1. A parking assist system is characterized in that,

the parking assist system includes:

a vehicle state recognition unit that recognizes a relative position between a power transmission unit that transmits power in a non-contact manner to a power reception unit mounted on a vehicle in order to charge a battery mounted on the vehicle and the power reception unit; and

an alignment support unit that causes an image display device mounted on the vehicle to display alignment support information indicating the relative position between the power receiving unit and the power transmitting unit recognized by the vehicle state recognition unit,

the alignment support unit includes:

a delay recognizing unit that recognizes a display delay time from when the vehicle state recognizing unit recognizes the relative position to when the alignment support information indicating the relative position is displayed on the image display device; and

and a delay correcting unit that corrects the relative position indicated by the alignment support information to be displayed on the image display device by an amount corresponding to the display delay time recognized by the delay recognizing unit.

2. The parking support system according to claim 1,

the delay identifying section further identifies a vehicle response delay time that is a delay time of an action of the vehicle with respect to an operation command in the vehicle,

the delay correction unit corrects the relative position indicated by the alignment support information displayed on the image display device by an amount corresponding to the vehicle response delay time in addition to the display delay time recognized by the delay recognition unit.

3. The parking assist system according to claim 2,

the delay identifying part identifies the display delay time according to a speed of the vehicle, and identifies the vehicle response delay time based on information on a correlation between an operation of a brake of the vehicle and a responsiveness of the brake.

4. The parking assist system according to any one of claims 1 to 3,

the alignment support unit causes the image display device to display the alignment support information including a line segment extending in a traveling direction of the vehicle in accordance with information of a steering angle of the vehicle with the power receiving unit as a base point.

Background

A parking assist system is proposed in which operation timing of a vehicle is displayed in a superimposed manner on a video of a camera, and a drawing position of a stop start instruction mark is set based on a current position of the vehicle and vehicle speed information (see, for example, patent document 1).

[ Prior Art document ]

Patent document 1: japanese patent No. 5751383

Disclosure of Invention

Problems to be solved by the invention

However, when the user parks the vehicle while referring to the information for assisting the alignment of the vehicle displayed on the image output device, there is a possibility that the timing of stepping on the brake pedal or the like is delayed. Therefore, the accuracy of the relative positioning of the power receiving unit mounted on the vehicle with respect to the power transmitting unit provided in the parking space may be unduly lowered from the viewpoint of efficient charging of the in-vehicle battery.

Accordingly, an object of the present invention is to provide a system for supporting driving of a vehicle by a user so that relative positioning accuracy between a power transmission unit and a power reception unit can be improved.

Means for solving the problems

The parking assist system according to the present invention is characterized in that,

the parking assist system includes:

a vehicle state recognition unit that recognizes a relative position between a power transmission unit that transmits power in a non-contact manner to a power reception unit mounted on a vehicle in order to charge a battery mounted on the vehicle and the power reception unit; and

an alignment support unit that causes an image display device mounted on the vehicle to display alignment support information indicating the relative position between the power receiving unit and the power transmitting unit recognized by the vehicle state recognition unit,

the alignment support unit includes:

a delay recognizing unit that recognizes a display delay time from when the vehicle state recognizing unit recognizes the relative position to when the alignment support information indicating the relative position is displayed on the image display device; and

and a delay correcting unit that corrects the relative position indicated by the alignment support information to be displayed on the image display device by an amount corresponding to the display delay time recognized by the delay recognizing unit.

According to the parking assist system having this configuration, the relative position between the power transmitting unit and the power receiving unit indicated by the registration assist information is corrected by an amount corresponding to the display delay time. The "display delay time" is a delay time from the recognition of the relative position between the power transmitting unit and the power receiving unit to the display of the positioning assistance information indicating the relative position on the image display device mounted on the vehicle. The "relative position" is a concept including a relative position and posture (relative arrangement relationship) of two units in addition to a relative position of the two units. The image display device may be mounted on the vehicle constantly, or may be carried by the user and temporarily mounted on the vehicle.

Therefore, the user can accurately position the power receiving unit mounted on the vehicle with respect to the power transmitting unit provided in the parking space by operating the vehicle while referring to the positioning support information displayed on the image display device.

The "identification" information includes a concept including all arithmetic processing for receiving the information, reading the information from the storage device, searching the information from a database or the like, calculating, specifying, estimating, and determining the information or the like based on the read information or the search information, storing the information specified by the calculation or the like in the storage device, and bringing the information into a state usable in the next processing or the like.

