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 contactless power transmission. [Background technology]

[0002] In recent years, research and development has been conducted into charging mobility vehicles equipped with secondary batteries that contribute to energy efficiency, in order to ensure that more people have access to affordable, reliable, sustainable, and advanced energy.

[0003] For example, research and development into charging and supplying electricity has been conducted on contactless charging, which charges a battery mounted on a vehicle without contact. For example, Patent Documents 1 to 4 disclose contactless power transmission systems that transmit power contactlessly from a primary coil (power transmission coil) of a contactless charging facility installed in a parking lot or the like to a secondary coil (power receiving coil) installed in the vehicle.

[0004] Furthermore, Patent Documents 1 to 4 propose techniques for accurately aligning the primary coil and secondary coil in order to efficiently perform contactless charging. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-9874 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-93129 [Patent Document 3] Japanese Patent Application Laid-Open No. 2014-207859 [Patent Document 4] Japanese Patent Application Laid-Open No. 2018-174690 Summary of the Invention [Problem to be solved by the invention]

[0006] An automatic parking control is known that automatically moves a vehicle to a predetermined parking space and parks it there. This automatic parking control allows a vehicle to be automatically parked in a parking lot equipped with a wireless charging facility with high reproducibility. However, due to variations in control and variations in detection of the relative position between the secondary coil and the vehicle, the parking position determined by the automatic parking control is not always the position that optimizes the efficiency of wireless power transmission.

[0007] The present invention provides a parking control device and a parking control method that can improve the efficiency of contactless power transmission when parking a vehicle in a parking position where contactless power transmission is possible through parking control, thereby contributing to energy efficiency. [Means for solving the problem]

[0008] The present invention provides A parking control device for a vehicle capable of contactless power transmission for transmitting power contactlessly between a first coil installed in a parking space and a second coil installed 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 contactless power transmission performed at the target parking position, The parking control unit Each time the contactless power transmission is performed in the parking space, offsetting the parking target position of the parking control executed in the parking space by a predetermined distance; storing, in a storage unit, parking position information of the vehicle at the time of performing the contactless power transmission and the transmission result information in association with each other; A search is made for an optimal position for the contactless power transmission in the parking space based on the parking position information and the transmission result information stored in the storage unit. .

[0009] The present invention also provides A parking control method for a vehicle capable of contactless power transmission, in which power is transmitted contactlessly between a first coil provided in a parking space and a second coil provided in the vehicle, comprising: 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 contactless power transmission performed at the target parking position; a storage step of storing, in a storage unit, parking position information of the vehicle at the time of the contactless power transmission and the transmission result information in association with each other each time the contactless power transmission is performed in the parking space; and an offset step of offsetting the parking target position of the parking control to be executed next time in the parking space based on the past parking position information and the transmission result information stored in the memory unit. [Effects of the Invention]

[0010] According to the present invention, when a vehicle is parked at a parking position where contactless power transmission is possible by parking control, the efficiency of contactless power transmission can be improved. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing the overall configuration of a contactless power transfer system 1, and is a top view showing a state in which a vehicle 10 is being parked in a parking space 2 in which a power transmission device 3 is provided. [Figure 2] FIG. 1 is a diagram showing the overall configuration of a contactless power transfer system 1, and is a side view showing a state in which a vehicle 10 is parked in a parking space 2 and is being contactlessly charged. [Figure 3] 1 is a block diagram showing the internal configuration of a vehicle 10 equipped with a parking control device 30 according to an embodiment of the present invention. [Figure 4] 10 is a graph illustrating a deviation that occurs between a parking target position under control and an optimum charging position where the efficiency of contactless charging is maximized. [Figure 5] FIG. 3 is a diagram showing an outline of a process performed by the parking control device 30 to search for an optimum charging position. [Figure 6]Graph (a) shows how the target parking position is offset in the Y direction to search for the optimum charging position in the Y direction, and graph (b) shows how the target parking position is offset in the X direction to search for the optimum charging position in the X direction. [Figure 7] 6 is a flowchart showing an example of a process performed by the parking control device 30 to search for an optimum charging position. [Figure 8] 10 is a flowchart showing an example of a Y-direction search process S110. [Figure 9] 10 is a flowchart showing an example of processing in an X direction search process S114. [Figure 10] 10 is a graph illustrating a modified example of the process of searching for the optimum charging position by the parking control device 30. DETAILED DESCRIPTION OF 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] [Contactless power transmission system] The contactless power transfer system of this embodiment is a system capable of contactlessly transferring power between a vehicle and equipment installed in a specified parking space. Contactless power transfer includes at least one of power transfer from the equipment installed in the parking space to the vehicle (contactless charging) and power transfer from the vehicle to the equipment (contactless power supply). In the following, a case where a vehicle performs contactless charging will be described as an example of contactless power transfer.

