Source: https://patents.google.com/patent/CN102300744B/en
Timestamp: 2020-04-05 02:10:09
Document Index: 36544402

Matched Legal Cases: ['art 230', 'art 230', 'art 230', 'arts 230', 'arts 230', 'arts 230', 'arts 230', 'art 460', 'art 460', 'art 460', 'art 460', 'art 220', 'art 230', 'art 230']

CN102300744B - Vehicle parking assistance device and electric vehicle equipped with same - Google Patents
Vehicle parking assistance device and electric vehicle equipped with same Download PDF
CN102300744B
CN102300744B CN2010800038704A CN201080003870A CN102300744B CN 102300744 B CN102300744 B CN 102300744B CN 2010800038704 A CN2010800038704 A CN 2010800038704A CN 201080003870 A CN201080003870 A CN 201080003870A CN 102300744 B CN102300744 B CN 102300744B
CN2010800038704A
CN102300744A (en
2010-04-21 Application filed by 丰田自动车株式会社 filed Critical 丰田自动车株式会社
2010-04-21 Priority to PCT/JP2010/057048 priority Critical patent/WO2011132272A1/en
2011-12-28 Publication of CN102300744A publication Critical patent/CN102300744A/en
2013-12-25 Publication of CN102300744B publication Critical patent/CN102300744B/en
A control device (180) controls a vehicle (100) in a manner such that a power transmission unit and a power reception unit (110) are aligned on the basis of the power reception state of the power reception unit (110). A height sensor (135) detects changes in the body height of the vehicle (100). The control device (180) uses the relationship between the power reception state and the distance between the power transmission unit and the power reception unit, which is determined in advance according to the output of the height sensor (135), to align the power transmission unit and the power reception unit (110) on the basis of the output of the height sensor (135) and the power reception state.
The parking assistance system of vehicle and the elec. vehicle that possesses this device
The elec. vehicle that the present invention relates to the vehicle parking assisting system and possess this device, particularly can put aside by being subject to electric unit to accept with cordless the electric power of the power transmission unit of the power equipment supply from being arranged at outside vehicle sending in the parking assistance system of the vehicle of electrical storage device and the elec. vehicle that possesses this device.
TOHKEMY 2007-97345 communique (patent documentation 1) discloses a kind of parking assistance system charged that can be easy.This parking assistance system possesses: the touch display of the input part that the target parking position that comprises the display part that shows peripheral situation of vehicle and input vehicle is put; And calculate the control setup of putting corresponding route, carrying out parking assistance control with target parking position.Control setup, the give and accept contraposition of section of the equipment side electric power that the vehicle side electric power that also is arranged at vehicle under predetermined condition is given and accepted section and is arranged at equipment is on the ground supported and is controlled.Preferably, parking assistance system also possesses the rearview monitoring camera (back monitor camera) that the shooting peripheral situation of vehicle carries out.And control setup is in the situation that the target parking position of taken peripheral situation has the give and accept identifier of section of indication equipment side electric power near putting, contraposition is carried out in the position of identification marking symbol.
According to this parking assistance system, what the driver can be easy is charged, and for miscellaneous sense of being charged, reduces.The vehicle (with reference to patent documentation 1) that consequently, can contribute to universal needs charging.
Patent documentation 1: TOHKEMY 2007-97345 communique
Patent documentation 2: TOHKEMY 2004-291865 communique
Patent documentation 3: TOHKEMY 2006-288034 communique
In recent years, the method for being powered as the vehicle of the charging from power equipment supply to needs, do not used the wireless power delivery mode of mains cord, power transmission cable to receive publicity.As this wireless power transmission technology, as technology likely, use as everyone knows electromagnetic induction power transmission, use the power transmission of microwave and carry out these three kinds of technology of power transmission by resonant method.
Wherein, resonant method is to make a pair of syntonizer (for example a pair of self-resonant coil) in electromagnetic field (near field) resonance, via the contactless power transmission technology of electromagnetic field power transmission, can long distance carry the large electric power of number kW (for example several meters).
In this kind of contactless method of supplying power to, in order to power efficiently, the power transmission unit of power equipment supply is very important with the contraposition that is subject to electric unit that is equipped on vehicle.That is, in the situation that use the non-contact power supply method as resonant method in order to power from power equipment supply to vehicle, in order to improve power supplying efficiency, very important with respect to the vehicle parking precision of power equipment supply.
Thereby, the objective of the invention is by being subject to electric unit accept with cordless the electric power of the power transmission unit of the power equipment supply from being arranged at outside vehicle sending and put aside in the vehicle of electrical storage device, to improve the vehicle parking precision with respect to power equipment supply.
According to the present invention, the parking assistance system of vehicle is by being subject to electric unit accept with cordless the electric power of the power transmission unit of the power equipment supply from being arranged at outside vehicle sending and this electric power is put aside in the parking assistance system of the vehicle of electrical storage device, possessing vehicle control section and height sensor.Vehicle control section, according to the electric situation that is subject to that is subject to electric unit, control vehicle and make the contraposition of carrying out the power transmission unit and being subject to electric unit.Height sensor changes for detection of the overall height of vehicle.And, vehicle control section, use with the output of height sensor correspondingly predetermined, be subject to electric situation and power transmission unit and be subject to the relation of the distance between electric unit, according to the output of height sensor be subject to electric situation to carry out the power transmission unit and be subject to the contraposition of electric unit.
