Parking control device, and parking control method

Abstract

To provide a parking control device and a parking control method capable of improving efficiency of non-contact power transmission, when parking a vehicle at a parking position power-transmittable in a non-contact manner by parking control.SOLUTION: A parking control device 30 for a vehicle 10 power-transmittable in a non-contact manner between a primary coil 4 provided in a parking space 2 and a secondary coil 7 provided in the vehicle 10 comprises a parking control unit 36 that performs a parking control for automatically parking the vehicle 10 at a parking target position, and a charging result detection unit 37 for detecting charging result information. Every time when performing non-contact charging in the parking space 2, the parking control unit 36 stores an offset amount of the vehicle 10 and the charging result information in association with each other in a storage unit 32, and offsets the parking target position for the parking control performed in the parking space 2 on the basis of past parking position information stored in the storage unit and transmission result information.SELECTED DRAWING: Figure 7

Description

Technical Field

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

Background Art

[0002] In recent years, in order to enable more people to access affordable, reliable, sustainable, and advanced energy, research and development on charging in mobility equipped with secondary batteries that contribute to energy efficiency has been carried out.

[0003] For example, as research and development on charging, research and development on non-contact charging for charging the battery mounted on a vehicle without contact has been carried out. For example, Patent Documents 1 to 4 disclose a non-contact power transmission system that transmits power without contact from a primary coil (power transmission coil) provided in a parking lot or the like to a secondary coil (power reception coil) provided in a vehicle.

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

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, an automatic parking control for automatically moving a vehicle to a predetermined parking space and parking it is known. According to the automatic parking control, a vehicle can be automatically parked in a parking lot provided with a non-contact charging facility with high reproducibility. However, due to variations in control and variations in the detection of the relative position between the secondary coil and the vehicle, the parking position in the automatic parking control may not necessarily be the position where the efficiency of non-contact power transmission is optimal.

[0007] The present invention provides a parking control device and a parking control method capable of improving the efficiency of non-contact power transmission when parking a vehicle at a parking position where non-contact power transmission is possible by parking control. And, by extension, it contributes to energy efficiency improvement.

Means for Solving the Problems

[0008] The present invention is a parking control device for a vehicle capable of non-contact power transmission for transmitting power non-contact between a first coil installed in a parking space and a second coil provided in the vehicle, a parking control unit that executes parking control to automatically park the vehicle at a parking target position where the first coil and the second coil face each other in the parking space, a result detection unit that detects transmission result information of the non-contact power transmission executed at the parking target position, and is provided with, the parking control unit each time the non-contact power transmission is executed in the parking space, associates and stores the parking position information of the vehicle and the transmission result information at the time of execution of the non-contact power transmission in a storage unit, offsets the parking target position of the parking control executed in the parking space based on the past parking position information and the transmission result information stored in the storage unit.

[0009] Also, the present invention is a parking control method for a vehicle capable of non-contact power transmission for transmitting power non-contact between a first coil provided in a parking space and a second coil provided in the vehicle, A parking control step of executing parking control to automatically park the vehicle at a parking target position where the first coil and the second coil face each other in the parking space; A result detection step of detecting transmission result information of the non-contact power transmission executed at the parking target position; A storage step of associating and storing, in a storage unit, the parking position information of the vehicle and the transmission result information at the time of execution of the non-contact power transmission each time the non-contact power transmission is executed in the parking space; An offset step of offsetting the parking target position of the parking control to be executed next in the parking space based on the past parking position information and the transmission result information stored in the storage unit.

Advantages of the Invention

[0010] According to the present invention, when parking a vehicle at a parking position where non-contact power transmission is possible by parking control, the efficiency of non-contact power transmission can be improved.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0012] Hereinafter, a parking control device and a parking control method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0013] [Non-contact Power Transmission System] The non-contact power transmission system of the present embodiment is a system capable of non-contact power transmission for transmitting power non-contact between a vehicle and equipment provided in a predetermined parking space. The non-contact power transmission includes at least one of power transmission from the equipment provided in the parking space to the vehicle (non-contact charging) and power transmission from the vehicle to the equipment (non-contact power feeding). Hereinafter, as an example of non-contact power transmission, a case where the vehicle performs non-contact charging will be described.

[0014] As shown in FIGS. 1 and 2, the non-contact power transmission system 1 includes a power transmission device 3 installed in a predetermined parking space 2 and a power reception device 6 provided in the vehicle 10 for receiving power transmitted non-contact from the power transmission device 3. The non-contact power transmission system 1 supplies power from the power transmission device 3 to the power reception device 6 by using magnetic coupling between coils such as a magnetic field resonance method or an electromagnetic induction method, or an electric field resonance method. Thereby, non-contact charging of the battery 11 mounted on the vehicle 10 becomes possible.

[0015] The power transmission device 3 is provided, for example, on the ground of the parking space 2 in a state covered by the pad 4a, and includes a primary coil 4 that transmits AC power, and a power supply unit 5 connected to an external power system such as a commercial power supply. The shape of the primary coil 4 is, for example, circular in plan view, but is not limited thereto, and may be elliptical, square, rectangular, or the like.

[0016] The power reception device 6 is provided, for example, under the floor of the vehicle 10 in a state covered by the pad 7a, and includes a secondary coil 7 that non - contact receives the AC power transmitted from the power transmission device 3, and a rectifier (not shown) that rectifies the received AC power and supplies it to the battery 11. The shape of the secondary coil 7 is, for example, circular in plan view, but is not limited thereto, and may be elliptical, square, rectangular, or the like.