[0014] 1 and 2, a contactless power transfer system 1 includes a power transfer device 3 installed in a predetermined parking space 2, and a power receiving device 6 provided in a vehicle 10 that receives power transferred contactlessly from the power transfer device 3. The contactless power transfer system 1 supplies power from the power transfer device 3 to the power receiving device 6 by using, for example, magnetic coupling between coils such as a magnetic field resonance method or an electromagnetic induction method, or an electric field resonance method. This enables contactless charging of a battery 11 installed in the vehicle 10.

[0015] The power transmission device 3 is, for example, covered by a pad 4a and installed on the ground of the parking space 2, 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 a plan view, but is not limited to this and may be elliptical, square, rectangular, or the like.

[0016] The power receiving device 6 is provided, for example, under the floor of the vehicle 10 while being covered with a pad 7a, and includes a secondary coil 7 that contactlessly receives AC power transmitted from the power transmitting 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 a plan view, but is not limited to this and may be elliptical, square, rectangular, or the like.

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

[0018] [Internal structure of the vehicle] As shown in FIG. 3, the vehicle 10 has 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. 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 captures images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral images) for recognizing the external environment 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 captures 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 do not need to be provided.

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

[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 with an angle sensor or a displacement sensor. The wheel sensor 12c outputs a detection pulse every time the wheel rotates a predetermined angle. The detection pulse output from the wheel sensor 12c is used to calculate the wheel rotation angle and the wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle.

[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, for example, the rotation of a countershaft of the transmission.

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

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

[0026] The navigation device 14 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with directions to the destination. The navigation device 14 has a storage device (not shown) that includes a 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 (e.g., a liquid crystal display) capable of displaying images with an input device capable of receiving input of information, and functions as a display device and an input device for the parking control device 30. A user can input a request for the execution of parking control to automatically park the vehicle 10 in a predetermined parking space 2 via the touch panel 14a. The speaker 14b outputs various guidance messages by voice in accordance with the control by the parking control device 30.

[0028] The communication unit 15 is a communication interface that communicates 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 used.

[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 a steering wheel 46. The torque sensor 42 detects the torque TQ applied to the steering wheel 46. The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46, thereby enabling assistance to the occupant in operating the steering wheel 46 and automatic steering of the steering wheel 46 during parking control. The resolver 44 detects the rotation angle θm of the EPS motor 43. The EPS ECU 45 is responsible for overall control of the EPS system 40.

[0030] The driving force control system 50 has 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 the motor, internal combustion engine, etc., which are the driving sources of the vehicle 10, based on the accelerator operation of the accelerator pedal 52 by the user and instructions from the parking control device 30.

[0031] The braking force control system 60 has 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 brake mechanism and the like based on a user's brake operation on a brake pedal 62 or an instruction from the parking control device 30.

[0032] The parking control device 30 has an input / output unit 31, a storage unit 32, and a calculation unit 33. The calculation unit 33 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 33 performs various controls by controlling each unit based on a program stored in the storage unit 32. In addition, the calculation 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 calculation unit 33 has 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 the parking target position and the position of the vehicle relative 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 charging power during contactless charging and charging efficiency, which is the ratio between the power transmitted by the power transmission device 3 and the charging power.

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

[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 target parking position in the parking space 2 based on external recognition data acquired by the camera 12a. The target parking position is a position where the primary coil 4 and the secondary coil 7 face each other. More specifically, the target parking 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 is zero. When this relative distance is zero, the charging power during contactless charging is maximized, and the charging efficiency is also maximized.