Preferably, the vehicle parking assisting system also possesses filming apparatus and guiding control part.Filming apparatus is taken the outside of vehicle.The guiding control part, according to the image photographed by filming apparatus, is controlled vehicle and is made to power transmission unit guides vehicle.And, when being guided the vehicle to respect to predetermined position, power transmission unit by described control part, carry out the control of being undertaken by vehicle control section.
Preferably, and the output of height sensor correspondingly set in advance the mapping that a plurality of expressions are subject to electric situation and power transmission unit and are subject to relation between the electric unit spacing.The control part of vehicle, select mapping according to the output of height sensor, uses selected mapping, according to being subject to electric situation to carry out power transmission unit and the contraposition that is subject to electric unit.
Preferably, mapping regulation is subject to being subject to electric situation and being subject to the relation of electric unit with respect to the positional offset amount of power transmission unit of electric unit.Vehicle control section, used the mapping select according to the output of height sensor, according to what be subject to electric unit, is subject to the bias of electric situation estimated position, and the result of inferring according to this is carried out the power transmission unit and is subject to the contraposition of electric unit.
Preferably, be subject to electric unit to be fixedly installed on the car body bottom surface of vehicle.
Preferably, height sensor is arranged at the suspension of vehicle, by measuring the deflection of vehicle with respect to predetermined reference position, inspection vehicle High variation.
In addition, according to the present invention, elec. vehicle possesses: above-mentioned arbitrary parking assistance system; Be configured to the electric unit that is subject to of accepting the electric power the power transmission unit of the power equipment supply from being arranged at outside vehicle sent with cordless; Savings is by the electrical storage device of the electric power that accepted by electric unit; And accept the electric power supply and produce the electrical motor of the torque of travelling from electrical storage device.
In the present invention, the output of using the height sensor changed with the overall height that detects vehicle correspondingly predetermined, be subject to being subject to electric situation and power transmission unit and being subject to the relation between the electric unit spacing of electric unit, according to the output of height sensor be subject to electric situation to carry out the power transmission unit and be subject to the contraposition of electric unit.Thus, even change because seats, load-carrying changes in weight cause overall height, also can maintain power transmission unit and the precision that is subject to the contraposition of electric unit.Therefore, according to the present invention, improved the vehicle parking precision with respect to power equipment supply.
Fig. 1 is all constructionals drawing of the applicable vehicle electric power system of the vehicle parking assisting system of embodiment of the present invention.
Fig. 2 is in order to illustrate by the figure of the principle of resonant method power transmission.
Fig. 3 is the detailed structure view of the vehicle shown in Fig. 1.
Fig. 4 is the functional block diagram of the control setup shown in Fig. 3.
Fig. 5 illustrates to be subject to electric unit with respect to the positional offset amount of power transmission unit and the graph of a relation of power supply voltage.
Fig. 6 illustrates to be subject to the figure of electric unit with respect to the relation of the positional offset amount of power transmission unit and receiving voltage.
Fig. 7 illustrates the overall height variation of vehicle and the figure of an example of the relation of the output of height sensor.
Fig. 8 is the diagram of circuit of the parking assistance control sequence of control setup execution as shown in Figure 3.
Fig. 9 is the mode chart that the parking assistance of vehicle is controlled the main signal while carrying out.
Below, about embodiments of the present invention, be described in detail with reference to the accompanying drawings.And, to same in figure or considerable part mark prosign, no longer repeat specification.
Fig. 1 is all constructionals drawing of the applicable vehicle electric power system of the vehicle parking assisting system of embodiment of the present invention.With reference to Fig. 1, vehicle electric power system 10 comprises: vehicle 100, power equipment supply 200.Vehicle 100 comprises: be subject to electric unit 110, camera 120, Department of Communication Force 130, height sensor 135.
Be subject to electric unit 110 to be fixedly installed on the car body bottom surface of vehicle 100, be configured to cordless and accept the electric power of sending from the power supply unit 220 (aftermentioned) of power equipment supply 200.Specifically, be subject to electric unit 110 to comprise self-resonant coil (aftermentioned), resonate via electromagnetic field with the self-resonant coil comprised in power transmission unit 220, from power transmission unit 220, with cordless, be subject to electricity.Camera 120 arranges with the position relationship of power transmission unit 220 in order to detect vehicle 100, for example in the mode that can take rear view of vehicle, is installed on car body.Department of Communication Force 130 is the communication interfaces that communicate between vehicle 100 and power equipment supply 200.
Height sensor 135 is sensors that the overall height in order to detect vehicle 100 changes.As an example, height sensor 135 is arranged at the suspension of vehicle 100, by detecting vehicle, with respect to the deflection of predetermined reference position, as magnetic displacement, resistance displacement, is measured, and detects the variation of overall height.And, as height sensor 135, can use the laser displacement gauge that is arranged at the car body bottom surface, directly measure the variable in distance with road surface.Can use various known technologies to such height sensor 135.
Power equipment supply 200 comprises: supply unit 210, power transmission unit 220, illuminating part 230, Department of Communication Force 240.The commercial ac power that supply unit 210 for example will be supplied with from system power supply is transformed to High frequency power and exports power transmission unit 220 to.The frequency of the High frequency power that supply unit 210 generates is for example 1M～tens MHz.
Power transmission unit 220 is fixedly installed on the floor of parking area, is configured to the High frequency power of supplying with from supply unit 210 is sent with cordless to the electric unit 110 that is subject to of vehicle 100.Specifically, power transmission unit 220 comprises self-resonant coil (aftermentioned), by be contained in that the self-resonant coil that is subject to electric unit 110 is resonated via electromagnetic field and to transmitted electric power with cordless by electric unit 110.Illuminating part 230 arranges a plurality of on power transmission unit 220, for meaning 220 position, power transmission unit, arranges.Illuminating part 230 is such as comprising LED etc.Communication unit 240 is the communication interfaces that communicate between power equipment supply 200 and vehicle 100.