[0017] The vehicle 10 is an electric vehicle such as a battery - powered electric vehicle or a plug - in hybrid vehicle, receives the power transmitted from the power transmission device 3 by the power reception device 6, and stores it in a battery 11 such as a lithium - ion battery or a nickel - metal hydride battery. The vehicle 10 is configured to be able to travel by driving a motor (not shown), which is a drive source, with the power stored in the battery 11. When the vehicle 10 parks at a position where the secondary coil 7 of the vehicle 10 faces the primary coil 4 of the power transmission device 3, AC power is supplied from the power supply unit 5 to the primary coil 4, and non - contact power transmission is performed from the primary coil 4 to the secondary coil 7.

[0018] [Internal configuration of the vehicle] As shown in FIG. 3, the vehicle 10 includes a sensor group 12, an operation input unit 13, a navigation device 14, a communication unit 15, a parking control device 30, an electric power steering system 40 (also referred to as an EPS (Electric Power Steering) system 40), a driving force control system 50, and a braking force control system 60.

[0019] The sensor group 12 acquires various detection values used for control by the parking control device 30 and the like. The sensor group 12 includes, for example, a camera 12a, a sonar 12b, a wheel sensor 12c, a vehicle speed sensor 12d, a current / voltage detection unit 12e, and an operation detection unit 12f.

[0020] The camera 12a acquires recognition data (for example, a peripheral image) for recognizing the external environment of the vehicle 10 by imaging the periphery of the vehicle 10. The camera 12a includes, for example, a front camera, a rear camera, a left side camera, and a right side camera, and images a front image, a rear image, a left side image, and a right side image as peripheral images. Note that the number of cameras 12a is arbitrary, and for example, the left side camera and the right side camera may not be provided.

[0021] The sonar 12b emits sound waves to the periphery of the vehicle 10 and receives reflected sound from other objects. A plurality of sonars 12b are provided, for example, in front of, behind, to the left side, and to the right side of the vehicle 10, respectively.

[0022] The wheel sensor 12c detects the rotation angle of the wheels of the vehicle 10. The wheel sensor 12c includes, for example, a left rear wheel sensor that detects the rotation angle of the left rear wheel and a right rear wheel sensor that detects the rotation angle of the right rear wheel. The wheel sensor 12c may be configured by an angle sensor or may be configured by a displacement sensor. The wheel sensor 12c outputs a detection pulse every time the wheel rotates by a predetermined angle. The detection pulse output from the wheel sensor 12c is used for calculating the rotation angle and the rotation speed of the wheel. Based on the rotation angle of the wheel, the moving distance of the vehicle 10 is calculated.

[0023] The vehicle speed sensor 12d detects the speed of the vehicle 10. The vehicle speed sensor 12d detects the speed of the vehicle 10 based on the rotation of the countershaft of the transmission, for example.

[0024] The current / voltage detection unit 12e is provided in the power receiving device 6 and detects the current value and the voltage value of the power (hereinafter also referred to as charging power) received by the secondary coil 7 during non-contact charging.

[0025] The operation detection unit 12f detects the content of an operation performed by the user using the operation input unit 13. The operation input unit 13 includes various user interfaces such as a side mirror switch for switching the open / closed state of the side mirror and a shift lever (selector lever or selector).

[0026] The navigation device 14 detects the current position of the vehicle 10 using, for example, GPS (Global Positioning System), and guides the user on the route to the destination. The navigation device 14 has a storage device (not shown) provided with map information database.

[0027] The navigation device 14 includes a touch panel 14a and a speaker 14b. The touch panel 14a is configured by integrating a display device capable of displaying an image (e.g., a liquid crystal display) and an input device capable of receiving input of information, and functions as a display device and an input device of the parking control device 30. The user can input a request to execute parking control for automatically parking the vehicle 10 in a predetermined parking space 2 via the touch panel 14a. The speaker 14b outputs various guides by voice according to the control by the parking control device 30.

[0028] The communication unit 15 is a communication interface for communicating with an external device. The external device is, for example, a communication unit (not shown) provided in the power transmission device 3, and the parking control device 30 can communicate with the communication unit of the power transmission device 3 via the communication unit 15. For communication between the vehicle 10 and the external device, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. can be adopted.

[0029] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (Electronic Control Unit) 45. The steering angle sensor 41 detects the steering angle θst of the steering 46. The torque sensor 42 detects the torque TQ applied to the steering 46. The EPS motor 43 enables operation assistance of the steering 46 by the occupant and automatic steering of the steering 46 during parking control by applying a driving force or a reaction force to the steering column 47 connected to the steering 46. The resolver 44 detects the rotation angle θm of the EPS motor 43. The EPS ECU 45 controls the entire EPS system 40.

[0030] The driving force control system 50 includes a driving ECU 51 and executes driving force control of the vehicle 10. The driving ECU 51 controls the driving force of the vehicle 10 by controlling a motor, an internal combustion engine, etc., which are the driving sources of the vehicle 10, based on the user's accelerator operation on the accelerator pedal 52 and instructions from the parking control device 30.

[0031] The braking force control system 60 includes a braking ECU 61 and executes braking force control of the vehicle 10. The braking ECU 61 controls the braking force of the vehicle 10 by controlling a braking mechanism, etc., based on the user's braking operation on the brake pedal 62 and instructions from the parking control device 30.

[0032] The parking control device 30 includes an input / output unit 31, a storage unit 32, and an arithmetic unit 33. The arithmetic unit 33 is configured by, for example, a CPU (Central Processing Unit). The arithmetic unit 33 performs various controls by controlling each unit based on the program stored in the storage unit 32. Further, the arithmetic unit 33 inputs and outputs signals to and from each unit connected to the parking control device 30 via the input / output unit 31.