[0036] Specifically, the parking position detection unit 35a detects the position where the relative distance between the center of the primary coil 4 and the center of the secondary coil 7 is zero as the parking target position based on recognition data regarding the white lines (or obstacles such as exterior walls) that define the parking space 2, curbs, the primary coil 4 (pad 4a) installed on the ground, etc., acquired by the camera 12a.

[0037] Furthermore, if the parking space 2 is a parking space where parking is frequently performed, such as a home parking space or a monthly parking space, the parking space 2 may be stored in the storage unit 32 as a parking space where parking is frequently performed, for example, in response to a user request via the touch panel 14a. In this case, the parking position detection unit 35a stores the recognition data of the primary coil 4 acquired by the external environment recognition unit 34 and the recognition data of characteristic points around the parking space 2 in the storage unit 32. Examples of characteristic points around the parking space 2 include distinctive buildings and obstacles in the vicinity. As a result, the next time the user parks in the parking space 2, the user can easily request parking control for the parking space 2 via the touch panel 14a, or parking control can be performed automatically when the vehicle 10 approaches the parking space 2.

[0038] The vehicle position detection unit 35b detects the vehicle position, which is the current position of the vehicle 10 relative to the parking target position detected by the parking position detection unit 35a. Specifically, the vehicle position detection unit 35b detects the vehicle position based on the recognition data of the primary coil 4 acquired by the external environment recognition unit 34 and the recognition data of 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. During parking control, the steering wheel 46, accelerator pedal 52, brake pedal 62, etc. are automatically operated. 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 environment recognition data recognized by the external environment recognition unit 34, and the parking target position and the vehicle's own position detected by the position detection unit 35.

[0040] The charging result detection unit 37 detects charging result information of the contactless 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] [Searching for the optimal charging location using a parking control device] The parking control executed by the parking control device 30 allows the vehicle 10 to be parked at the target parking position in the parking space 2 with a high degree of repeatability. However, due to variations in control by the parking control unit 36, variations in the detection results of the position detection unit 35, the surrounding environment, etc., even if the parking control device 30 determines that the vehicle 10 has been parked at the target parking position, i.e., a position where the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 is zero, there may actually be a deviation between the centers of the primary coil 4 and the secondary coil 7, and the horizontal relative distance may not be zero. In this case, the charging power and charging efficiency of contactless charging may not be maximized.

[0042] FIG. 4 is a graph illustrating the offset between the center of the primary coil 4 and the center of the secondary coil 7. The X direction in FIG. 4 corresponds to the direction of approach and exit to the parking space 2, as shown in FIG. 1, and the Y direction is perpendicular to the X direction. The horizontal and vertical axes of FIG. 4 respectively represent the actual offset in the X direction (also referred to as the actual X offset) and the actual offset in the Y direction (also referred to as the actual Y offset) of the center of the secondary coil 7 relative to the center of the primary coil 4 when the vehicle 10 is parked at the target parking position in the parking space 2 through parking control. When the actual X offset and the actual Y offset are both zero, the horizontal relative distance between the center of the primary coil 4 and the center of the secondary coil 7 is zero, thereby maximizing the charging power and charging efficiency during contactless charging. The position (0,0) where the actual X offset and the actual Y offset are zero is also referred to as the optimal charging position. On the other hand, as 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 if the control determines that both the X-direction deviation amount and the Y-direction deviation amount are zero, actual X-direction deviation amount and actual Y-direction deviation amount may occur due to the control variation and the like. In the example shown in Fig. 4, when parking at the target parking position of the parking space 2 is completed by the parking control, the center of the secondary coil 7 is deviated by -10 mm from the center of the primary coil 4 in the X direction, and the center of the secondary coil 7 is deviated by +20 mm from the center of the primary coil 4 in the Y direction. When the target parking position in the control is deviated from the actual optimal charging position, the charging power and charging efficiency of the contactless charging are not maximized.

