CN107972666A - The vehicle of the vehicle travelled on wireless charging track deviates early warning system and method - Google Patents
The vehicle of the vehicle travelled on wireless charging track deviates early warning system and method Download PDFInfo
- Publication number
- CN107972666A CN107972666A CN201610941363.4A CN201610941363A CN107972666A CN 107972666 A CN107972666 A CN 107972666A CN 201610941363 A CN201610941363 A CN 201610941363A CN 107972666 A CN107972666 A CN 107972666A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- wireless charging
- magnetic field
- current time
- charging track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000008859 change Effects 0.000 claims abstract description 94
- 230000005684 electric field Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims description 8
- 239000003550 marker Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims 1
- 101100493731 Arabidopsis thaliana BBX21 gene Proteins 0.000 description 7
- 101100493735 Arabidopsis thaliana BBX25 gene Proteins 0.000 description 7
- 101100096895 Mus musculus Sult2a2 gene Proteins 0.000 description 7
- 101100311254 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) STH1 gene Proteins 0.000 description 7
- 101100277996 Symbiobacterium thermophilum (strain T / IAM 14863) dnaA gene Proteins 0.000 description 7
- 101100046800 Brassica napus BTH1 gene Proteins 0.000 description 6
- 238000012886 linear function Methods 0.000 description 6
- 238000005286 illumination Methods 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 1
- 239000000567 combustion gas Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of vehicle the present invention provides vehicle travelled on wireless charging track deviates early warning system and method.Wireless charging track is provided with the central position for being arranged in wireless charging track and the electric energy transmission device extended along wireless charging track, and can produce electric field or magnetic field.The system includes detection unit, it obtains the electric field detected in vehicle side or magnetic field strength date and the transport condition data of vehicle；Predicting unit, judge whether vehicle enters wireless charging track based on acquired electric field or magnetic field strength date, and predict whether vehicle is intended to along wireless charging lanes according to the transport condition data of acquired vehicle in the case where being judged as that vehicle enters wireless charging track；And judging unit, vehicle is predicted as in predicting unit to be intended to along in the case of stating wireless charging lanes, the change based on the electric field or magnetic field intensity detected in vehicle side confirms whether the traveling-position of vehicle is changed relative to the centre position in wireless charging track.
Description
Technical field
The present invention relates to vehicle to deviate early warning field.In particular it relates to for being travelled on wireless charging track
The vehicle of vehicle deviate early warning system and method.
Background technology
In recent years, since the motor vehicle exhaust emission and combustion gas that can reduce air pollution use, electric vehicle has obtained very
Big development.But current most of all-electric vehicles can only travel 10 to 40 miles and just need to charge again, tesla is electronic
Vehicle can travel about 240 miles.In order to make the electric vehicle of minimum discharge travel longer distance, filled without stopping
Electricity, it is proposed that the scheme in wireless charging track is built on road.In such wireless charging track, it is laid with below road surface
There is electric energy transmission device.The electric energy transmission device can be by the electric energy reception device on electric vehicle with non-contact side
Formula provides electric energy to electric vehicle.In this way, electric vehicle can charge during traveling.
Electric vehicle in wireless charging track when driving, it is similar with being travelled in common track, it is necessary to as far as possible in track
In tag line, the centre position traveling in especially track, cannot arbitrarily be marked in the case where being not intended to change lane beyond track
Line is known, to ensure traffic safety.But since driver attention does not concentrate or maloperation etc., vehicle run-off-road sometimes
Centre position even exceed Lane Mark.Track keeps DAS (Driver Assistant System) or Lane Departure Warning System to help
Help driver that vehicle is maintained at traveling among track, or do not beat the centre position of steering indicating light and automotive run-off-road even
Prompting is made during beyond Lane Mark.At present, track keeps driving auxiliary or lane departure warning mainly passes through shooting
Head detects lane line and is carried out by judging vehicle relative to the position of lane line.Such mode needs to set additionally
Camera, and easily influenced be subject to objective condition such as lane line is unintelligible, weather condition, illumination variations.
The content of the invention
The present invention provides a kind of vehicle of the vehicle for being travelled on wireless charging track to deviate early warning system and side
Method, it can realize the early warning deviateed vehicle in the case where extra camera is not required, so that from unfavorable objective bar
The influence of part.The vehicle for the vehicle for being used to travel on wireless charging track according to the present invention deviates early warning system and method,
Driver can also be reminded to correct the deviation of vehicle in time, it is possible thereby to improve the charge efficiency of electric vehicle.
According to an aspect of the invention, there is provided a kind of vehicle of vehicle for being travelled on wireless charging track is inclined
From early warning system, wherein the wireless charging track is provided with electric energy transmission device, the electric energy transmission device is arranged in described
The central position in wireless charging track and extend along the wireless charging track, the electric energy transmission device can produce electricity
Field or magnetic field, the system comprises：Detection unit, for obtain the electric field that is detected in vehicle side or magnetic field strength date and
The transport condition data of the vehicle；Predicting unit, is sentenced based on the electric field acquired in the detection unit or magnetic field strength date
Whether the vehicle that breaks enters the wireless charging track, and is being judged as the vehicle into the wireless charging track
In the case of the transport condition data of the vehicle according to acquired in the detection unit predict whether the vehicle is intended to along institute
State wireless charging lanes；And judging unit, it is predicted as the vehicle in the predicting unit and is intended to along the wireless charging
In the case that tramway travels, the change based on the electric field or magnetic field intensity detected in the vehicle side confirms the vehicle
Whether traveling-position is changed relative to the centre position in the wireless charging track.