In the parking assist system, it is preferable that,

the delay identifying section further identifies a vehicle response delay time that is a delay time of an action of the vehicle with respect to an operation command in the vehicle,

the delay correction unit corrects the relative position indicated by the alignment support information displayed on the image display device by an amount corresponding to the vehicle response delay time in addition to the display delay time recognized by the delay recognition unit.

According to the parking assist system of this configuration, the relative position indicated by the registration assist information is corrected by the amount corresponding to the vehicle response delay time in addition to the display delay time. The "vehicle response delay time" refers to a delay time of the motion of the vehicle with respect to an operation command in the vehicle. Therefore, the user can accurately position the power receiving unit mounted on the vehicle operated by the user with respect to the power transmitting unit provided in the parking space by operating the vehicle while referring to the positioning support information displayed on the image display device.

In the parking assist system, it is preferable that,

the delay identifying part identifies the display delay time according to a speed of the vehicle, and identifies the vehicle response delay time based on information on a correlation between an operation of a brake of the vehicle and a responsiveness of the brake.

According to the parking assist system having this configuration, the display delay time is recognized by adding a tendency that the moving distance of the vehicle corresponding to the display delay time becomes longer as the speed of the vehicle becomes higher. In addition, the vehicle response delay time is identified based on the responsiveness of the brake action of the vehicle in accordance with the brake operation. Thus, the relative position indicated by the registration assistance information is appropriately corrected in consideration of the speed of the vehicle when parking in the parking space and the brake response characteristic of the vehicle.

In the parking assist system, it is preferable that,

the alignment support unit causes the image display device to display the alignment support information including a line segment extending in a traveling direction of the vehicle in accordance with information of a steering angle of the vehicle with the power receiving unit as a base point.

According to the parking assistance system having the above configuration, a line segment extending along the traveling direction of the vehicle according to the steering angle of the vehicle is displayed on the image display device as the alignment assistance information. Therefore, the user can determine whether or not the steering amount of the vehicle for aligning the two units is appropriate by checking whether or not the line segment included in the alignment support information passes through the power transmission unit or faces the power transmission unit. Further, the user can position the power receiving unit mounted on the vehicle with respect to the power transmitting unit provided in the parking space with high accuracy.

Drawings

Fig. 1 is an explanatory diagram relating to a configuration of a parking assist system as an embodiment of the present invention.

Fig. 2 is an explanatory diagram relating to functions of a parking assist system as an embodiment of the present invention.

Fig. 3A is an explanatory diagram relating to relative positions of the parking space and the vehicle.

Fig. 3B is an explanatory diagram of relative positions of the power transmitting unit and the power receiving unit.

Fig. 4A is an explanatory diagram relating to a shift of the parking position according to a display delay and a vehicle response delay.

Fig. 4B is an explanatory diagram relating to the corrected relative position indicated by the alignment support information and the actual parking position.

Fig. 5 is an explanatory diagram relating to a display example of the registration support information.

Description of reference numerals:

1 · non-contact charging system, 2 · vehicle, 10 · power transmission unit, 12 · charging control device, 20 · power reception unit, 21 · storage battery, 22 · vehicle-mounted control device, 24 · sensor group, 200 · parking support system, 210 · vehicle state recognition unit, 220 · alignment support unit, 221 · delay recognition unit, 222 · delay correction unit, 241 · input interface, 242 · output interface, 2422 · image display device.

Detailed Description

(Structure)

(configuration of parking assistance System)

A parking assistance system 200 according to an embodiment of the present invention shown in fig. 1 is mounted on a vehicle 2. The non-contact charging system 1 for non-contact charging of a battery 21 mounted on a vehicle 2 includes a power transmission unit 10 and a charge control device 12. The contactless charging system 1 has a function of communicating with the vehicle 2.

The power transmission unit 10 transmits power in a non-contact manner to the power reception unit 20 mounted on the vehicle 2 in order to charge the battery 21 mounted on the vehicle 2. The power transmission unit 10 is provided in, for example, a parking space of the vehicle 2.

The charging control device 12 controls the power transmission operation of the power transmission unit 10. The charging control device 12 is configured by an arithmetic processing device (e.g., a CPU, a single-core processor, a multi-core processor, etc.). The arithmetic processing device reads necessary data and a program (software) from a storage device (for example, an HDD, a memory, or an SSD configured from the memory) and executes arithmetic processing according to the program with the data as an object.

(Structure of vehicle)

Vehicle 2 shown in fig. 1 includes power receiving unit 20, battery 21, in-vehicle control device 22, sensor group 24, input interface 241, and output interface 242.