[0044] Therefore, every time parking control and contactless charging are performed in a specific parking space 2, the parking control device 30 performs offset processing on the parking target position to offset the parking target position to the optimum charging position. Specifically, every time parking control and contactless charging are performed in the parking space 2, the parking control device 30 associates parking position information of the vehicle 10 at the time of contactless charging with charging result information and stores them in the storage unit 32. Then, the parking control device 30 offsets the parking target position of the parking control performed 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 is parked at the target parking position in the parking space 2 through parking control and wireless charging is performed, the parking control unit 36 ​​offsets the target parking position for the next parking control to be performed in the parking space 2 by a predetermined distance (hereinafter also referred to as the offset amount). Every time the parking control device 30 performs parking control and wireless charging in the parking space 2, the offset amount is associated with charging result information and stored in the memory unit 32. Then, based on the offset amount and charging result information stored in the memory unit 32, the parking control device 30 searches for the optimal charging position in the parking space 2 and sets the target parking position to the optimal charging position.

[0046] 5 shows an overview of the process of searching for an optimum charging position executed by the parking control device 30. Every time parking control and contactless charging are executed in the parking space 2, the parking control unit 36 ​​acquires parking position information and charging result information from the position detection unit 35 and the charging result detection unit 37, respectively, and stores them in the memory unit 32. The parking position information acquired from the position detection unit 35 is information about a target parking position that includes, for example, an offset amount.

[0047] The parking control unit 36 ​​searches for the optimum charging position based on the parking position information and charging result information stored in the memory unit 32. The parking control unit 36 ​​sets an offset amount obtained by searching for the parking target position so that the parking target position of the parking control in the parking space 2 coincides with the optimum charging position. In this way, the parking control unit 36 ​​can park the vehicle 10 at the optimum charging position in the parking space 2 by parking control.

[0048] To explain the process of searching for the optimum charging position in more detail, in this 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 target parking position only in a first direction (e.g., the Y direction), which is one of the X direction and the Y direction, to search for the optimum charging position in the first direction, and after searching for the optimum charging position in the first direction, offsets the target parking position in a second direction (e.g., the X direction), which is the other direction, to search for the optimum charging position in the second direction.

[0049] As shown in (a) of Figure 6, the parking control unit 36 ​​offsets the target parking position, which is determined to be a position where both the deviation in the X direction and the deviation in the Y direction are zero, by ΔY (e.g., 2 mm) in the negative Y direction each time parking control and contactless charging are performed in the parking space 2. The parking control unit 36 ​​then searches for a position where the charging power in the Y direction is at its maximum value Py_max, i.e., a position where the actual Y deviation is zero. Note that (a) and (b) of Figure 6 show an example of searching for a position where the charging power is at its maximum value, but the parking control unit 36 ​​may also search for a position where the charging efficiency is at its maximum value.

[0050] After searching for the optimum charging position in the Y direction, the parking control unit 36 ​​offsets the target parking position by ΔX (e.g., 2 mm) to the positive side in the X direction each time parking control and contactless charging are performed in the parking space 2, as shown in FIG. 6(b). The parking control unit 36 ​​then searches for a position where the charging power is at its maximum in the X direction, i.e., a position where the actual X deviation is zero. The position where the actual Y deviation and actual X deviation are zero is the optimum charging position, and therefore the charging power is at its maximum value P_max.

[0051] In this way, the parking control unit 36 ​​performs offset processing for each direction, specifically in the order of the Y direction and the X direction, and therefore can search for the optimum charging position using a simple algorithm.

[0052] When parking control and contactless charging are performed for the first time in parking space 2, it is unclear in which direction the target parking position in control is located relative to the optimum charging position, so the parking control unit 36, for example, first offsets the target parking position to the positive side in the Y direction. If the charging power decreases, it is estimated that the positive side is the direction in which the actual Y deviation increases, so the next time contactless charging is performed, the target parking position is offset to the negative side in the Y direction. The same applies to the X direction.

[0053] Next, an example of the process of searching for the optimum charging position by the parking control device 30 will be described with reference to the flowcharts shown in Fig. 7 to Fig. 9. The parking control device 30 repeatedly executes this flowchart every time it performs parking control and contactless charging in the parking space 2. Note that this flowchart shows an example of searching for a position where the charging power is at its maximum, but the parking control device 30 may also search for a position where the charging efficiency is at its maximum.

