. For example, see again Figure 5When vehicle 2 is charging at charging position 22 associated with charging terminal 2, if charging terminal 2 does not contain location information for charging position 22, it can request the location information from vehicle 2. Upon receiving the location information from vehicle 2, since the location information sent by vehicle 2 is consistent with the location information of charging position 22, charging terminal 2 can use and store the location information sent by vehicle 2 as the location information of charging position 22. Based on the same process, each charging terminal can obtain the location information of each charging position associated with it. When a subsequent vehicle targets charging position 22, charging terminal 2 can send the location information of charging position 22 to guide the vehicle. Here, the charging terminal obtains the location information of the charging position by acquiring the location information sent by the vehicle in the charging position. Compared to manually surveying and uploading data, the collection of charging position location information is more efficient, and the accuracy of using the location information to guide the vehicle is higher.

[0039] In some feasible implementations, after the target charging terminal establishes a wireless communication connection with the target vehicle, the target vehicle can simultaneously obtain the first distance information and the first azimuth angle between the target vehicle and the target charging terminal, as well as the second distance information and the second azimuth angle between the target vehicle and the target charging location. The central control screen of the target vehicle can display the aforementioned first distance information, first azimuth angle, second distance information, and second azimuth angle to the vehicle owner. Please refer to [further details omitted]. Figure 6 , Figure 6 This is another schematic diagram illustrating vehicle charging guidance provided in this application. (For example...) Figure 6 As shown, taking charging terminal 1 as the target charging terminal and charging position 11 as the target charging location for vehicle 1, after obtaining the first distance information and the first azimuth angle, vehicle 1 displays these information to the driver via its central control screen. The first distance information and the first azimuth angle inform the driver of the current distance La and horizontal azimuth angle a1 between vehicle 1 and charging terminal 1, thus enabling vehicle 1 to accurately navigate to charging terminal 1. Simultaneously, after obtaining the second distance information and the second azimuth angle, vehicle 1 also displays these information to the driver via its central control screen. These information and the second azimuth angle inform the driver of the current distance Lb and horizontal azimuth angle a2 between vehicle 1 and charging position 11. By simultaneously displaying the first distance information and the first azimuth angle, as well as the second distance information and the second azimuth angle, the vehicle can choose an alternative guidance route if one ranging method experiences interference or significant error, further enhancing the reliability of vehicle charging guidance.

[0040] In some feasible implementations, the charging host can also mark the status of the charging positions associated with each charging terminal to facilitate charging position management. Specifically, when a vehicle parks in a charging position and connects to charge, the charging host marks the parking position as occupied. For example, see again... Figure 5 When vehicle 2 is charging in the charging position 22 associated with charging terminal 2, the charging host marks the charging position 22 as occupied, preventing charging terminal 2 from sending the location information of charging position 22 to other vehicles and avoiding situations where a vehicle cannot charge after arriving. Furthermore, after vehicle 2 finishes charging, disconnects, and leaves, the charging host can restore charging position 22 to an idle state to await other vehicles. When the charging host determines that the target charging terminal for vehicle 1 is charging terminal 1, and charging terminal 1 uses charging position 11 as the target charging position for vehicle 1, the charging host can mark charging position 22 as reserved, again preventing charging terminal 2 from sending the location information of charging position 22 to other vehicles and thus avoiding situations where multiple vehicles compete for the same charging position.

[0041] For ease of understanding, see Figure 7 , Figure 7 This is a flowchart illustrating a vehicle charging control method based on charging equipment provided in this application. Figure 7 As shown, the vehicle charging control method based on charging equipment provided in this application includes the following steps: S101, the charging host enters scanning mode.

[0042] S102, the charging host receives multiple first ranging feedback signals sent by vehicle 1, vehicle 2 and vehicle 3.

[0043] S103, the charging host sends a communication connection request to vehicle 1 and vehicle 2.

[0044] S104, the charging host receives the connection consent signal sent by vehicle 1 and the connection rejection signal sent by vehicle 2.