In this vehicle electric power system 10, send High frequency power from the power transmission unit 220 of power equipment supply 200, the self-resonant coil that is subject to electric coil 110 that is contained in vehicle 100 is resonated via electromagnetic field with the self-resonant coil that is contained in power transmission unit 220, thus 100 power supplies from power equipment supply 200 to vehicle.At this, in order to carry out efficiently from power equipment supply 200 to vehicle 100 power supplies, need to be to the contraposition of 100 the power transmission unit 220 that is subject to electric unit 110 and power equipment supply 200 of travelling of going forward side by side of power equipment supply 200 guided vehicles 100.In the present embodiment, vehicle 100 being controlled to minute two stages to the parking of power equipment supply 200 carries out.
At first stage, according to turning to of the image control vehicle 100 of being taken by camera 120, thus to power transmission unit 220 guided vehicles of power equipment supply 200.More specifically, take and be arranged on a plurality of illuminating parts 230 on power transmission unit 220, position and the direction of a plurality of illuminating parts 230 of image recognition by camera 120.Then, according to position and the direction of the result of this image recognition identification power transmission unit 220 and vehicle 100, according to this recognition result, control and turn to, thus to power transmission unit 220 guided vehicles 100 of power equipment supply 200.
Turn to control to finish and vehicle 100 is guided into respect to behind predetermined position, power transmission unit 220, from first stage, being switched to subordinate phase.In subordinate phase, from power transmission unit 220 to powered by electric unit 110, the electric situation that is subject to based on being subject to electric unit 110 is controlled the speed (slow down/stop) of vehicle 100, carries out thus power transmission unit 220 and the contraposition that is subject to electric unit 110.More specifically, according to being subject to being subject to electric situation to infer power transmission unit 220 and being subject to the distance between electric unit 110 of electric unit 110.Then, according to this, infer the speed (slow down/stop) that information is controlled vehicle 100, carry out thus power transmission unit 220 and the contraposition that is subject to electric unit 110.
At this, when the variation due to seats, load-carrying weight changes the overall height of vehicle 100, power transmission unit 220 and the variable in distance that is subject to electric unit 110.Thus, even be subject to electric unit 110 identical with respect to the positional offset amount (bias of road level direction) of power transmission unit 220, also can change by the electricity condition that is subject to of electric unit 110.So, in the present embodiment, according to the output of height sensor 135, make in advance the mapping that a plurality of expressions are subject to the relation of electric situation (receiving voltage) and above-mentioned positional offset amount, mapping is selected in the output based on height sensor 135.Then, use selected mapping, based on what be subject to electric unit 110, inferred by electricity condition to be subject to the positional offset amount of electric unit 110 with respect to power transmission unit 220, based on this, infer the contraposition that result is carried out power transmission unit 220 and is subject to electric unit 110.
When above-mentioned subordinate phase, the electric power size of sending from power transmission unit 220 set to such an extent that be less than in power transmission unit 220 and finished by the contraposition of electric unit 110 from power transmission unit 220 to the electric power that supplied with by electric unit 110.This is to be in order to carry out power transmission unit 220 and to be subject to the contraposition between electric unit 110 and large electric power while not needing to carry out actual power because send electric power from power transmission unit 220 in above-mentioned subordinate phase.
Then, the example about the non-contact power method of above-mentioned vehicle electric power system 10 is described.In this embodiment, use resonant method 100 to be powered from power equipment supply 200 to vehicle.
Fig. 2 is for the figure of the principle of using the resonant method power transmission is described.With reference to Fig. 2, in this resonant method, with the resonance of 2 tuning forks similarly, by two LC resonance coils with identical eigentone, in electromagnetic field (near field), resonate, the coil from a side coil to the opposing party transmits electric power via electromagnetic field.
Specifically, connect primary winding 320 on high frequency electric source 310, supply with the High frequency power of 1MHz～tens MHz by electromagnetic induction to the elementary self-resonant coil 330 with primary winding 320 magnetic couplings.Elementary self-resonant coil 330 is the LC resonators that form by the inductance of coil self and parasitic capacitance, via electromagnetic field (near field) and secondary self-resonant coil 340 resonance with resonant frequency identical with elementary self-resonant coil 330.So energy (electric power) moves to secondary self-resonant coil 340 from elementary self-resonant coil 330 via electromagnetic field.The energy (electric power) moved to secondary self-resonant coil 340 is taken out by the output primary 350 with secondary self-resonant coil 340 magnetic couplings by electromagnetic induction, to load 360, supplies with.In addition, the realization when the Q value that means elementary self-resonant coil 330 and the strength of resonance of secondary self-resonant coil 340 is for example large than 100 of the power transmission of utilizing resonant method.
And, about the corresponding relation with Fig. 1, secondary self-resonant coil 340 and output primary 350 are subject to electric unit 110 corresponding to Fig. 1's, primary winding 320 and elementary self-resonant coil 330 are corresponding to the power transmission unit 220 of Fig. 1.
Fig. 3 is the detailed structure view of the vehicle 100 shown in Fig. 1.With reference to Fig. 3, vehicle 100 comprises: electrical storage device 150, system main relay SMR1, boost converter 162, changer 164,166, dynamotor 172,174, driving engine 176, distributing means for power supply 177, drive wheel 178.In addition, vehicle 100 also comprises: secondary self-resonant coil 112, output primary 114, rectifier 140, DC/DC conv 142, system main relay SMR2, voltage sensor 190.In addition, vehicle 100 also comprises: control setup 180, camera 120, Department of Communication Force 130, height sensor 135, touch display 182, parking assistance switch (following also referred to as " PA (Parking Assist: stop auxiliary) switch ") 184, power requirement switch 186.