[0054] The parking control device 30 first determines whether or not this contactless charging is being performed for the first time in the target parking space 2 (step S100). For example, if the memory unit 32 stores the charging result information and the target parking position associated with each other when contactless charging was previously performed in the parking space 2, the parking control device 30 determines that this contactless charging is not being performed for the first time in the parking space 2.

[0055] If it is determined that this wireless charging is being performed for the first time in the parking space 2 (step S100: YES), the parking control device 30 associates the current offset amount with the charging power and stores them in the storage unit 32 (step S102). The offset amount here includes an X offset amount, which is a predetermined distance in the X direction, and a Y offset amount, which is a predetermined distance in the Y direction. Because this wireless charging is being performed for the first time in the parking space 2 and no offset processing has been performed in the past, the X offset amount and the Y offset amount are stored as zero in the storage unit 32.

[0056] The parking control device 30 stores the current charging power as the maximum charging power at the current time in the memory unit 32 (step S104). Since this is the first time that contactless charging has been performed in the parking space 2, the current charging power is the maximum charging power at the current time.

[0057] The parking control device 30 offsets the parking target position by ΔY to the positive side in the Y direction (step S106). As a result, the parking target position the next time the vehicle 10 automatically parks in the parking space 2 will be offset to the positive side in the Y direction. Then, the parking control device 30 ends this flow chart.

[0058] When parking control and contactless charging are performed for the second or subsequent time in the target parking space 2, the parking control device 30 determines that this parking control and contactless charging is not the first time that it has been performed in the target parking space 2 (step S100: NO), and determines whether the Y search completion flag is 1 (step S108). If the search for the optimum charging position in the Y direction is completed in the Y direction search process S110 described below, the Y search completion flag becomes 1, and if 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 parking target position in terms of control is offset to the plus side of the Y direction and the search for the Y direction position of the optimum charging position is completed, or when the parking target position in terms of control is offset to the plus side of the Y direction and the Y direction position of the optimum charging position is estimated to be on the minus side rather than the plus side, 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 associates the Y offset amount and charging power of the current parking control and contactless charging and stores them in the memory unit 32 (step S204). If this is the second time parking control and contactless charging have been performed in parking space 2, 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 memory unit 32 up to this point (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 if this is the second time parking control and contactless charging have been performed in the parking space 2, the maximum charging power stored in step S104 (i.e., the first charging power) becomes the maximum charging power in the Y direction.

[0062] If the current charging power is greater than the maximum charging power in the Y direction (step S206: 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 stored in association with each other (step S208).

[0063] The parking control device 30 further offsets the parking target position by ΔY to the positive side (step S210). As a result, the parking target position the next time the vehicle 10 automatically parks in the parking space 2 is further offset to the positive side in the Y direction. For example, if this is the second time parking control and contactless charging are performed in the parking space 2, the Y offset amount is +ΔY×2. The parking control device 30 then ends this flow chart. The parking control device 30 repeatedly executes steps S204 to S210 to increase the positive Y offset amount each time parking control and contactless charging are performed in the parking space 2 until the detected charging power becomes equal to or less than the maximum charging power in the Y direction, and continues to search for the optimal charging position in the Y direction.

[0064] If the current charging power is equal to or less than 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, if the current charging power is equal to or less than the previously stored maximum charging power in the Y direction, it is estimated that any further offset to the positive side in the Y direction will result in a decrease in charging power, and therefore the search on the positive side in the Y direction is terminated.

[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 to the negative side by ΔY (step S214). As a result, the Y offset amount becomes -ΔY. Then, the parking control device 30 ends this flowchart. Note that the Y offset amount and the corresponding charging power previously stored in the memory unit 32 are retained without being deleted.

[0066] If the +Y side search completion flag is 1 (step S202: YES), the parking control device 30 associates the Y offset amount and charging power of the current parking control and contactless charging and stores them 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 in the current contactless charging.

[0067] Next, the parking control device 30 determines whether or not the current charging power is greater than the maximum charging power in the Y direction stored up to this point in time in the memory unit 32 (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 memory unit 32 in step S220, which will be described later.

[0068] If 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 stored in association with each other (step S220).