The power receiving unit 20 receives power from the power transmitting unit 10 provided at a predetermined location in a non-contact manner in order to charge the battery 21. The battery 21 is constituted by, for example, a lithium ion secondary battery. The in-vehicle control device 22 appropriately controls the operations of the components of the vehicle 2 based on output signals of various sensors constituting the sensor group 24.

The in-vehicle control device 22 includes a parking assist system 200. As in the charging control device 12, the in-vehicle control device 22 is configured by a storage device (for example, an HDD, a memory, or an SSD configured by the storage device) and an arithmetic processing device (for example, a CPU, a single-core processor, a multi-core processor, or the like) that reads necessary data and programs (software) from the storage device and executes arithmetic processing in accordance with the programs with the data as an object. The input interface 241 is configured by buttons and switches of a touch panel system, an audio input device added as needed, and the like. The output interface 242 includes an image display device 2422 and an audio output device.

The parking assistance system 200 includes a vehicle state recognition unit 210 and a registration assistance unit 220. Vehicle state recognition unit 210 recognizes a vehicle state such as a relative position of power reception unit 20 with respect to power transmission unit 10 based on communication with vehicle 2 or its in-vehicle control device 22. The alignment assisting unit 220 causes the image display device 2422 constituting the output interface 242 of the vehicle 2 to display the alignment assisting information indicating the relative position of the power receiving unit 20 with respect to the power transmitting unit 10 recognized by the vehicle state recognition unit 210. The alignment support unit 220 includes a delay recognition unit 221 and a delay correction unit 222. The delay recognizing unit 221 recognizes a display delay time from the recognition of the relative position by the vehicle state recognizing unit 210 to the display of the positioning support information indicating the relative position on the image display device 2422. The delay correcting unit 222 corrects the relative position indicated by the alignment support information displayed on the image display device 2422 constituting the output interface 242 of the vehicle 2 by an amount corresponding to the display delay time recognized by the delay recognizing unit.

The parking assistance system 200, and the vehicle state recognition unit 210 and the alignment assistance unit 220 that constitute the parking assistance system 200 are constituted by an arithmetic processing device (for example, a CPU, a single-core processor, a multi-core processor, or the like). The arithmetic processing device reads necessary data and a program (software) from a storage device (for example, an HDD, a memory, or an SSD configured from the memory) and executes arithmetic processing according to the program with the data as an object.

The in-vehicle control device 22, the input interface 241, and the output interface 242 may be configured as in-vehicle devices that are constantly mounted on the vehicle 2, or may be configured as information processing terminals such as smart phones and tablet terminals that are carried by the user and are temporarily mounted on the vehicle 2.

(function)

An embodiment of the function of the parking assist system 200 configured as described above will be described with reference to the flowchart of fig. 2. As shown in fig. 3A, this function is exhibited after vehicle 2 mounted with power receiving unit 20 approaches a parking space in which power transmitting unit 10 is installed and communication between contactless charging system 1 and vehicle 2 is established.

First, in the vehicle 2, based onThe vehicle state recognition unit 210 recognizes the position, the vehicle speed, and the steering angle of the vehicle 2 from the output signals of the positioning sensor, the vehicle speed sensor, and the steering angle sensor constituting the sensor group 24 (fig. 2/step 202). The positioning sensor is constituted by, for example, a GPS and an acceleration sensor added as needed. In this case, the coordinate values (defined by latitude and longitude) of the vehicle 2 in the world coordinate system are detected based on the GPS signal (or the GPS signal and the acceleration signal). The positioning sensor may be constituted by an imaging device (for example, a single-eye CCD camera or a compound-eye camera) and/or a distance measuring sensor (for example, a TOF sensor). In this case, it is also possible to detect the position and posture of the vehicle 2 fixed to the power transmission unit 10 and having the origin P as shown in fig. 3B, based on the captured image representing the situation around the vehicle 2 including the power transmission unit 10 captured by the imaging device and/or the distance from the vehicle 2 to the power transmission unit 10 measured by the distance measuring sensor₁Power transmission unit coordinate system (X)₁、Y₁) The coordinate value of vehicle 2.