These vehicle 100 lift-launch driving engines 176 and dynamotor 174 are as propulsion source.Driving engine 176 and dynamotor 172,174 are connected with distributing means for power supply 177.And vehicle 100 travels by the propulsive effort of at least one party's generation of driving engine 176 and dynamotor 174.The power that driving engine 176 produces is distributed into two paths by distributing means for power supply 177.That is to say, a side is the path of transmitting to drive wheel 178, and the opposing party is the path of transmitting to dynamotor 172.
Dynamotor 172 is AC rotary motors, the phase AC synchronous motor that for example in rotor, is embedded with permanent magnet, consists of.Dynamotor 172 is used the kinetic energy of the driving engine 176 distributed via distributing means for power supply 177 and generates electricity.For example, at the charge condition of electrical storage device 150 (also referred to as " SOC (State Of Charge) ", for example by the percentage with respect to fully charged state, meaned) during lower than predefined value, driving engine 176 starts and is generated electricity by dynamotor 172, to electrical storage device 150 chargings.
Dynamotor 174 is also AC rotary motor, same with dynamotor 172, the phase AC synchronous motor that for example in rotor, is embedded with permanent magnet, consists of.Dynamotor 174 is used to put aside in the electric power of electrical storage device 150 and by least one party of the electric power of dynamotor 172 generatings and produces propulsive effort.Then, the propulsive effort of dynamotor 174 transmits to drive wheel 178.
In addition, when the braking of vehicle, when descending inclined-plane acceleration/accel reduces, as kinetic energy, potential energy and put aside mechanical energy in vehicle via drive wheel 178 rotary actuation for dynamotor 174, dynamotor 174 is worked as electrical generator.Thus, dynamotor 174 is the regeneration brake work that electric power produces braking force as the energy conversion that will travel.And, by the electric power of dynamotor 174 generatings, put aside in electrical storage device 150.
Distributing means for power supply 177 consists of the planetary wheel that comprises sun wheel, miniature gears, pinion carrier, gear ring.Miniature gears engages with sun wheel and gear ring.Pinion carrier supports miniature gears makes the miniature gears can rotation, and is linked to the bent axle of driving engine 176.Sun wheel is linked to the S. A. of dynamotor 172.Gear ring is linked to S. A. and the drive wheel 178 of dynamotor 174.
Electrical storage device 150 is the direct supplys that can recharge, such as consisting of secondary batterys such as lithium ion, ni-mhs.The electric power that electrical storage device 130 is supplied with from DC/DC conv 142 except savings, also put aside the regenerated electric power by dynamotor 172,174 generatings.And electrical storage device 150 is supplied with put aside electric power to boost converter 162.In addition, also can adopt high-capacity cond as electrical storage device 150, so long as can temporarily put aside the electric power supplied with from power equipment supply 200 (Fig. 1), carry out automotor-generator 172,174 regenerated electric power, the power buffer that put aside electric power can be supplied with to boost converter 162 can be arbitrary equipment.
System main relay SMR1 is equipped between electrical storage device 150 and boost converter 162.When system main relay SMR1 is activated at the signal SE1 that carrys out self-control device 180, electrical storage device 150 is electrically connected to boost converter 162, when signal SE1 is inactive, by the circuitry cuts between electrical storage device 150 and boost converter 162.The signal PWC of boost converter 162 based on carrying out self-control device 180 is from the voltage more than the voltage of electrical storage device 150 outputs by the boost in voltage of electrode line PL2.In addition, this boost converter 162 consists of for example DC chopper circuit.Changer 164,166 is corresponding with dynamotor 172,174 and arrange respectively.The signal PWI1 of changer 164 based on carrying out self-control device 180 drives dynamotor 172, and the signal PWI2 of changer 166 based on carrying out self-control device 180 drives dynamotor 174.In addition, changer 164,166 comprises for example three phase bridge circuit.
Secondary self-resonant coil 112 is LC resonance coils of two ends open circuits (disconnected), by the elementary self-resonant coil (aftermentioned) with electric supply installation 200, via electromagnetic field, is resonated and is subject to electricity from power equipment supply 200.The capacitive component of secondary self-resonant coil 112 is made as the parasitic capacitance of coil, but the cond at the two ends that are connected in coil also can be set.About this secondary self-resonant coil 112, the resonance frequency of the distance of the elementary self-resonant coil based on electric supply installation 200, elementary self-resonant coil and secondary self-resonant coil 112 etc., suitably setting its number of turn makes the Q value (for example, Q>100) of the strength of resonance that means elementary self-resonant coil and secondary self-resonant coil 112 and means that the changes such as κ of its degree of coupling are large.
Output primary 114 is provided in coaxial going up with secondary self-resonant coil 112, can be by electromagnetic induction and secondary self-resonant coil 112 magnetic couplings.The electric power that this output primary 114 will be accepted by secondary self-resonant coil 112 by electromagnetic induction takes out and exports to rectifier 140.Secondary self-resonant coil 112 and output primary 114 forms and is subject to electric unit 110 shown in Fig. 1.