[0069] The parking control device 30 further offsets the parking target position by ΔY to the negative side (step S222). As a result, the parking target position the next time the vehicle 10 is automatically parked in the parking space 2 is further offset to the negative side in the Y direction. The parking control device 30 then ends this flow chart. The parking control device 30 repeatedly executes steps S216 to S222 to increase the negative Y offset amount each time parking control and contactless charging are performed in the parking space 2 until the detected charging power becomes equal to or less than the maximum charging power in the Y direction, and continues to search for the optimal charging position in the Y direction.

[0070] If the current charging power is equal to or less than 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, if the current charging power is equal to or less than the previously stored maximum charging power in the Y direction, it is estimated that the charging power will decrease even if the charging power is further offset to the negative side in the Y direction, and therefore the search on the negative side in 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 memory unit 32 as the Y offset amount of the parking target position the next time the vehicle 10 is automatically parked in the parking space 2 (step S226). For example, in the 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 to the positive side in the X direction (step S228). As a result, the parking target position the next time the vehicle 10 automatically parks in the parking space 2 will be offset to the positive side in the X direction. Then, the parking control device 30 ends this flow chart.

[0073] If the Y search completion flag is set to 1 in step S224, the process proceeds to YES in step S108, and the parking control unit 36 ​​determines whether the X search completion flag is 1 or not (step S112). The X search completion flag is set to 1 when the search for the optimum charging position in the X direction is completed in the X direction search process S114, which will be described later, and is set to 0 when the search is not completed. If the X search completion flag is not 1 (step S112: NO), the process 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 target parking position for control is offset to the plus side of the X direction and the search for the optimal charging position in the X direction is completed, or when the target parking position for control is offset to the plus side of the X direction and it is estimated that the optimal charging position in the X direction is on the minus side rather than the plus side, 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 the X offset amount and charging power of the current parking control and contactless charging and stores them 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 contactless 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 memory unit 32 up to this point (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 stored in association with each other (step S308).

[0078] The parking control device 30 further offsets the parking target position by ΔX to the positive side (step S310). As a result, the parking target position the next time the vehicle 10 automatically parks in the parking space 2 will be further offset to the positive side in the X direction. For example, when the X direction search process S114 is executed for the first time, the X offset amount is +ΔX×2. Then, the parking control device 30 ends this flow chart. The parking control device 30 repeatedly executes steps S304 to S310 to increase the X offset amount on the positive side each time parking control and contactless charging are executed in the parking space 2 until the detected charging power becomes equal to or less than the maximum charging power in the X direction, and continues to search for the optimal charging position in the X direction.

[0079] If 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, if the current charging power is equal to or less than the previously stored maximum charging power in the X direction, it is estimated that any further offset to the positive side in the X direction will result in a decrease in charging power, and therefore the search on the positive side in the X direction 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 to the negative side by ΔX (step S314). As a result, the X offset amount becomes -ΔX. Then, the parking control device 30 ends this flowchart. Note that the X offset amount and the corresponding charging power previously stored in the memory unit 32 are retained without being deleted.

[0081] If the +X side search completion flag is 1 (step S302: YES), the parking control device 30 associates the X offset amount and charging power of the current parking control and contactless charging and stores them 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 in the current contactless charging.

[0082] Next, the parking control device 30 determines whether or not the current charging power is greater than the maximum charging power in the X direction stored up to this point in time in the storage unit 32 (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, which will be 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 to the negative side (step S322). As a result, the parking target position the next time the vehicle 10 automatically parks in the parking space 2 is further offset to the negative side in the X direction. The parking control device 30 then ends this flow chart. The parking control device 30 repeatedly executes steps S316 to S322 to increase the negative X offset amount each time parking control and contactless charging are performed in the parking space 2 until the detected charging power becomes equal to or less than the maximum charging power in the X direction, and continues to search for the optimal charging position in the X direction.

[0085] If the current charging power is equal to or less than 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, if the current charging power is equal to or less than the previously stored maximum charging power in the X direction, it is estimated that the charging power will decrease even if the charging power is further offset to the negative side in the X direction, and therefore the search on the negative side in the X direction is terminated.

[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 the next time the vehicle 10 is automatically parked in the parking space 2 (step S326). For example, in the 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. This ends the X direction search process for the parking space 2, and the parking control device 30 ends this flow chart.