[0033] The arithmetic unit 33 includes an external environment recognition unit 34 that acquires recognition data of the external environment of the vehicle 10, a position detection unit 35 that detects a parking target position and the position of the host vehicle with respect to the parking target position based on the recognition data, a parking control unit 36 that performs parking control to move the vehicle 10 to the parking target position by automatic steering, and a charging result detection unit 37 that detects charging result information (an example of the "transmission result information" of the present invention) such as the charging power during non-contact charging and the charging efficiency which is the ratio of the power transmitted by the power transmission device 3 to the charging power.

[0034] The external environment recognition unit 34 acquires a peripheral image of the vehicle 10 (i.e., recognition data of the external environment) captured by the camera 12a. Further, the external environment recognition unit 34 may acquire recognition data of the external environment of the vehicle 10 obtained by the sonar 12b or a radar (not shown).

[0035] The position detection unit 35 includes a parking position detection unit 35a and a host vehicle position detection unit 35b. The parking position detection unit 35a detects a parking target position in the parking space 2 based on the recognition data of the external environment acquired by the camera 12a. The parking target position is a position where the primary coil 4 and the secondary coil 7 face each other. More specifically, the parking target position is a position where the center of the primary coil 4 and the center of the secondary coil 7 coincide in a top view, in other words, a position where the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 becomes zero. When the relative distance becomes zero, the charging power during non-contact charging becomes maximum, and the charging efficiency also becomes maximum.

[0036] Specifically, the parking position detection unit 35a detects, as the parking target position, a position where the relative distance between the center of the primary coil 4 and the center of the secondary coil 7 becomes zero based on the recognition data regarding the white line (or an obstacle such as an outer wall) that divides the parking space 2 acquired by the camera 12a, the curbstone, and the primary coil 4 (pad 4a) provided on the ground.

[0037] In addition, when the parking space 2 is a parking space with a high parking frequency such as a home parking lot or a monthly parking lot, the parking space 2 may be stored in the storage unit 32 as a parking space with a high parking frequency according to a user's request via, for example, the touch panel 14a. In this case, the parking position detection unit 35a stores in the storage unit 32 the recognition data of the primary coil 4 acquired by the external recognition unit 34 and the recognition data of the feature points around the parking space 2. Examples of the feature points around the parking space 2 include characteristic buildings and obstacles existing in the vicinity. As a result, when parking in the parking space 2 after the next time, the user can easily request parking control to the parking space 2 via the touch panel 14a, or automatic parking control can be performed when the vehicle 10 approaches the parking space 2.

[0038] The own vehicle position detection unit 35b detects the own vehicle position, which is the current relative position of the vehicle 10 with respect to the parking target position detected by the parking position detection unit 35a. Specifically, the own vehicle position detection unit 35b detects the own vehicle position based on the recognition data of the primary coil 4 acquired by the external recognition unit 34 and the recognition data of the feature points around the parking space 2.

[0039] The parking control unit 36 performs parking control of the vehicle 10 by automatically steering the steering wheel 46. In parking control, operations such as the steering wheel 46, the accelerator pedal 52, and the brake pedal 62 are automatically performed. The parking control unit 36 automatically moves and parks the vehicle 10 to the parking target position in the parking space 2 based on the external recognition data recognized by the external recognition unit 34, and the parking target position and the own vehicle position detected by the position detection unit 35.

[0040] The charging result detection unit 37 detects charging result information of non-contact charging based on the current value and voltage value obtained by a current / voltage sensor (not shown) provided in the power receiving device 6. The charging result information includes the charging power and charging efficiency described above.

[0041] [Search for Optimal Charging Position by Parking Control Device] By the parking control executed by the parking control device 30, the vehicle 10 can be parked at the parking target position in the parking space 2 with a high reproduction rate. On the other hand, due to variations in the control by the parking control unit 36, variations in the detection results of the position detection unit 35, the surrounding environment, etc., even when the parking control device 30 determines that the vehicle 10 is parked at the parking target position, that is, the position where the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 becomes zero, in reality, a deviation may occur between the center of the primary coil 4 and the center of the secondary coil 7, and the horizontal relative distance may not be zero. At this time, the charging power and charging efficiency of non-contact charging cannot be maximized.

[0042] FIG. 4 is a graph for explaining the deviation generated between the center of the primary coil 4 and the center of the secondary coil 7. The X direction in FIG. 4 is the entry / exit direction to the parking space 2 as shown in FIG. 1, and the Y direction is the direction orthogonal to the X direction. The horizontal axis and the vertical axis of FIG. 4 respectively represent the actual deviation amount in the X direction (also referred to as the actual X deviation amount) and the actual deviation amount in the Y direction (also referred to as the actual Y deviation amount) of the center of the secondary coil 7 with respect to the center of the primary coil 4 when the vehicle 10 has completed parking at the parking target position in the parking space 2 by parking control. When both the actual X deviation amount and the actual Y deviation amount are zero, the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 is zero, so the charging power and charging efficiency in non-contact charging are maximized. The position (0, 0) where the actual X deviation amount and the actual Y deviation amount become zero is also referred to as the charging optimal position. On the other hand, when the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 increases, the charging power and charging efficiency gradually decrease.

[0043] In the parking control by the parking control device 30, even when it is determined in terms of control that both the deviation amount in the X direction and the deviation amount in the Y direction are zero, due to the aforementioned control variations and the like, there may be an actual X deviation amount and an actual Y deviation amount. In an example shown in FIG. 4, when parking at the parking target position in the parking space 2 is completed by the parking control, the center of the secondary coil 7 is shifted by -10 mm from the center of the primary coil 4 in the X direction, and the center of the secondary coil 7 is shifted by +20 mm from the center of the primary coil 4 in the Y direction. When the parking target position in terms of control is shifted with respect to the actual optimal charging position, the charging power and charging efficiency of the non-contact charging are not maximized.