[0045] S105, the charging host establishes a communication connection with vehicle 1.

[0046] In some feasible implementations, the number of vehicles that the charging host can simultaneously establish communication connections with is limited. Taking the charging host establishing communication connections with a maximum of L vehicles simultaneously as an example, after the charging host operates in scanning mode, it receives first ranging feedback signals sent from vehicle 1, vehicle 2, and vehicle 3 respectively. Then, the charging host can sort the first ranging feedback signals from high to low according to their RSSI values ​​to obtain a signal strength ranking of the multiple first ranging feedback signals. The charging host then sends communication connection requests to the L candidate vehicles corresponding to the L first ranging feedback signals with the highest signal strengths among the multiple first ranging feedback signals. For example, if the signal strengths of the first ranging feedback signals sent by vehicle 1 and vehicle 2 belong to the L first ranging feedback signals with the highest signal strengths, then the charging host sends communication connection requests to vehicle 1 and vehicle 2. Here, since the signal strength of the first ranging feedback signal sent by each candidate vehicle directly reflects the physical distance between the candidate vehicle and the charging host, communication connections are established with the nearest L candidate vehicles based on the signal strength of multiple first ranging feedback signals. This shortens the wireless transmission distance between the charging host and the vehicle, improves the success rate of connection establishment and subsequent communication quality, and avoids the wireless resources being ineffectively occupied by distant vehicles with poor signals.

[0047] In some feasible implementations, each candidate vehicle sends a connection consent signal or a connection rejection signal based on the received communication connection request, and the charging host establishes a communication connection with the corresponding candidate vehicle based on the received connection consent signal. For example, see again Figure 7 After receiving the communication connection request, vehicle 1 sends a connection consent signal to the charging host, and vehicle 2 sends a connection rejection signal to the charging host. Then, the charging host and vehicle 1 establish a communication connection.

[0048] Furthermore, after the charging host sends a communication connection request to the aforementioned L vehicles, if the charging host receives a connection rejection signal from any candidate vehicle, or if the charging host sends a communication connection request to any candidate vehicle and does not receive any signal from that candidate vehicle within a set time, then the charging host sends a communication connection request to other vehicles besides the aforementioned L candidate vehicles, until the number of vehicles that have established a communication connection with the charging host reaches L.

[0049] S106, the charging host sends a second ranging command to vehicle 1.

[0050] S107, the charging host receives the second ranging feedback signal sent by vehicle 1.

[0051] S108, the charging host receives charging information sent by vehicle 1.

[0052] S109, the charging host determines the target charging terminal.

[0053] S110, the charging host sends a communication connection command to vehicle 1 and charging terminal 1.

[0054] S111, Vehicle 1 and charging terminal 1 establish a communication connection.

[0055] In some feasible implementations, after the charging host establishes communication connections with L vehicles simultaneously, the charging host sequentially assigns the corresponding target charging terminal to the L vehicles according to a priority mechanism. Specifically, the charging host obtains the number of idle charging guns among the multiple charging terminals, taking R as an example. The charging host sends a second ranging command to the L vehicles that have established communication connections. For example, the charging host sends a second ranging command to vehicle 1, and vehicle 1 sends a second ranging feedback signal to the charging host, enabling the charging host to obtain the fourth distance information between vehicle 1 and the charging host based on the second ranging feedback signal sent by vehicle 1. If the number of idle charging guns R is less than or equal to L, after obtaining the fourth distance information between each of the L vehicles and the charging host, the charging host sequentially sends communication connection commands to R of the L vehicles. If the number of idle charging guns R is greater than L, the charging host sequentially sends communication connection commands to the L vehicles.