140 pairs of alternating electromotive forces that taken out by output primary 114 of rectifier carry out rectification.DC/DC conv 142, according to the signal PWD that carrys out self-control device 180, the electric power that will be obtained by rectifier 140 rectifications is converted to voltage level the output of electrical storage device 150.System main relay SMR2 is provided between DC/DC conv 142 and electrical storage device 150.System main relay SMR2, when the signal SE2 that carrys out self-control device 180 is activated, be electrically connected on DC/DC conv 142 by electrical storage device 150, when signal SE2 un-activation, cuts off the circuit between electrical storage device 150 and DC/DC conv 142.The voltage VH that voltage sensor 190 detects between rectifier 140 and DC/DC conv 142, to control setup 180 these detected values of output.
Touch display 182 is when carrying out the parking control (following also referred to as " parking assistance control ") that vehicle 100 is guided to the stop position of expectation and stop, receive the information of the image of being taken by camera 120 from control setup 180, show the information of the image received.In addition, touch display 182 shows above-mentioned graphicinformation, and accepts the input from the user of the stop position for determining vehicle 100, and the stop position information of this input is exported to control setup 180.For this touch display 182, for example can use the telltale of automobile navigation apparatus.
Control setup 180 is based on Das Gaspedal aperture, car speed, from the signal of other various sensors, generate for driving respectively boost converter 162 and dynamotor 172,174 signal PWC, PWI1, PWI2, by the signal PWC of this generation, PWI1, PWI2 exports respectively boost converter 162, changer 164,166 to.And, when Vehicle Driving Cycle, control setup 180 activates signal SE1 and connects system main relay SMR1, and makes the inactive parting system main relay of signal SE2 SMR2.
In addition, when being opened PA switch 184 and power requirement switch 186 by the user, control setup 180 receives the information of the image of being taken by camera 120 from camera 120, the graphicinformation received to touch display 182 outputs.In addition, control setup 180 receives the information at the stop position of touch display 182 inputs by the user from touch display 182.In addition, control setup 180 also receives the detected value of the voltage VH detected by voltage sensor 190 from voltage sensor 190.And the data of control setup 180 based on above-mentioned are carried out parking assistance according to method described later, make power transmission unit 220 guided vehicles 100 to power equipment supply 200 (Fig. 1).
And in power transmission unit 220 and the contraposition that is subject to electric unit 110 of vehicle 100 while finishing, control setup 180 sends the power supply instructions via Department of Communication Force 130 to power equipment supply 200, and activation signal SE2 and connect system main relay SMR2.In addition, control setup 180 generates for driving the signal PWD of DC/DC conv 142, the signal PWD generated to 142 outputs of DC/DC conv.Thus, start to be charged by 200 pairs of electrical storage devices 150 of power equipment supply.
PA switch 184 is to require to use camera 120 and touch display 182 to carry out the switch of parking assistance for the user.In addition, power requirement switch 186 is to require the switch to electrical storage device 150 chargings by power equipment supply 200 for the user.
Fig. 4 is the functional block diagram of the control setup 180 shown in Fig. 3.Electronic control unit) 410, turn to ECU420, vehicle ECU430, motor control ECU440, charging ECU450 with reference to Fig. 4, control setup 180 comprises: parking assistance ECU (Electronic Control Unit:.
Parking assistance ECU410, when not shown PA switch 184 and 186 unlatching of power requirement switch, the graphicinformation based on receiving from camera 120, carry out for the control to power transmission unit 220 (Fig. 1) guiding of power equipment supply 200 by vehicle 100.
Specifically, parking assistance ECU410, the graphicinformation that will receive from camera 120 is exported to touch display 182, and based on this graphicinformation identification power transmission unit 220.Be provided with a plurality of illuminating parts 230 that mean 220 position, power transmission unit and direction on power transmission unit 220.And, the image of a plurality of illuminating parts 230 of parking assistance ECU410 based on reflecting on camera 120, the position relationship of identification and power transmission unit 220 (distance and direction roughly).Parking assistance ECU410 receives the output of height sensor 135, according to the output of height sensor 135, above-mentioned position relationship is carried out to revisal.
In addition, parking assistance ECU410 receives the information at the stop position of touch display 182 inputs by the user from touch display 182.And, the recognition result of parking assistance ECU410 based on power transmission unit 220 and the stop position information received from touch display 182, to vehicle ECU430 output retreat instruction make vehicle at a predetermined velocity VS1 retreat, and to turn to ECU420 output steering instruction make with suitable direction to the power transmission unit 220 guided vehicles 100.
In addition, parking assistance ECU410 has controlled (that is to say, only retreat afterwards the state got final product without steering operation) turning to, and when vehicle 100 is guided to desired location, this situation is notified to vehicle ECU430.As an example, can be using because vehicle 100 approaches and makes power transmission unit 220 depart from the position of scheduled volume as above-mentioned desired location from the coverage of camera 120 with power transmission unit 220.Turn to the steering instruction of ECU420 based on receiving from parking assistance ECU410, the automatic control turned to practically.
Vehicle ECU430, when carrying out common travelling, exports control command according to the operating conditions of Das Gaspedal/brake pedal, the travel conditions of vehicle etc. to motor control ECU440.
When parking assistance is controlled, vehicle ECU430, when from parking assistance ECU410 reception, retreating instruction, generates the signal for driving generator motor 174 (Fig. 3) to make vehicle retreat with speed VS1, to motor control ECU440, exports.
And, when meaning vehicle 100 has been directed to the notice in desired location with respect to power transmission unit 220 from parking assistance ECU410 reception, the be subject to electric situation of vehicle ECU430 based on being subject to electric unit 110 controlled the speed (slow down/stop) of vehicle 100.Thus, carry out power transmission unit 220 and the contraposition that is subject to electric unit 110.