[0044] Therefore, each time parking control and non-contact charging are executed in a specific parking space 2, the parking control device 30 performs an offset process on the parking target position and offsets the parking target position to the optimal charging position. Specifically, each time the parking control device 30 executes parking control and non-contact charging in the parking space 2, it associates and stores the parking position information of the vehicle 10 and the charging result information during the execution of the non-contact charging in the storage unit 32. Then, the parking control device 30 offsets the parking target position of the parking control executed in the parking space 2 based on the past parking position information and charging result information stored in the storage unit 32.

[0045] More specifically, when the vehicle 10 parks at the parking target position in the parking space 2 by the parking control and performs non-contact charging, the parking control unit 36 offsets the parking target position of the parking control to be executed next in the parking space 2 by a predetermined distance (hereinafter also referred to as the offset amount). Each time the parking control device 30 executes parking control and non-contact charging in the parking space 2, it associates and stores the offset amount and the charging result information in the storage unit 32. Then, the parking control device 30 searches for the optimal charging position in the parking space 2 based on the offset amount and the charging result information stored in the storage unit 32, and sets the parking target position to the optimal charging position.

[0046] FIG. 5 shows an outline of a process for searching for an optimal charging position executed by the parking control device 30. Each time the parking control unit 36 executes parking control and non-contact charging in the parking space 2, the parking position information and the charging result information are acquired from the position detection unit 35 and the charging result detection unit 37, respectively, and stored in the storage unit 32. The parking position information acquired from the position detection unit 35 is information regarding a parking target position including, for example, an offset amount.

[0047] Based on the parking position information and the charging result information stored in the storage unit 32, the parking control unit 36 searches for the optimal charging position. The parking control unit 36 sets an offset amount obtained by searching with respect to the parking target position so that the parking target position in the parking control in the parking space 2 coincides with the optimal charging position. Thereby, the parking control unit 36 can park the vehicle 10 at the optimal charging position by parking control in the parking space 2.

[0048] Explaining the process of searching for the optimal charging position in more detail, in the present embodiment, the parking control unit 36 separately executes offset processing in the X direction and offset processing in the Y direction. Specifically, the parking control unit 36 first offsets the parking target position only in a first direction (for example, the Y direction) out of the X direction and the Y direction to search for the position in the first direction of the optimal charging position. After searching for the position in the first direction of the optimal charging position, the parking target position is offset in a second direction (for example, the X direction) which is the other direction to search for the position in the second direction of the optimal charging position.

[0049] As shown in FIG. 6(a), each time the parking control unit 36 executes parking control and non-contact charging in the parking space 2, the parking control unit 36 offsets the parking target position, which is a position determined to have zero deviation amounts in both the X direction and the Y direction in terms of control, by ΔY (for example, 2 mm) to the negative side in the Y direction. Then, the parking control unit 36 searches for a position where the charging power becomes the maximum value Py_max in the Y direction, that is, a position where the actual Y deviation amount becomes zero. Note that FIGS. 6(a) and 6(b) show an example of searching for a position where the charging power becomes the maximum value, but the parking control unit 36 may search for a position where the charging efficiency becomes the maximum value.

[0050] After searching for the position in the Y direction of the optimal charging position, as shown in FIG. 6(b), the parking control unit 36 offsets the parking target position by ΔX (for example, 2 mm) in the positive direction of the X axis each time parking control and contactless charging are executed in the parking space 2. Then, the parking control unit 36 searches for the position where the charging power becomes the maximum value in the X direction, that is, the position where the actual X deviation amount becomes zero. Since the position where the actual Y deviation amount and the actual X deviation amount become zero is the optimal charging position, the charging power becomes the maximum value P_max.

[0051] In this way, since the parking control unit 36 performs offset processing for each direction, specifically in the order of the Y direction and the X direction, the optimal charging position can be searched with a simple algorithm.

[0052] When parking control and contactless charging are first executed in the parking space 2, since it is unknown in which direction the control parking target position is located with respect to the optimal charging position, the parking control unit 36 first offsets the parking target position in the positive direction of the Y axis, for example. When the charging power decreases, since the positive side is estimated to be the direction in which the actual Y deviation amount increases, in the next contactless charging, it is offset in the negative direction of the Y axis. The same applies to the X direction.

[0053] Subsequently, an example of the process of searching for the optimal charging position by the parking control device 30 will be described with reference to the flowcharts shown in FIGS. 7 to 9. The parking control device 30 repeatedly executes this flowchart each time parking control and contactless charging are executed in the parking space 2. In this flowchart, an example of searching for the position where the charging power becomes the maximum value is shown, but the parking control device 30 may search for the position where the charging efficiency becomes the maximum value.

[0054] The parking control device 30 first determines whether the non-contact charging this time is performed for the first time in the parking space 2 (step S100). For example, when the charging result information and the parking target position when non-contact charging was performed in the parking space 2 in the past are stored in the storage unit 32 in an associated manner, the parking control device 30 determines that the non-contact charging this time is not the first time performed in the parking space 2.

[0055] When it is determined that the non-contact charging this time is the first time performed in the parking space 2 (step S100: YES), the parking control device 30 stores the current offset amount and charging power in the storage unit 32 in an associated manner (step S102). The offset amount here includes the X offset amount which is a predetermined distance in the X direction and the Y offset amount which is a predetermined distance in the Y direction. Since the non-contact charging this time is the first time performed in the parking space 2 and the offset process has not been executed in the past, the X offset amount and the Y offset amount are stored in the storage unit 32 as zero.