[0056] In some feasible implementations, before sending a communication connection command to each vehicle, the charging host receives charging information from each vehicle and selects a target charging terminal from multiple charging terminals that matches the vehicle's charging needs. For example, the charging host sends communication connection commands to R out of L vehicles according to the rule of prioritizing vehicles closest to the charging host. Before sending a communication connection command to vehicle 1, vehicle 1 sends charging information to the charging host. The charging host receives vehicle 1's charging information and selects a target charging terminal 1 from multiple charging terminals based on the charging information. Then, the charging host sends a communication connection command to both the vehicle and charging terminal 1, and the vehicle and charging terminal 1 establish a communication connection. Here, after the charging host establishes communication connections with L vehicles simultaneously, it obtains more accurate and precise distance information from the L vehicles, prioritizing vehicles that are closer to the target charging terminal and establishing communication connections with them. Since vehicles that are closer can reach the corresponding target charging terminal and charge faster, the waiting time for each vehicle can be reduced when the number of vehicles exceeds the number of available charging terminals, thus improving overall charging efficiency.

[0057] See Figure 8 , Figure 8 This is another schematic diagram of the vehicle charging control method based on charging equipment provided in this application. Taking vehicle 1 as the target as an example, as follows... Figure 8As shown, the vehicle charging control method based on charging equipment provided in this application includes the following steps: S201, charging terminal 1 and vehicle 1 receive communication connection instructions sent by the charging host.

[0058] S202, Master-slave node confirmation.

[0059] S203, the charging terminal 1 and the vehicle 1 establish a communication connection.

[0060] S204, Vehicle 1 acquires third distance information between the ranging anchor point and the charging terminal 1.

[0061] S205, Vehicle 1 calculates the first distance information and the first azimuth angle.

[0062] S206, Vehicle 1 navigates to charging terminal 1.

[0063] In some feasible implementations, multiple ranging anchor points are set on vehicle 1. While the charging host determines that the target charging terminal of vehicle 1 is charging terminal 1 and sends a communication connection command to both vehicle 1 and charging terminal 1, the charging host can confirm with vehicle 1 whether it can act as a master node. If vehicle 1 has sufficient computing resources, the charging host will designate vehicle 1 as the master node. Then, after receiving the communication connection command, charging terminal 1 establishes communication connections with the multiple ranging anchor points on vehicle 1, enabling vehicle 1 to obtain third distance information between each ranging anchor point and charging terminal 1, namely the distance values ​​between ranging anchor points d1 to d4 and charging terminal 1. The first distance information and the first azimuth angle are then calculated by combining these distance values. Here, on the one hand, by directly establishing a communication connection between vehicle 1 and the corresponding charging terminal 1 to guide vehicle 1, the stability of the guidance service for vehicle 1 is ensured, as it does not rely on network conditions or cloud server status. On the other hand, the high-precision distance measurement between vehicle 1 and charging terminal 1 based on ultra-wideband and star flash technology enables vehicle 1 to obtain distance information and azimuth error between itself and charging terminal 1 with small error, thus enabling accurate positioning and path guidance of the charging terminal and greatly reducing the time spent by the vehicle in finding the charging terminal.

[0064] S207, the charging terminal 1 receives the third distance information sent by the vehicle 1.

[0065] S208, the charging terminal 1 calculates the first distance information and the first azimuth angle.

[0066] S209, the charging terminal 1 sends the first distance information and the first azimuth angle to the vehicle 1.

[0067] S210, Vehicle 1 navigates to charging terminal 1.

[0068] In some feasible implementations, if vehicle 1 lacks sufficient computing resources, the charging host will use vehicle 1 as a slave node and charging terminal 1 as the master node to calculate the first distance information and the first azimuth angle. After receiving a communication connection command, charging terminal 1 establishes communication connections with multiple ranging anchor points on vehicle 1, enabling vehicle 1 to obtain third distance information between each ranging anchor point and charging terminal 1. Charging terminal 1 receives this third distance information from vehicle 1, allowing it to receive the distance values ​​between ranging anchor points d1 to d4 and charging terminal 1. Then, charging terminal 1 combines these distance values ​​with the distance values ​​between ranging anchor points d1 to d4 to calculate the first distance information and the first azimuth angle, and sends these information to vehicle 1, thus enabling vehicle 1 to accurately navigate to charging terminal 1. Here, charging terminal 1 undertakes the task of calculating the first distance information and the first azimuth angle even when vehicle 1 lacks sufficient computing resources, ensuring vehicle 1 obtains the first distance information and the first azimuth angle and improving the reliability of charging guidance for vehicle 1.