Specifically, vehicle ECU430 generates for making the vehicle signal that low speed VS2 retreats with specific rate VS1, to motor control ECU440, exports.And then vehicle ECU430 will require the power supply instruction of the power transmission that contraposition uses to send to power equipment supply 200 via Department of Communication Force 130, receive the detected value of the voltage VH (Fig. 3) of the receiving voltage that means to come Self Powered Device 200 from charging ECU450.And the detected value of vehicle ECU430 based on this voltage VH inferred power transmission unit 220 and the positional offset amount (the horizontal bias of road level direction) that is subject to electric unit 110.
That is to say, with respect to certain power supply voltage (output voltage of power equipment supply 200) as shown in Figure 5, the voltage VH that means receiving voltage along with power transmission unit 220 be subject between electric unit 110 apart from and change.
Fig. 6 illustrates to be subject to the figure of electric unit 110 with respect to positional offset amount and the relation between receiving voltage of power transmission unit 220.While being subject to electric unit 110 relative with power transmission unit 220, positional offset amount is made as 0.In addition, the output voltage of power equipment supply 200 is certain.
With reference to Fig. 6, curve M 1～M3 illustrates the overall height of vehicle 100 and distinguishes the relation in different situations, overall height is shown by curve M 1, M2, and M3 is the relation of the situation of step-down successively.As implied above, when the overall height of vehicle 100 changes, be subject to electric unit 110 with respect to the positional offset amount of power transmission unit 220 and the relationship change between receiving voltage.
In addition, Fig. 7 means that the overall height of vehicle 100 changes and the output of height sensor 135 between the figure of an example of relation.With reference to Fig. 7, when overall height changes, the exporting change of height sensor 135.
So in the present embodiment, as shown in Figure 6, and the output of height sensor 135 is correspondingly made in advance a plurality of expressions and is subject to the mapping of electric unit 110 with respect to positional offset amount and the relation between voltage VH (receiving voltage) of power transmission unit 220.And mapping is selected in the output based on height sensor 135, uses the mapping of this selection, based on voltage VH, infers and is subject to the positional offset amount of electric unit 110 with respect to power transmission unit 220.And, when voltage VH surpasses the value Vth of the voltage VH corresponding with the allowed value Lth of desired location bias, vehicle ECU430 stop vehicle 100.
Referring again to Fig. 4, vehicle ECU430 is based on power transmission unit 220 and be subject to the result of inferring of distance between electric unit 110, to the deceleration of motor control ECU440 output indication vehicle 100, the instruction stopped.And, in the power transmission unit 220 with completed by the contraposition of electric unit 110, when vehicle 100 stops, vehicle ECU430 sends for the power supply instruction to electrical storage device 150 chargings to power equipment supply 200 via Department of Communication Force 130, and the instruction started to 150 chargings of charging ECU450 output indication electrical storage device.
The instruction of motor control ECU440 based on from vehicle ECU430, control dynamotor 172,174 and boost converter 162.Specifically, motor control ECU440 generates for driving the signal of dynamotor 172,174 and boost converter 162, exports respectively changer 164,166 and boost converter 162 to.
Charging ECU450 receives the detected value of the voltage VH of the receiving voltage that means to come Self Powered Device 200 from voltage sensor 190 (Fig. 3), export the value of this reception to vehicle ECU430.In addition, charging ECU450, when from vehicle ECU430, receiving the charging sign on, by activating to the signal SE2 of system main relay SMR2 output, connects system main relay SMR2.And charging ECU450 generates for driving the signal of DC/DC conv 142 and exporting DC/DC conv 142 to.Thus, carry out the charging of electrical storage device 150.
In this control setup 180, by parking assistance ECU410 and turn to ECU420 form the guiding control part 460.Turning to of the image control vehicle 100 of guiding control part 460 based on being photographed by camera 120, to power transmission unit 220 guided vehicles 100 (steering pattern) of power equipment supply 200.In addition, form vehicle control section 470 by vehicle ECU430, motor control ECU440 and charging ECU450.Vehicle control section 470 is subject to electric situation (voltage VH) based on what be subject to electric unit 110, infers and is subject to the positional offset amount of electric unit 110 with respect to power transmission unit 220.And, infer result based on this speed of vehicle 100 is controlled to (slow down/stop), the contraposition (deceleration/stop mode) of carrying out thus power transmission unit 220 and being subject to electric unit 110.
Power transmission unit 220 and the positional offset amount that is subject to electric unit 110, used the receiving voltage (voltage VH) that is subject to electric unit 110 and mean power transmission unit 220 and inferred by the mapping of the relation of electric unit 110 spacings.Herein, because receiving voltage (voltage VH) exists with ... power transmission unit 220 and is subject to electric unit 110 spacings, in the present embodiment, a plurality of above-mentioned mappings are correspondingly made in the output of the height sensor 135 changed with the overall height that detects vehicle 100 in advance.And mapping is selected in the output based on height sensor 135, uses the mapping of this selection, based on voltage VH, infers and is subject to the positional offset amount of electric unit 110 with respect to power transmission unit 220.
Can substitute the receiving voltage (voltage VH) that is subject to electric unit 110, use from power transmission unit 220 to the power transmission efficiency that is subject to electric unit 110 as the index that is subject to electric situation.
Fig. 8 is the diagram of circuit of the order controlled of parking assistance that control setup is as shown in Figure 3 carried out.With reference to Fig. 8, control setup 180 determines whether by the user has opened PA switch 184 and power requirement switch 186 (step S10).When being judged to be above-mentioned switch and not opening ("No" in step S10), control setup 180 is not carried out later a series of processing and is moved to the processing of step S110.