[0056] The parking control device 30 stores the current charging power in the storage unit 32 as the maximum charging power at the current time (step S104). Since the non-contact charging this time is the first time performed in the parking space 2, the current charging power becomes the maximum charging power at the current time.

[0057] The parking control device 30 offsets the parking target position by ΔY in the plus side in the Y direction (step S106). Thereby, the parking target position when the vehicle 10 automatically parks in the parking space 2 next time is offset to the plus side in the Y direction. Then, the parking control device 30 ends the current flowchart.

[0058] When performing parking control and contactless charging for the second and subsequent times in the target parking space 2, the parking control device 30 determines that the current parking control and contactless charging are not being performed for the first time in the target parking space 2 (step S100: NO), and determines whether the Y search completion flag is 1 (step S108). When the search for the Y-direction position of the optimal charging position is completed in the Y-direction search process S110 described later, the Y search completion flag becomes 1, and when the search is not completed, the Y search completion flag becomes 0. If the Y search completion flag is not 1 (step S108: NO), the process proceeds to the Y-direction search process S110.

[0059] In the Y-direction search process S110, first, the parking control device 30 determines whether the +Y side search completion flag is 1 (step S202). When the search for the Y-direction position of the optimal charging position is completed by offsetting the control parking target position to the plus side in the Y direction, and when it is estimated that the Y-direction position of the optimal charging position is not on the plus side but on the minus side after offsetting the control parking target position to the plus side in the Y direction, the +Y side search completion flag becomes 1.

[0060] If the +Y side search completion flag is not 1 (step S202: NO), the parking control device 30 stores the Y offset amount and charging power of the current parking control and contactless charging in the storage unit 32 in association with each other (step S204). When the parking control and contactless charging in the parking space 2 are the second time, the Y offset amount is +ΔY set in step S106, and the charging power is the charging power detected in the current contactless charging.

[0061] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the Y direction stored in the storage unit 32 up to the current time (step S206). The maximum charging power in the Y direction is the maximum of the charging powers stored in association with the Y offset amount, and when the parking control and contactless charging in the parking space 2 are the second time, the maximum charging power stored in step S104 (i.e., the charging power of the first time) becomes the maximum charging power in the Y direction.

[0062] When the current charging power is greater than the maximum charging power in the Y direction (step S206: YES), update the maximum charging power in the Y direction to the current charging power, and associate and store the current Y offset amount with the maximum charging power in the Y direction (step S208).

[0063] The parking control device 30 further offsets the parking target position by ΔY in the positive direction (step S210). As a result, when the vehicle 10 automatically parks in the parking space 2 next time, the parking target position is further offset in the positive direction in the Y direction. For example, when the parking control and non-contact charging in the parking space 2 are the second time, the Y offset amount is +ΔY×2. Then, the parking control device 30 ends the current flowchart. The parking control device 30 repeatedly executes steps S204 to S210 each time it executes parking control and non-contact charging in the parking space 2 until the detected charging power becomes less than or equal to the maximum charging power in the Y direction, and increases the Y offset amount in the positive direction to search for the position in the Y direction of the optimal charging position.

[0064] When the current charging power is less than or equal to the maximum charging power in the Y direction (step S206: NO), the parking control device 30 sets the +Y side search completion flag to 1 (step S212). That is, when the current charging power is less than or equal to the maximum charging power in the Y direction stored in the past, it is estimated that the charging power will decrease even if the offset is further increased in the positive direction in the Y direction, so the search on the positive side in the Y direction is ended.

[0065] After setting the +Y side search completion flag to 1, the parking control device 30 resets the Y offset amount and offsets the next parking target position by ΔY in the negative direction (step S214). As a result, the Y offset amount becomes -ΔY. Then, the parking control device 30 ends the current flowchart. Note that the Y offset amount stored in the storage unit 32 in the past and the corresponding charging power are retained without being deleted.

[0066] When the +Y side search completion flag is 1 (step S202: YES), the parking control device 30 associates and stores the Y offset amount and charging power of the current parking control and non-contact charging in the storage unit 32 (step S216). When step S216 is executed for the first time after the +Y side search completion flag becomes 1 in step S212, the Y offset amount is -ΔY set in step S214, and the charging power is the charging power detected by the current non-contact charging.

[0067] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the Y direction stored in the storage unit 32 up to the current time (step S218). The maximum charging power in the Y direction here is any one of the maximum charging power stored in step S104, the maximum charging power stored in step S208, and the maximum charging power stored in the storage unit 32 in step S220 described later.

[0068] When the current charging power is greater than the maximum charging power in the Y direction (step S218: YES), the maximum charging power in the Y direction is updated to the current charging power, and the current Y offset amount and the maximum charging power in the Y direction are associated and stored (step S220).

[0069] The parking control device 30 further offsets the parking target position by ΔY to the minus side (step S222). As a result, when the vehicle 10 automatically parks in the parking space 2 next time, the parking target position is further offset to the minus side in the Y direction. Then, the parking control device 30 ends the current flowchart. The parking control device 30 repeatedly executes steps S216 to S222 each time parking control and non-contact charging are executed in the parking space 2 until the detected charging power becomes less than or equal to the maximum charging power in the Y direction, increasing the Y offset amount on the minus side and searching for the position in the Y direction of the optimal charging position.