[0069] See Figure 9 , Figure 9 This is another schematic diagram of the vehicle charging control method based on charging equipment provided in this application. Taking vehicle 1 as the target as an example, as follows... Figure 9 As shown, the vehicle charging control method based on charging equipment provided in this application includes the following steps: S301, the charging terminal 1 and the vehicle 1 receive the communication connection command sent by the charging host.

[0070] S302, Master-slave node confirmation.

[0071] S303, the charging terminal 1 and the vehicle 1 establish a communication connection.

[0072] S304, the charging terminal 1 sends the location information of the target charging position to the vehicle 1.

[0073] S305, Vehicle 1 calculates the second distance information and the second azimuth angle.

[0074] S306, Vehicle 1 navigates to the target charging location.

[0075] In some feasible implementations, while the charging host determines that the target charging terminal for vehicle 1 is charging terminal 1 and sends a communication connection command to both vehicle 1 and charging terminal 1, the charging host can confirm with vehicle 1 whether it can act as the master node. If vehicle 1 has sufficient computing resources, the charging host will designate vehicle 1 as the master node. Then, after receiving the communication connection command, charging terminal 1 establishes a communication connection with vehicle 1 and sends the location information of the target charging location to vehicle 1. This allows vehicle 1 to calculate the second distance information and the second azimuth angle by combining the location information of the target charging location with its own location information. Here, on the one hand, by directly establishing a communication connection between vehicle 1 and the corresponding charging terminal 1 to guide vehicle 1, the stability of the guidance service for vehicle 1 is ensured, as it is independent of network conditions and cloud server status. On the other hand, the high-precision distance measurement between vehicle 1 and charging terminal 1, based on ultra-wideband and satellite telemetry, ensures that the distance information and azimuth angle obtained by vehicle 1 from the target charging location have small errors, enabling accurate positioning and path guidance of the target charging location and greatly reducing the time spent by the vehicle searching for the charging terminal.

[0076] S307, the charging terminal 1 receives the location information sent by the vehicle 1.

[0077] S308, the charging terminal 1 calculates the second distance information and the second azimuth angle.

[0078] S309, the charging terminal 1 sends the second distance information and the second azimuth angle to the vehicle 1.

[0079] S310, vehicle 1 navigates to the target charging location.

[0080] In some feasible implementations, if vehicle 1 lacks sufficient computing resources, the charging host will use vehicle 1 as a slave node and charging terminal 1 as the master node to calculate the second distance information and the second azimuth angle. After receiving a communication connection command, charging terminal 1 establishes a communication connection with vehicle 1 and receives location information from vehicle 1. Then, charging terminal 1 combines the location information of vehicle 1 with the location information of the target charging location to calculate the second distance information and the second azimuth angle, and sends the second distance information and the second azimuth angle back to vehicle 1, thereby enabling vehicle 1 to accurately navigate to the target charging location. Here, charging terminal 1 undertakes the task of calculating the second distance information and the second azimuth angle when vehicle 1 lacks computing resources, ensuring that vehicle 1 obtains the second distance information and the second azimuth angle even with insufficient computing resources, thus improving the reliability of charging guidance for vehicle 1.

[0081] In some feasible implementations, the charging terminal obtains the location information of each charging position associated with the charging terminal from the vehicle while supplying power to the vehicle. Specifically, while supplying power to any vehicle, if the charging terminal does not contain the location information of the charging position where the vehicle is located, the charging terminal obtains and stores the location information sent by the vehicle to obtain the location information of the charging position where the vehicle is located. Compared with manually surveying and uploading data, the collection of charging position location information is more efficient and the location information is more accurate for guiding the vehicle.