While being judged to be PA switch 184 and 186 unlatching of power requirement switch in step S10 ("Yes" in step S10), control setup 180 determines whether and has been determined the stop position (step S20) of vehicle 100 by the user at the picture of touch display 182.
Then, when on touch display 182, determining stop position (step S20 is middle "Yes"), master mode becomes the steering pattern, the graphicinformation of control setup 180 based on from camera 120, by comprising above-mentioned parking assistance ECU410 and turning to the guiding control part 460 of ECU420 to carry out automatic steering driving (step S30).
Then, control setup 180 determines whether vehicle 100 is guided to desired location (step S40) with respect to the power transmission unit 220 of power equipment supply 200.For example, when the power transmission unit 220 reflected on touch display 182 has departed from scheduled volume from coverage, be judged to be and be directed to above-mentioned desired location.
In step S40, be judged to be ("Yes" in step S40) while having arrived desired location, master mode switches to deceleration/stop mode from the steering pattern.And, the receiving voltage (voltage VH) of control setup 180 based on accepted from power equipment supply 200 by electric unit 110, the vehicle control section 470 started by comprising vehicle ECU430, motor control ECU440 and charging ECU450 is carried out speed control (slow down/stop) (step S50).
That is to say, control setup 180 generates deceleration instruction, and speed VS1 when vehicle 100 is driven from above-mentioned automatic steering is decelerated to lower speed VS2 (step S60).In addition, control setup 180 is obtained the output (step S70) of height sensor 135.And, control setup 180 from and the output of height sensor 135 pre-prepd a plurality of expression voltage VH and being subject to the mapping of electric unit 110 with respect to the relation between the positional offset amount of power transmission unit 220 correspondingly, select mapping (step S80) according to the output of the height sensor 135 of obtaining in step S70.
Then, control setup 180 is used selected mapping, judges whether the voltage VH that means receiving voltage has surpassed predetermined threshold value Vth (Fig. 6) (step S90).And, when being judged to be voltage VH and having surpassed threshold value Vth ("Yes" in step S90), control setup 180 generates halt instructions, stop vehicle 100 (step 100).
When vehicle 100 stops, control setup 180 sends the power supply instruction to power transmission equipment 200, by power transmission equipment 200, starts the charging (step S110) to electrical storage device 150.
Fig. 9 is the mode chart that the parking assistance of vehicle is controlled the main signal while carrying out.With reference to Fig. 9, before moment t1, by guiding control part 460 (Fig. 3), turned to control (steering pattern).The astern speed of the vehicle 100 in the steering pattern is set as VS1.
At moment t1, in the steering pattern, when vehicle 100 is guided to desired location with respect to power transmission unit 220, master mode switches to deceleration/stop mode from the steering pattern, is carried out the speed of vehicle 100 by vehicle control section 470 (Fig. 3) and controls.At this regularly, the astern speed of vehicle 100 is decelerated to the speed VS2 lower than VS1.
Along with vehicle 100 be subject to the power transmission unit 220 of electric unit 110 close to power equipment supply 200, mean to come the voltage VH of the receiving voltage of Self Powered Device 200 to rise.Then, at moment t2, when voltage VH reaches the threshold value Vth stipulated in the mapping that the output based on height sensor 135 selects, be judged as power transmission unit 220 and entered in permissible range by the positional offset amount of electric unit 110, set the speed of a motor vehicle and become 0, stop vehicle 100.Afterwards, at moment t3, master mode switches to charge mode from deceleration/stop mode, and the charging instruction of indication 150 chargings from power equipment supply 200 to electrical storage device is opened.
As mentioned above, in the present embodiment, the output of using the height sensor 135 changed with the overall height that detects vehicle 100 correspondingly predetermined, be subject to being subject to electric situation and being subject to the relation of electric unit 110 with respect to the positional offset amount of power transmission unit 220 of electric unit 110, according to the output of height sensor 135 be subject to electric situation to carry out power transmission unit 220 and be subject to the contraposition of electric unit 110.Thus, even change because seats, load-carrying changes in weight cause overall height, also can maintain power transmission unit 220 and the precision that is subject to the contraposition of electric unit 110.Therefore, according to present embodiment, improve the stopping accuracy of vehicle with respect to power equipment supply 200.
In the above-described embodiment, the vehicle 100 of take carries out rear parking with respect to power equipment supply 200 and camera 120 is configured in to vehicle rear as prerequisite, but, in the situation that vehicle 100 is stop ahead with respect to power equipment supply 200, camera 120 can be configured in to front part of vehicle.
In addition, in above-mentioned middle use resonant method from power equipment supply 200 to vehicle 100 with the cordless power transmission, but 100 power transmission method might not be defined in resonant method from power equipment supply 200 to vehicle, can be also other power transmissions as the use electromagnetic induction of noncontact power transmission method, use the power transmission of microwave.In above-mentioned power transmission method, also can based on from power equipment supply 200 to vehicle 100 power supply situation infer power transmission unit 220 and be subject to the distance between electric unit 110.
In addition, in above-mentioned, based on illuminating part 220 position, 230 pairs of power transmission unit and direction, carry out image recognition, but illuminating part 230 can be set and the shape of power transmission unit 220 etc. is carried out to image recognition.By illuminating part 230 is set as embodiment described above, also can identify 220 position, power transmission unit and direction at night.