[0070] When the current charging power is less than or equal to the maximum charging power in the Y direction (step S218: NO), the parking control device 30 sets the Y search completion flag to 1 (step S224). That is, when the current charging power is less than or equal to the maximum charging power in the Y direction stored in the past, it is estimated that the charging power will decrease even if further offset in the minus side of the Y direction, so the search in the minus side of the Y direction is terminated.

[0071] The parking control device 30 sets the Y offset amount corresponding to the maximum charging power in the Y direction stored in the storage unit 32 as the Y offset amount of the parking target position when the vehicle 10 automatically parks in the parking space 2 after the next time (step S226). For example, in the case of an example shown in FIG. 6(a), the Y offset amount is set to -20 mm which is the Y offset amount corresponding to the maximum charging power Py_max in the Y direction.

[0072] The parking control device 30 offsets the parking target position by ΔX in the plus side of the X direction (step S228). Thereby, the parking target position when the vehicle 10 automatically parks in the parking space 2 next time is offset to the plus side of the X direction. Then, the parking control device 30 ends the current flowchart.

[0073] When the Y search completion flag becomes 1 in step S224, it proceeds in the direction of YES in step S108, and the parking control unit 36 determines whether the X search completion flag is 1 (step S112). The X search completion flag becomes 1 when the search for the position in the X direction of the charging optimal position is completed in the X direction search process S114 described later, and becomes 0 when the search is not completed. When the X search completion flag is not 1 (step S112: NO), it proceeds to the X direction search process S114.

[0074] In the X-direction search process S114, first, the parking control device 30 determines whether the +X-side search completion flag is 1 (step S302). When the search for the X-direction position of the optimal charging position is completed by offsetting the control parking target position to the plus side in the X direction, and when it is estimated that the X-direction position of the optimal charging position is not on the plus side but on the minus side after offsetting the control parking target position to the plus side in the X direction, the +X-side search completion flag becomes 1.

[0075] If the +X-side search completion flag is not 1 (step S302: NO), the parking control device 30 associates and stores the X-offset amount and the charging power of the current parking control and non-contact charging in the storage unit 32 (step S304). When the X-direction search process S114 is executed for the first time, the X-offset amount is +ΔX set in step S228, and the charging power is the charging power detected in the current non-contact charging.

[0076] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the X direction stored in the storage unit 32 up to the current time (step S306). The maximum charging power in the X direction is the maximum of the charging powers stored in association with the X-offset amount. When the X-direction search process S114 is executed for the first time, the maximum charging power in the Y direction searched in the Y-direction search process S110 becomes the maximum charging power in the X direction (the X-offset amount at this time is zero).

[0077] If the current charging power is greater than the maximum charging power in the X direction (step S306: YES), the maximum charging power in the X direction is updated to the current charging power, and the current X-offset amount and the maximum charging power in the X direction are associated and stored (step S308).

[0078] The parking control device 30 offsets the parking target position further by ΔX in the positive direction (step S310). As a result, when the vehicle 10 next performs automatic parking in the parking space 2, the parking target position is further offset in the positive direction of the X axis. For example, when the X-axis search process S114 is executed for the first time, the X offset amount is +ΔX×2. Then, the parking control device 30 ends the current flowchart. Each time the parking control device 30 performs parking control and contactless charging in the parking space 2 until the detected charging power becomes equal to or less than the maximum charging power in the X direction, it repeatedly executes steps S304 to S310 to increase the X offset amount on the positive side and search for the position of the charging optimal position in the X direction.

[0079] When the current charging power is equal to or less than the maximum charging power in the X direction (step S306: NO), the parking control device 30 sets the +X side search completion flag to 1 (step S312). That is, when the current charging power is equal to or less than the maximum charging power in the X direction stored in the past, it is estimated that the charging power will decrease even if the offset is further increased in the positive direction of the X axis. Therefore, the search on the positive side of the X axis is terminated.

[0080] After setting the +X side search completion flag to 1, the parking control device 30 resets the X offset amount and offsets the next parking target position by ΔX in the negative direction (step S314). As a result, the X offset amount becomes -ΔX. Then, the parking control device 30 ends the current flowchart. Note that the X offset amount stored in the storage unit 32 in the past and the corresponding charging power are retained without being deleted.

[0081] When the +X side search completion flag is 1 (step S302: YES), the parking control device 30 associates and stores the X offset amount and the charging power of the current parking control and contactless charging in the storage unit 32 (step S316). When step S316 is executed for the first time after the +X side search completion flag becomes 1 in step S312, the X offset amount is -ΔX set in step S314, and the charging power is the charging power detected by the current contactless charging.

[0082] Next, the parking control device 30 determines whether the current charging power is greater than the maximum charging power in the X direction stored in the storage unit 32 up to the current time (step S318). The maximum charging power in the X direction here is any one of the maximum charging power set in the Y-direction search process S110, the maximum charging power stored in the storage unit 32 in step S308, and the maximum charging power stored in the storage unit 32 in step S320 described later.

[0083] If the current charging power is greater than the maximum charging power in the X direction (step S318: YES), the maximum charging power in the X direction is updated to the current charging power, and the current X offset amount and the maximum charging power in the X direction are stored in association with each other (step S320).

[0084] The parking control device 30 further offsets the parking target position by ΔX in the minus direction (step S322). As a result, when the vehicle 10 automatically parks in the parking space 2 next time, the parking target position is further offset in the minus direction of the X direction. Then, the parking control device 30 ends the current flowchart. The parking control device 30 repeatedly executes steps S316 to S322 each time parking control and non-contact charging are executed in the parking space 2 until the detected charging power becomes less than or equal to the maximum charging power in the X direction, increasing the X offset amount in the minus direction and searching for the position in the X direction of the optimal charging position.