Further, vehicle state recognition unit 210 recognizes the relative position of power reception unit 20 with respect to power transmission unit 10 based on the detection result of the position of vehicle 2 in the detection result (fig. 2/step 204). Specifically, the position P of the power transmission unit 10 shown in fig. 3B is read out from the storage device cooperating with the charge control device 12 by the vehicle state recognition unit 210₁(coordinate values in the world coordinate system). Further, position P of power receiving unit 20 shown in fig. 3B is acquired based on the position of vehicle 2 (coordinate value in the world coordinate system) which is one of the vehicle states₂(coordinate values in the world coordinate system). In the world coordinate system, the deviation of the coordinate values of the power receiving unit 20 with respect to the power transmitting unit 10 is defined as the relative position of the power receiving unit 20 with respect to the power transmitting unit 10. The detection result of the position of the vehicle 2 may be based on the power transmission unit coordinate system (X) shown in fig. 3B₁、Y₁) If the coordinate value is represented by (1), the position P of the power receiving unit 20 in the power transmission unit coordinate system is obtained from the detection result₂。

The relative position also includes the relative attitude, i.e., the coordinate system (X) of the power transmission unit shown in FIG. 3B₁、Y₁) Power receiving unit coordinate system (X) with reference to attitude in world coordinate system₂、Y₂) The concept of pose in the world coordinate system.

Then, the delay identifying unit 221 identifies the display delay time Δ t₁And vehicle response delay time Deltat₂(FIG. 2/step 206). The display delay time Δ t schematically shown in FIG. 4A₁Is a delay time from the recognition of the relative position of the two units by the vehicle state recognition unit 210 to the display of the registration assistance information indicating the relative position on the image display device 2422 constituting the output interface 242 of the vehicle 2. The vehicle response delay time Δ t schematically shown in FIG. 4A₂Is a delay time of an action of the vehicle 2 (e.g., a brake action based on a brake) with respect to an operation command (e.g., a brake operation command) in the vehicle 2.

For example, when the vehicle 2 is moving at the vehicle speed v in the parking space, as shown in fig. 4A, t is equal to t at time t₀Position P of power receiving unit 20₂The case where the electric current is included in the chargeable area S is considered. For example, as shown in fig. 3B, the chargeable area S is a center position P of the power transmitting unit 10₁A rectangular region having a height Δ x and a width Δ y as references.

In this case, the time t is represented as t₀The positioning support information of the relative positions of the two units is represented schematically in fig. 4A at a time t equal to t₀Late display delay time Δ t₁Time t ═ t₁＝t₀+Δt₁Displayed on an image display device 2422 constituting the output interface 242 of the vehicle 2. During this period, the vehicle 2 is displaced by a distance Δ P₁＝v×Δt₁Position P of the power receiving unit 20₂There is a possibility of deviation from the chargeable area S.

Then, at time t, t is equal to t₁＝t₀+Δt₁Based on the positioning support information displayed on the image display device 2422 constituting the output interface 242 of the vehicle 2, the user (driver) depresses the brake pedal in order to stop the vehicle 2. It is assumed that the response delay of the living body during this period is so small as to be inconspicuous. Accordingly, at the time t, which is schematically shown in fig. 4A, t is equal to t₁Delayed vehicle response delay time Δ t₂Time t ═ t₂＝t₀+Δt₁+Δt₂The brake (braking device) is actuated to stop the vehicle 2. During this time, the vehicle 2 is further displaced by a distance Δ P₂＝v×Δt₂Position P of the power receiving unit 20₂The possibility of deviation from the chargeable area S is further increased.

Then, the delay correcting unit 222 corrects the relative position indicated by the registration support information to be displayed on the image display device 2422 constituting the output interface 242 and the display delay time Δ t recognized by the delay recognizing unit 221₁And vehicle response delay time Deltat₂Corresponding amount (fig. 2/step 208). Based on the detection result of vehicle speed v in the state of vehicle 2 (see fig. 2/step 202) recognized by vehicle state recognition unit 210, the relative position of power reception unit 20 with respect to power transmission unit 10 is corrected so that vehicle 2 has traveled the distance Δ P ═ Δ P₁+ΔP₂＝v×(Δt₁+Δt₂) The relative position of the time.

Then, the alignment support unit 220 generates alignment support information indicating the corrected relative position (fig. 2/step 210). For example, a simulated overhead image img (top) of the vehicle 2 shown on the right side of fig. 5 is generated as the positioning support information, and an image img20 representing the power receiving unit 20 is arranged at a corrected relative position to the image img10 representing the power transmitting unit 10.

In the present embodiment, a pair of left and right line segments Q extending from the image img20 showing the power receiving unit 20 in the traveling direction of the vehicle 2 corresponding to the steering angle is superimposed as shown on the right side of fig. 5 based on the detection result of the steering angle in the state of the vehicle 2 (see fig. 2/step 202) recognized by the vehicle state recognition unit 210_LAnd line segment Q_RThe overhead image img (top) of (a) is used as the alignment support information. The number of the line segments may be 1 or 3 or more.