In addition, as mentioned above, as 100 pairs, vehicle can by distributing means for power supply 177 distribute the power of driving engines 176 and be delivered to drive wheel 178 and dynamotor 172 series connection/the parallel connection type hybrid electric vehicle is illustrated, but the present invention also can be applicable to other forms of hybrid electric vehicle.That is to say, for example, the present invention can be applicable to: only in order to drive dynamotor 172, use driving engine 176, only by dynamotor 174, produce propulsive effort, the so-called series-connection hybrid electric vehicle of vehicles; In the kinergety that driving engine 176 generates only regenerated energy as the recoverable hybrid electric vehicle of electricity; Carry out auxiliary motor auxiliary type hybrid electric vehicle etc. by motor as required using driving engine as active force.
In addition, the present invention can also be applicable to not possess driving engine 176 and the electronlmobil that only sails the electricity consumption Lixing; Also possesses the fuel-cell vehicle of fuel cell outside electrical storage device 150 as direct supply.In addition, the vehicle that the present invention can also be applicable to not possess the vehicle of boost converter 162, not possess DC/DC conv 142.
Should think that this disclosed embodiment is all exemplary rather than restrictive in all respects.Scope of the present invention can't help above-mentioned embodiment explanation and by claim, meaned, it comprises and the meaning of claim equalization and all changes in scope.
10 vehicle electric power systems, 100 vehicles, 110 are subject to electric unit, 112, 340 level self-resonant coils, 114, 350 output primary, 120 cameras, 130, 240 Department of Communication Forces, 135 height sensors, 140 rectifiers, the 142DC/DC conv, 150 electrical storage devices, 162 boost converters, 164, 166 changers, 172, 174 dynamotors, 176 driving engines, 177 distributing means for power supply, 178 drive wheels, 180 control setups, 182 touch displays, the 184PA switch, 186 power requirement switches, 190 voltage sensors, 200 power equipment supply, 210 supply units, 220 power transmission unit, 230 illuminating parts, 310 high frequency electric sources, 320 primary windings, 330 elementary self-resonant coils, 360 loads, 410 parking assistance ECU, 420 turn to ECU, 430 vehicle ECU, 440 motor control ECU, 450 charging ECU, 460 guiding control parts, 470 vehicle control section, SMR1, the SMR2 system main relay.
1. the parking assistance system of a vehicle, this vehicle (100) can be by being subject to electric unit (110) accept with cordless the electric power of the power transmission unit (220) of the power equipment supply (200) from being arranged at outside vehicle sending and this electric power is put aside in electrical storage device (150), and the parking assistance system of described vehicle possesses:
Vehicle control section (470), it is according to the described electric situation that is subject to that is subject to electric unit, controls described vehicle and makes and carry out described power transmission unit and the described contraposition that is subject to electric unit; And
The height sensor (135) changed for detection of the overall height of described vehicle,
Described vehicle control section, use and the output of described height sensor predetermined, described electric situation and described power transmission unit and the described relation that is subject to the distance between electric unit of being subject to correspondingly, according to the output of described height sensor with describedly be subject to electric situation to carry out described contraposition.
2. the parking assistance system of vehicle as claimed in claim 1 wherein, also possesses:
Take the filming apparatus (120) of the outside of described vehicle; And
Guiding control part (460), it,, according to the image photographed by described filming apparatus, is controlled described vehicle and makes to the described vehicle of described power transmission unit guides,
When guiding to respect to predetermined position, described power transmission unit by described guiding control part by described vehicle, carry out the control of being undertaken by described vehicle control section.
3. the parking assistance system of vehicle as claimed in claim 1, wherein,
And the output of described height sensor correspondingly sets in advance the described mapping that is subject to relation between electric situation and described distance of a plurality of expressions,
Described vehicle control section, select described mapping according to the output of described height sensor, uses selected mapping, according to described, is subject to electric situation to carry out described contraposition.
4. the parking assistance system of vehicle as claimed in claim 3, wherein,
Described electric situation and the described relation of electric unit with respect to the positional offset amount of described power transmission unit that be subject to of being subject to of described mapping regulation,
Described vehicle control section, used the described mapping of selecting according to the output of described height sensor, according to described, is subject to electric situation to infer described positional offset amount, and the result of inferring according to this is carried out described contraposition.
5. the parking assistance system of vehicle as claimed in claim 1, wherein,
The described car body bottom surface that is subject to electric unit to be fixedly installed on described vehicle.
6. the parking assistance system of vehicle as claimed in claim 1, wherein,
Described height sensor is arranged at the suspension of described vehicle, by measuring the deflection of described vehicle with respect to predetermined reference position, detects described overall height and changes.
7. an elec. vehicle, this vehicle possesses:
Parking assistance system as described as any one in claim 1 to 6;
Be configured to accept with cordless the electric power the power transmission unit (220) of the power equipment supply (200) from being arranged at outside vehicle sent be subject to electric unit (110);
Savings is by the described electrical storage device (150) that is subject to the electric power of electric unit acceptance; And
Accept the electric power supply and produce the electrical motor (174) of the torque of travelling from described electrical storage device.
CN2010800038704A 2010-04-21 2010-04-21 Vehicle parking assistance device and electric vehicle equipped with same CN102300744B (en)
PCT/JP2010/057048 WO2011132272A1 (en) 2010-04-21 2010-04-21 Vehicle parking assistance device and electric vehicle equipped with same
CN102300744A CN102300744A (en) 2011-12-28
CN102300744B true CN102300744B (en) 2013-12-25
ID=44833831
CN2010800038704A CN102300744B (en) 2010-04-21 2010-04-21 Vehicle parking assistance device and electric vehicle equipped with same
US (1) US8655530B2 (en)
JP (1) JP4868093B2 (en)
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WO (1) WO2011132272A1 (en)
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