[0085] If the current charging power is less than or equal to the maximum charging power in the X direction (step S318: NO), the parking control device 30 sets the X search completion flag to 1 (step S324). That is, when the current charging power is less than or equal to the maximum charging power in the X direction stored in the past, it is estimated that the charging power will decrease even if it is further offset in the minus direction of the X direction, so the search in the minus direction of the X direction is ended.

[0086] The parking control device 30 sets the X offset amount corresponding to the maximum charging power in the X direction stored in the storage unit 32 as the X offset amount of the parking target position when the vehicle 10 automatically parks in the parking space 2 after the next time (step S326). For example, in the case of an example shown in FIG. 6(b), the X offset amount is set to +10 mm, which is the X offset amount corresponding to the maximum charging power P_max. Thereby, the X-direction search process in the parking space 2 is completed, and the parking control device 30 ends the current flowchart.

[0087] As described above, by the Y-direction search process and the X-direction search process, the Y offset amount and the X offset amount in the parking space 2 can be set, and calibration can be performed so that the parking target position coincides with the charging optimum position. Therefore, the efficiency of non-contact charging can be improved.

[0088] The search for the charging optimum position may be performed, for example, when the power transmission device 3 is installed in the parking space 2 such as at home. Specifically, when the power transmission device 3 is installed in the parking space 2, the parking control and non-contact charging by the parking control device 30 may be repeatedly executed, and the X offset amount and the Y offset amount may be searched based on the above-described flowchart. Thereby, the effect of improving the efficiency of non-contact charging by searching for the charging optimum position can be obtained immediately after the installation of the power transmission device 3.

[0089] (Modification example) In the above-described embodiment, the X-direction offset process and the Y-direction offset process by the parking control device 30 are executed separately, but they may be executed simultaneously.

[0090] As shown by the thick solid arrows in FIG. 10, the parking control device 30 may offset the parking target position of the parking control to be executed next time in the parking space 2 simultaneously in the X direction and the Y direction. At this time, based on the fact that the charging power during non-contact charging is equal on the line connecting a substantially circular shape centered on the optimal charging position (the dashed-dotted line in the figure; also referred to as an equipotential line), each time parking control and non-contact charging are executed in the parking space 2, it is offset simultaneously in the X direction and the Y direction so that the control parking target position approaches the optimal charging position. According to such a configuration, the optimal charging position can be efficiently searched, and the number of offset processes can be reduced.

[0091] Note that it is not necessary to offset the target parking position simultaneously in the X direction and the Y direction in all offset processes. For example, each time the parking control device 30 executes parking control and non-contact charging in the parking space 2, it may appropriately select between the case of performing the offset process in the X direction and the offset process in the Y direction simultaneously and the case of performing only the offset process in the X direction (or the Y direction).

[0092] As described above, an embodiment of the present invention has been described with reference to the accompanying drawings. Needless to say, the present invention is not limited to such an embodiment. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims, and it is naturally understood that they also belong to the technical scope of the present invention. Also, within the scope not departing from the gist of the invention, the components in the above embodiment may be arbitrarily combined.

[0093] For example, in the non-contact power transmission system 1 of the above-described embodiment, the coil provided in the vehicle 10 functions as a power receiving unit (that is, a secondary coil), but the coil provided in the vehicle 10 may function as a power transmitting unit (that is, a primary coil). In other words, the vehicle 10 in the non-contact power transmission system 1 may be capable of non-contact power supply that transmits power to the power receiving device installed in the parking space 2.

[0094] In this case, each time the parking control device 30 executes parking control and wireless power supply in the parking space 2, it associates the parking position information of the vehicle 10 at the time of executing the wireless power supply with the power supply result information (at least one of the power supply output and the power supply efficiency), and stores the associated information in the storage unit 32. Then, the parking control device 30 offsets the parking target position of the parking control executed in the parking space 2 based on the past parking position information and the power supply result information stored in the storage unit 32.

[0095] Also, in the above-described embodiment, the parking control unit 36 offsets the parking target position of the parking control to be executed next by a predetermined distance when performing parking control and wireless charging (or wireless power supply). However, the timing of the offset is not limited to this. For example, the parking control unit 36 may refer to the past parking position information and the power supply result information immediately before performing parking control and wireless charging (wireless power supply), and offset the parking target position of the parking control to be executed this time by a predetermined distance.

[0096] This specification describes at least the following matters. Although the corresponding components and the like in the above-described embodiment are shown as examples in parentheses, the present invention is not limited thereto.

[0097] (1) A parking control device (parking control device 30) of the vehicle capable of wireless power transmission for wirelessly transmitting power between a first coil (primary coil 4) installed in a parking space (parking space 2) and a second coil (secondary coil 7) provided in the vehicle (vehicle 10), A parking control unit (parking control unit 36) that executes parking control to automatically park the vehicle at a parking target position where the first coil and the second coil face each other in the parking space; A result detection unit (charging result detection unit 37) that detects transmission result information (charging result information) of the wireless power transmission executed at the parking target position, The parking control unit is Each time non-contact power transmission is executed in the parking space, parking position information (offset amount) of the vehicle at the time of execution of the non-contact power transmission and the transmission result information are associated with each other and stored in a storage unit (storage unit 32). Offset the parking target position of the parking control executed in the parking space based on the past parking position information and the transmission result information stored in the storage unit. Parking control device.

[0098] (1) According to this, even when the parking target position in control does not match the optimal position of non-contact power transmission due to control variations or the like, each time non-contact power transmission is executed in the parking space, the parking target position is offset based on the past parking position information and the transmission result information stored in association with each other, so that the efficiency of non-contact power transmission can be improved.