[0082] See Figure 10 , Figure 10 This is another schematic diagram of the vehicle charging control method based on charging equipment provided in this application. Taking vehicle 1 as the target as an example, as follows... Figure 10 As shown, the vehicle charging control method based on charging equipment provided in this application includes the following steps: S401, charging terminal 1 and vehicle 1 receive communication connection instructions sent by the charging host.

[0083] S402, Master-slave node confirmation.

[0084] S403, charging terminal 1 and vehicle 1 establish a communication connection.

[0085] S404, Vehicle 1 acquires third distance information between the ranging anchor point and the charging terminal 1.

[0086] S405, the charging terminal 1 sends the location information of the target charging position to the vehicle 1.

[0087] S406, Vehicle 1 calculates the first distance information, the first azimuth angle, the second distance information, and the second azimuth angle.

[0088] S407, Vehicle 1 is navigated to charging terminal 1 and the target charging location.

[0089] In some feasible implementations, while the charging host determines that the target charging terminal of vehicle 1 is charging terminal 1 and sends a communication connection command to vehicle 1 and charging terminal 1, the charging host can confirm with vehicle 1 whether it can act as a master node. If vehicle 1 has sufficient computing resources, the charging host will designate vehicle 1 as the master node. Next, after receiving the communication connection command, charging terminal 1 establishes communication connections with multiple ranging anchor points on vehicle 1, enabling vehicle 1 to obtain third distance information from each ranging anchor point and charging terminal 1. Charging terminal 1 also sends the location information of the target charging location to vehicle 1. Vehicle 1 combines the third distance information to calculate first distance information and a first azimuth angle. Simultaneously, vehicle 1 also combines the location information of the target charging location with its own location information to calculate second distance information and a second azimuth angle. Here, by enabling vehicle 1 to receive the first distance information and the first azimuth angle, as well as the second distance information and the second azimuth angle, if interference or significant error occurs in one ranging method, the vehicle can choose an alternative guidance route, further improving the reliability of vehicle charging guidance.

[0090] S408, the charging terminal 1 receives the third distance information and the location information of the vehicle 1 sent by the vehicle 1.

[0091] S409, the charging terminal 1 calculates the first distance information, the first azimuth angle, the second distance information, and the second azimuth angle.

[0092] S410, the charging terminal 1 sends the first distance information, the first azimuth angle, the second distance information, and the second azimuth angle to the vehicle 1.

[0093] S411, Vehicle 1 navigates to charging terminal 1 and the target charging location.

[0094] In some feasible implementations, if vehicle 1 lacks sufficient computing resources, the charging host will treat vehicle 1 as a slave node and charging terminal 1 as the master node. Upon receiving a communication connection command, charging terminal 1 establishes communication connections with multiple ranging anchor points on vehicle 1, enabling vehicle 1 to obtain third distance information from each ranging anchor point and charging terminal 1. Charging terminal 1 receives the third distance information and vehicle 1's position information. Next, charging terminal 1 combines the third distance information to calculate first distance information and a first azimuth angle, and combines the position information of the target charging location with vehicle 1's position information to calculate second distance information and a second azimuth angle. Charging terminal 1 sends the first distance information, first azimuth angle, second distance information, and second azimuth angle to vehicle 1. Here, charging terminal 1 undertakes the task of calculating the first distance information and first azimuth angle when vehicle 1 lacks computing resources, ensuring vehicle 1 obtains the first distance information and first azimuth angle even with insufficient computing resources, thus improving the reliability of charging guidance for vehicle 1.