[0087] As described above, the Y-direction search process and the X-direction search process are used to set the Y-offset amount and the X-offset amount in the parking space 2, and calibration can be performed to match the target parking position with the optimum charging position, thereby improving the efficiency of contactless charging.

[0088] The search for the optimum charging position may be performed, for example, when the power transmitting device 3 is installed in a parking space 2 at home or the like. Specifically, when the power transmitting device 3 is installed in the parking space 2, the parking control device 30 may repeatedly perform parking control and contactless charging, and the X offset amount and Y offset amount may be searched for based on the flowchart described above. This makes it possible to obtain the effect of improving the efficiency of contactless charging by searching for the optimum charging position immediately after the power transmitting device 3 is installed.

[0089] (Variation) In the above-described embodiment, the parking control device 30 executes the offset processing in the X direction and the offset processing in the Y direction separately, but they may be executed simultaneously.

[0090] As shown by the bold arrow in Figure 10, the parking control device 30 may simultaneously offset the parking target position of the next parking control to be executed in the parking space 2 in both the X and Y directions. In this case, based on the fact that the charging power during contactless charging is equal on a line (the dashed-dotted line in the figure, also called an equal power line) that connects the optimum charging position in a substantially circular shape at the center, the parking control device 30 simultaneously offsets the parking target position in the X and Y directions so that the parking target position in the control approaches the optimum charging position each time parking control and contactless charging are executed in the parking space 2. With this configuration, the optimum charging position can be efficiently searched for and the number of offset processes can be reduced.

[0091] It is not necessary to simultaneously offset the target parking position in both the X and Y directions in all offset processes. For example, every time parking control and contactless charging are performed in the parking space 2, the parking control device 30 may appropriately select between simultaneously performing the X-direction offset process and the Y-direction offset process, or performing only the X-direction (or Y-direction) offset process.

[0092] Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiment may be combined in any manner without departing from the spirit of the invention.

[0093] For example, in the contactless power transfer system 1 of the embodiment described above, the coil provided in the vehicle 10 functions as a power receiving unit (i.e., a secondary coil), but the coil provided in the vehicle 10 may function as a power transmitting unit (i.e., a primary coil). In other words, the vehicle 10 in the contactless power transfer system 1 may be capable of contactless power supply, which transmits power to a power receiving device installed in the parking space 2 in a contactless manner.

[0094] In this case, every time the parking control device 30 performs parking control and contactless power feeding in the parking space 2, the parking control device 30 associates parking position information of the vehicle 10 at the time of performing contactless power feeding with power feeding result information (at least one of power feeding output and power feeding efficiency) and stores them in the storage unit 32. Then, the parking control device 30 offsets the parking target position of the parking control performed in the parking space 2 based on the past parking position information and power feeding result information stored in the storage unit 32.

[0095] 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 the parking control and contactless charging (or contactless power feeding) are performed, but the timing of the offset is not limited to this. For example, the parking control unit 36 ​​may offset the parking target position of the parking control to be executed this time by a predetermined distance by referring to past parking position information and power feeding result information immediately before performing parking control and contactless charging (contactless power feeding).

[0096] This specification describes at least the following: In parentheses, components corresponding to those in the above-described embodiments are shown as examples, but the present invention is not limited to these.

[0097] (1) A parking control device (parking control device 30) for a vehicle capable of contactless power transmission, in which power is transmitted contactlessly between a first coil (primary coil 4) installed in a parking space (parking space 2) and a second coil (secondary coil 7) installed in a 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 contactless power transmission performed at the target parking position, The parking control unit Each time the contactless power transmission is performed in the parking space, parking position information (offset amount) of the vehicle at the time of the contactless power transmission is associated with the transmission result information and stored in a storage unit (storage unit 32); The parking target position of the parking control executed in the parking space is offset based on the past parking position information and the transmission result information stored in the storage unit. Parking control device.

[0098] According to (1), even if the parking target position under control does not match the optimal position for contactless power transmission due to control variations or the like, the parking target position is offset based on past parking position information and transmission result information that are associated and stored each time contactless power transmission is performed in a parking space, thereby improving the efficiency of contactless power transmission.