[0099] (2) The parking control device according to (1), The transmission result information includes at least one of charging output and charging efficiency, or at least one of power feeding output and power feeding efficiency. The parking control unit offsets the parking target position of the parking control executed in the parking space to a position where at least one of the charging output and the charging efficiency, or at least one of the power feeding output and the power feeding efficiency is optimal. Parking control device.

[0100] (2) According to this, the optimal position can be searched based on at least one of the output and efficiency of non-contact power transmission.

[0101] (3) The parking control device according to (1) or (2), The parking control unit, Each time non-contact power transmission is executed in the parking space, the parking target position of the parking control executed in the parking space is offset by a predetermined distance, and the parking position information and the transmission result information at the time of execution of the non-contact power transmission are associated with each other and stored in the storage unit. Search for the optimal position of the non-contact power transmission in the parking space based on the parking position information and the transmission result information stored in the memory unit. Parking control device.

[0102] (3) According to this, each time non-contact power transmission is executed in the parking space, based on the past parking position information and transmission result information stored in association with each other, the optimal position of non-contact power transmission in the parking space is searched, and the parking target position can be set to the optimal position. Therefore, the efficiency of non-contact power transmission can be improved.

[0103] (4) The parking control device according to (3), The parking control unit, Offset the parking target position in the first direction to search for the position of the optimal position in the first direction, After searching for and setting the position of the optimal position in the first direction, offset the parking target position in the second direction orthogonal to the first direction to search for the position of the optimal position in the second direction. Parking control device.

[0104] (4) According to this, since offset processing is performed for each direction, the optimal position can be searched with a simple algorithm.

[0105] (5) The parking control device according to (3), The parking control unit simultaneously offsets the parking target position in the first direction and the second direction orthogonal to the first direction to search for the position of the optimal position in the first direction and the position of the optimal position in the second direction. Parking control device.

[0106] (5) According to this, since offset processing is performed simultaneously in the first direction and the second direction, the optimal position can be searched efficiently, and the number of offset processing times can be reduced.

[0107] (6) A parking control method for a vehicle capable of non-contact power transmission that transmits power non-contact between a first coil (primary coil 4) provided in a parking space (parking space 2) and a second coil (secondary coil 7) provided in a vehicle (vehicle 10), A parking control step of performing parking control to automatically park the vehicle at a parking target position where the first coil and the second coil face each other in the parking space; A result detection step of detecting transmission result information of the non-contact power transmission executed at the parking target position; A storage step of associating and storing in a storage unit the parking position information of the vehicle and the transmission result information at the time of execution of the non-contact power transmission each time the non-contact power transmission is executed in the parking space; An offset step of offsetting the parking target position of the parking control to be executed next in the parking space based on the past parking position information and the transmission result information stored in the storage unit, comprising: Parking control method.

[0108] (6) According to this, even when the parking target position in control does not match the optimal position of non-contact power transmission due to control variations or the like, the parking target position is offset based on the past parking position information and the transmission result information stored in association with each other each time non-contact power transmission is executed in the parking space, so that the efficiency of non-contact power transmission can be improved.

Explanation of symbols

[0109] 2 Parking space 4 Primary coil (first coil) 7 Secondary coil (second coil) 10 Vehicle 30 Parking control device 32 Storage unit 36 Parking control unit 37 Charging result detection unit (result detection unit)

Claims

1. A parking control device for a vehicle capable of non-contact power transmission that transmits power non-contact between a first coil installed in a parking space and a second coil provided in the vehicle, a parking control unit that executes parking control to automatically park the vehicle at a parking target position where the first coil and the second coil face each other in the parking space; a result detection unit that detects transmission result information of the non-contact power transmission executed at the parking target position, and includes: The parking control unit, each time the non-contact power transmission is executed in the parking space, associates and stores the parking position information of the vehicle and the transmission result information at the time of execution of the non-contact power transmission in a storage unit; offsets the parking target position of the parking control executed in the parking space based on the past parking position information and the transmission result information stored in the storage unit; Parking control device.

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

3. The parking control device according to claim 1 or 2, wherein the parking control unit, each time the non-contact power transmission is executed in the parking space, offsets the parking target position of the parking control executed in the parking space by a predetermined distance, associates the parking position information and the transmission result information at the time of execution of the non-contact power transmission, and stores them in the storage unit; searches for an optimal position of the non-contact power transmission in the parking space based on the parking position information and the transmission result information stored in the storage unit; Parking control device.

4. The parking control device according to claim 3, wherein the parking control unit, offsets the parking target position in a first direction to search for a position in the first direction of the optimal position, after searching for and setting the position in the first direction of the optimal position, offsets the parking target position in a second direction orthogonal to the first direction to search for a position in the second direction of the optimal position; Parking control device.

5. The parking control device according to claim 3, The parking control unit simultaneously offsets the parking target position in a first direction and a second direction orthogonal to the first direction to search for the position of the optimal position in the first direction and the position in the second direction. Parking control device. **Claim 6** A parking control method for a vehicle capable of non-contact power transmission that transmits power non-contact between a first coil provided in a parking space and a second coil provided in the vehicle, A parking control step of automatically parking the vehicle at a parking target position where the first coil and the second coil face each other in the parking space; A result detection step of detecting transmission result information of the non-contact power transmission executed at the parking target position; A storage step of associating and storing the parking position information of the vehicle at the time of execution of the non-contact power transmission and the transmission result information in a storage unit each time the non-contact power transmission is executed in the parking space; An offset step of offsetting the parking target position of the parking control to be executed next in the parking space based on the past parking position information and the transmission result information stored in the storage unit. Parking control method.

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