Further, as the registration support information, the information captured by the rear camera constituting the sensor group 24 is generated as shown on the left side of fig. 5The vehicle rear image img (rear) is an image img10 showing the situation in which the image img10 of the power transmission unit 10 is arranged behind the vehicle 2 with a shift from the actual imaging position by the amount corresponding to the correction amount of the relative position. Then, a pair of left and right line segments Q are generated as alignment support information_LAnd line segment Q_RThe vehicle rear image img (rear). The coordinate conversion between the world coordinate system or the power transmission unit coordinate system and the captured image coordinate system is realized by a rotation matrix and a translation matrix indicating the relative position of the power reception unit 20 with respect to the power transmission unit 10.

The alignment support information is displayed on the image display device 2422 constituting the output interface 242 by the alignment support unit 220 (fig. 2/step 212). As a result, as shown in fig. 5, the vehicle rear image img (rear) and the overhead image img (top) are displayed on the image display device 2422 as the positioning support information.

(Effect)

According to the parking assistance system 200 having the above-described configuration, the relative position between the power transmission unit 10 and the power reception unit 20 indicated by the alignment assistance information is corrected and the display delay time Δ t is displayed₁And vehicle response delay time Deltat₂The corresponding amount.

In this case, as shown in fig. 4B in a simulated manner, time t is t ═ t₀-(Δt₂+Δt₁) The relative positions of the two units are corrected to assume that the vehicle 2 has traveled by the correction amount Δ P ═ Δ P₁+ΔP₂Relative position in the case of (1). Then, the alignment assistance information indicating the corrected relative position is set to t at a time t higher than the time t₀Delayed display delay time Δ t₁Time t ═ t₀-Δt₂Displayed on an image display device 2422 constituting the output interface 242 of the vehicle 2. Thus, although at time t, t equals t₀-(Δt₂+Δt₁) And time t equals t₀-Δt₂Position P of the power receiving unit 20₂Actually deviated from the chargeable area S but indicating the position P of the power receiving unit 20₂The positioning support information included in the chargeable area S is set to t at time t₀-Δt₂Displayed on the image display device 2422.

Then, the time t is t₁＝t₀-Δt₂The user (driver) depresses the brake pedal to stop the vehicle 2 in response to the positioning support information displayed on the image display device 2422 constituting the output interface 242 of the vehicle 2. Accordingly, at the time t, which is schematically shown in fig. 4B, t is equal to t₀-Δt₂Delayed vehicle response delay time Δ t₂Time t ═ t₀The brake (brake device) is operated to stop the vehicle 2. During this time, the vehicle 2 is further displaced by a distance Δ P₂＝v×Δt₂And thus position P of the power receiving unit 20₂Is contained in the chargeable area S.

In this way, the user can perform highly accurate alignment of the power receiving unit 20 mounted on the vehicle 2 with respect to the power transmitting unit 10 provided in the parking space by operating the vehicle 2 while referring to the alignment assistance information displayed on the image display device 2422.

Further, the image display device 2422 displays a line segment Q including a base point of the power receiving unit 20 (or the image img20 thereof) and extending in the vehicle traveling direction according to the information of the steering angle of the vehicle 2_LAnd line segment Q_RThe positioning support information (see fig. 5). Therefore, the user can confirm the line segment Q included in the alignment support information_LAnd line segment Q_RWhether or not the steering amount of vehicle 2 for positioning power transmission unit 10 with power reception unit 20 is appropriate can be determined by whether or not power transmission unit 10 (or its image img10) or whether or not it is heading to power transmission unit 10. The user can accurately position the power receiving unit 20 mounted on the vehicle 2 with respect to the power transmission unit 10 provided in the parking space.

(other embodiment of the present invention)

In the above embodiment, the parking assist system 200 is constituted by the in-vehicle control device 22 of the vehicle 2, but as another embodiment, the parking assist system may be constituted by the charging control device 12 of the non-contact charging system 1. In this case, the vehicle state detected by the sensor group 24 of the vehicle 2 may be transmitted from the vehicle 2 to the non-contact charging system 1, and the vehicle state may be replaced in the vehicle 2 according to the vehicle stateIn the charging control device 12, the parking assist system recognizes the relative position of the power receiving unit 20 with respect to the power transmitting unit 10 and the display delay time Δ t₁And/or vehicle response delay time Δ t₂。