[0099] (2) The parking control device according to (1), the transmission result information includes at least one of a charging output and a charging efficiency, or at least one of a power supply output and a power supply 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 supply output and the power supply efficiency, is optimized. Parking control device.

[0100] According to (2), the optimum position can be searched for based on at least one of the output and efficiency of contactless power transmission.

[0101] (3) The parking control device according to (1) or (2), The parking control unit every time the contactless power transmission is performed in the parking space, the parking target position of the parking control performed in the parking space is offset by a predetermined distance, and the parking position information and the transmission result information at the time of the contactless power transmission are associated with each other and stored in the storage unit; searching for an optimal position for the contactless 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.

[0102] According to (3), each time contactless power transmission is performed in a parking space, the optimal position for contactless power transmission in the parking space can be searched for based on past parking position information and transmission result information that are stored in association with each other, and the target parking position can be set to the optimal position, thereby improving the efficiency of contactless power transmission.

[0103] (4) The parking control device according to (3), The parking control unit offsetting the parking target position in a first direction to search for a position of the optimum position in the first direction; After searching and setting the position of the optimum position in the first direction, the parking target position is offset in a second direction perpendicular to the first direction, and the position of the optimum position in the second direction is searched for. Parking control device.

[0104] According to (4), offset processing is performed for each direction, so the optimum position can be found using a simple algorithm.

[0105] (5) The parking control device according to (3), the parking control unit simultaneously offsets the parking target position in a first direction and a second direction perpendicular to the first direction, and searches for a position in the first direction and a position in the second direction of the optimum position; Parking control device.

[0106] According to (5), offset processing is performed simultaneously in the first direction and the second direction, so that the optimum position can be efficiently searched for and the number of offset processing operations can be reduced.

[0107] (6) A parking control method for a vehicle capable of contactless power transmission, in which power is transmitted contactlessly 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), comprising: 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 contactless power transmission executed at the target parking position; a storage step of storing, in a storage unit, parking position information of the vehicle at the time of the contactless power transmission and the transmission result information in association with each other each time the contactless power transmission is performed in the parking space; an offset step of offsetting the parking target position of the parking control to be executed next time in the parking space based on the past parking position information and the transmission result information stored in the storage unit, Parking control method.

[0108] According to (6), even if the parking target position under control does not match the optimal position for contactless power transmission due to control variations or the like, the parking target position is offset based on past parking position information and transmission result information that are associated and stored each time contactless power transmission is performed in the parking space, thereby improving the efficiency of contactless power transmission. [Explanation of symbols]

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

Claims

1. A parking control device for a vehicle capable of contactless power transmission, in which power is transmitted contactlessly between a first coil installed in a parking space and a second coil installed 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 contactless power transmission performed at the target parking position, The parking control unit each time the contactless power transmission is performed in the parking space, the parking target position of the parking control performed in the parking space is offset by a predetermined distance, and parking position information of the vehicle at the time of the contactless power transmission is associated with the transmission result information and stored in a storage unit; searching for an optimal position for the contactless 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.

2. The parking control device according to claim 1, the transmission result information includes at least one of a charging output and a charging efficiency, or at least one of a power supply output and a power supply 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 supply output and the power supply efficiency, is optimized. Parking control device.

3. The parking control device according to claim 1 or 2, The parking control unit offsetting the parking target position in a first direction to search for a position of the optimum position in the first direction; After searching and setting the position of the optimum position in the first direction, the parking target position is offset in a second direction perpendicular to the first direction, and the position of the optimum position in the second direction is searched for. Parking control device.

4. The parking control device according to claim 1 or 2, the parking control unit simultaneously offsets the parking target position in a first direction and a second direction perpendicular to the first direction, and searches for a position of the optimum position in the first direction and a position of the optimum position in the second direction. Parking control device.

5. A parking control method for a vehicle capable of contactless power transmission, in which power is transmitted contactlessly between a first coil provided in a parking space and a second coil provided in the vehicle, comprising: 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 contactless power transmission performed at the target parking position; a storage step of storing, in a storage unit, parking position information of the vehicle at the time of the contactless power transmission and the transmission result information in association with each other each time the contactless power transmission is performed in the parking space; an offset step of offsetting the parking target position of the parking control to be executed next time 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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