Claims

1. A charging device, characterized in that, The charging device includes a charging host and multiple charging terminals. Each charging terminal is equipped with a charging gun for connecting to a target vehicle. The charging terminal is used to receive DC power output from the charging host and to supply power to the target vehicle by outputting DC power through the charging gun. Each charging terminal is associated with at least one charging position. During the process of the charging terminal supplying power to the target vehicle, the target vehicle is located in one of the charging positions associated with the charging terminal. The charging host is used to receive the charging information of the target vehicle after establishing a communication connection with the target vehicle, and send communication connection instructions to the target vehicle and the target charging terminal among the plurality of charging terminals based on the charging information of the target vehicle. The target charging terminal is one of the plurality of charging terminals. The target charging terminal is used to establish a communication connection with the target vehicle after receiving a communication connection command sent by the charging host, so that the target vehicle obtains a first distance information and a first azimuth angle between the target vehicle and the target charging terminal, and / or, so that the target vehicle obtains a second distance information and a second azimuth angle between the target vehicle and the target charging position, wherein the target charging position is an available charging position associated with the target charging terminal, the first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging position.

2. The charging device according to claim 1, characterized in that, The target vehicle is equipped with multiple ranging anchor points. The target charging terminal is used to establish a communication connection with the multiple ranging anchor points after receiving a communication connection command sent by the charging host, so that the target vehicle can obtain the third distance information between the multiple ranging anchor points and the target charging terminal and calculate the first distance information and the first azimuth angle based on the third distance information.

3. The charging device according to claim 2, characterized in that, The target charging terminal is further configured to receive the third distance information from the target vehicle and calculate the first distance information and the first azimuth angle, and send the first distance information and the first azimuth angle to the target vehicle.

4. The charging device according to claim 1, characterized in that, The target charging terminal is used to send the location information of the target charging position to the target vehicle after establishing a communication connection with the target vehicle, so that the target vehicle can calculate the second distance information and the second azimuth angle based on the location information of the target charging position and the location information of the target vehicle.

5. The charging device according to claim 4, characterized in that, The target charging terminal is further configured to receive location information from the target vehicle and calculate the second distance information and the second azimuth angle based on the location information of the target charging location and the location information of the target vehicle, and send the second distance information and the second azimuth angle to the target vehicle.

6. The charging device according to claim 1, characterized in that, The charging terminal is further configured to, when supplying power to any vehicle and the charging terminal does not contain location information of the charging position where the vehicle is located, acquire and store the location information sent by the vehicle to obtain the location information of the charging position where the vehicle is located, so that the charging terminal acquires and stores the location information of each charging position associated with the charging terminal, wherein the vehicle includes the target vehicle.

7. The charging device according to any one of claims 1-6, characterized in that, The charging host is used to establish communication connections with a maximum of L vehicles simultaneously, where L is a positive integer; The charging host is also used to receive multiple first ranging feedback signals sent by multiple candidate vehicles; The charging host is also used to send communication connection requests to L candidate vehicles corresponding to L first ranging feedback signals with larger signal strengths among the plurality of first ranging feedback signals, and trigger the L candidate vehicles to send an agree to connect signal or a refuse to connect signal based on the received communication connection request; The charging host is also used to establish a communication connection with the candidate vehicle that issued the connection consent signal after receiving the connection consent signal, and to send the communication connection request to other candidate vehicles other than the L candidate vehicles after receiving the connection rejection signal.

8. The charging device according to claim 7, characterized in that, The charging host is also used to obtain the number of charging guns that are idle among the plurality of charging terminals as R; The charging host is also used to send a ranging command to the L vehicles after establishing a communication connection with them, triggering the L vehicles to send a second ranging feedback signal to the charging host based on the received ranging command, so that the charging host can obtain the fourth distance information between each of the L vehicles and the charging host based on the second ranging feedback signal sent by the L vehicles, wherein the L vehicles include the target vehicle. The charging host is also used to send the communication connection command to R of the L vehicles in sequence, according to the fourth distance information between each of the L vehicles and the charging host, or to send the communication connection command to the L vehicles in sequence.

9. A vehicle charging control method based on a charging device, characterized in that, The method includes: Establish a communication connection with the target vehicle; The system receives charging information from the target vehicle and sends communication connection instructions to the target vehicle and a target charging terminal among multiple charging terminals based on the charging information. The target charging terminal is one of the multiple charging terminals. The communication connection instructions are used to trigger the target charging terminal to establish a communication connection with the target vehicle, so that the target vehicle obtains a first distance information and a first azimuth angle between the target vehicle and the target charging terminal, and / or, so that the target vehicle obtains a second distance information and a second azimuth angle between the target vehicle and a target charging position. The target charging position is an available charging position associated with the target charging terminal. The first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging position.

10. The method according to claim 9, characterized in that, The method further includes: Receive multiple first ranging feedback signals sent by multiple candidate vehicles; A communication connection request is sent to the L candidate vehicles corresponding to the L first ranging feedback signals with the larger signal strength among the plurality of first ranging feedback signals, triggering the L candidate vehicles to send a connection acceptance signal or a connection rejection signal based on the received communication connection request; Upon receiving the connection consent signal, a communication connection is established with the candidate vehicle that issued the connection consent signal; or upon receiving the connection rejection signal, the communication connection request is sent to other candidate vehicles besides the L candidate vehicles.

11. The method according to claim 10, characterized in that, The method further includes: After establishing communication connections with L vehicles, a ranging command is sent to the L vehicles with which the communication connection has been established, triggering the L vehicles to send a second ranging feedback signal based on the received ranging command. The L vehicles include the target vehicle. Based on the second ranging feedback signal sent by the L vehicles, obtain the fourth distance information between each of the L vehicles and the charging host; Based on the fourth distance information between each of the L vehicles and the charging host, the communication connection command is sent sequentially to R of the L vehicles, or the communication connection command is sent sequentially to the L vehicles.

12. A vehicle charging control method based on a charging device, characterized in that, The method includes: Receive communication connection instructions sent by the charging host; Upon receiving a communication connection command from the charging host, a communication connection is established with the target vehicle, enabling the target vehicle to obtain first distance information and a first azimuth angle between the target vehicle and the target charging terminal, and / or enabling the target vehicle to obtain second distance information and a second azimuth angle between the target vehicle and the target charging position. The target charging position is an available charging position associated with the target charging terminal. The first distance information and the first azimuth angle are used to guide the target vehicle to park at the target charging terminal, and the second distance information and the second azimuth angle are used to guide the target vehicle to park at the target charging position.

13. The method according to claim 12, characterized in that, The target vehicle is equipped with multiple ranging anchor points. Upon receiving a communication connection command from the charging host, a communication connection is established with the target vehicle, enabling the target vehicle to obtain first distance information and a first azimuth angle between the target vehicle and the target charging terminal, including: Upon receiving the communication connection instruction, the target vehicle establishes a communication connection with the plurality of ranging anchor points, enabling the target vehicle to obtain the third distance information between the plurality of ranging anchor points and the target charging terminal, and calculate the first distance information and the first azimuth angle based on the third distance information.

14. The method according to claim 13, characterized in that, The method further includes: The system receives the third distance information from the target vehicle and calculates the first distance information and the first azimuth angle, then sends the first distance information and the first azimuth angle to the target vehicle.

15. The method according to claim 12, characterized in that, The step of establishing a communication connection with the target vehicle after receiving the communication connection command sent by the charging host, so that the target vehicle obtains the second distance information and the second azimuth angle between the target vehicle and the target charging position, includes: After establishing a communication connection with the target vehicle, the location information of the target charging point is sent to the target vehicle, triggering the target vehicle to calculate the second distance information and the second azimuth angle based on the location information of the target charging point and the location information of the target vehicle.

16. The method according to claim 15, characterized in that, The method further includes: The system receives location information from the target vehicle and calculates the second distance information and the second azimuth angle based on the location information of the target charging station and the location information of the target vehicle, and then sends the second distance information and the second azimuth angle to the target vehicle.

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