According to another aspect of the present invention, wherein the detection unit include be arranged on the vehicle bottom electric field or
Magnetic field strength transducer, the electric field or magnetic field strength transducer are used in vehicle side detection from electric energy transmitting dress
The electric field or magnetic field intensity put, wherein, when the electric field or magnetic field strength transducer are continuously detected in scheduled time length
During more than or equal to the first electric field or the electric field or magnetic field intensity of magnetic field intensity threshold value, the predicting unit be judged as the vehicle into
Enter the wireless charging track.
According to another aspect of the present invention, wherein the transport condition data of the vehicle, which includes at least, indicates the vehicle
Speed and side marker light on off state data, be judged as the vehicle enter the wireless charging track situation
Under, the predicting unit is predicted as when the speed is more than or equal to preset vehicle speed threshold value and the side marker light is closed
The vehicle is intended to along the wireless charging lanes.
According to another aspect of the present invention, wherein what the judging unit detected at current time in the vehicle side
In the case that electric field or magnetic field intensity are less than or equal to the second electric field or magnetic field intensity threshold value, the traveling-position of the vehicle is confirmed as
It deviate from the centre position in the wireless charging track at current time.
According to another aspect of the present invention, the vehicle deviates early warning system and further includes：Storage unit, the storage are single
The electric field that each moment before member storage current time and current time in predetermined amount of time detects in the vehicle side
Or magnetic field strength date and the transport condition data of the vehicle, wherein the transport condition data of the vehicle is included described in instruction
The speed of vehicle and the data of at least one of steering angle, and wherein described judging unit current time and it is current when
The electric field or magnetic field intensity that each moment in predetermined amount of time before quarter detects in the vehicle side, which are respectively less than, is equal to the
When three electric fields or magnetic field intensity threshold value, the traveling-position for confirming as the vehicle is pre- before current time and current time
Deviate the centre position in the wireless charging track in section of fixing time always.
According to another aspect of the present invention, the vehicle deviates early warning system and further includes：Storage unit, the storage are single
The electric field that each moment before member storage current time and current time in predetermined amount of time detects in the vehicle side
Or magnetic field strength date and the transport condition data of the vehicle, wherein the transport condition data of the vehicle is included described in instruction
The speed of vehicle and the data of at least one of steering angle, and wherein described judging unit at current time in the vehicle
The electric field or magnetic field intensity that side detects are less than zero and the change relative to the electric field or change rate of magnetic density of previous moment
In the case that the absolute value of rate is more than or equal to the first change rate threshold value, the traveling-position for confirming as the vehicle is inclined at current time
From the centre position in the wireless charging track.
According to another aspect of the present invention, wherein the judging unit is less than zero and the change rate in the change rate
Absolute value be more than or equal to the steering angle of the first change rate threshold value and the vehicle and be more than or equal to the first steering angle threshold value
When, the go to action due to the driver of the vehicle is confirmed as so that the traveling-position of the vehicle deviate from current time
The centre position in the wireless charging track.
According to another aspect of the present invention, the vehicle deviates early warning system and further includes：Storage unit, the storage are single
The electric field that each moment before member storage current time and current time in predetermined amount of time detects in the vehicle side
Or magnetic field strength date and the transport condition data of the vehicle, wherein the transport condition data of the vehicle is included described in instruction
The speed of vehicle and the data of at least one of steering angle, and wherein described judging unit current time and it is current when
The electric field detected in the vehicle side or magnetic field intensity at each moment in the predetermined amount of time before quarter are relative to previous
The absolute value of the electric field at moment or the change rate of magnetic field intensity is more than or equal to the second change rate threshold value and zero crossing counter
Count in the case of being more than or equal to predetermined value, confirm as pre- timing of the vehicle before current time and current time
Between continue double swerve traveling in section in the wireless charging track, wherein change rate described in the zero crossing counter records
Occurs the number of positive and negative values change over time.
According to another aspect of the present invention, the vehicle deviates early warning system and further includes：The judging unit is described
The absolute value of change rate is more than or equal to the second change rate threshold value, and the counting of the zero crossing counter is more than or equal to predetermined number
Value, and the vehicle steering angle be more than or equal to the second steering angle threshold value in the case of, confirm as driving due to the vehicle
The go to action for the person of sailing causes the vehicle in the predetermined amount of time before current time and current time described wireless
Continue double swerve traveling in charging track.
According to another aspect of the present invention, wherein second electric field or magnetic field intensity threshold value, the 3rd electric field or magnetic field
Intensity threshold, the first change rate threshold value, the second change rate threshold value, the first steering angle threshold value and second turn described
The function of each speed for being respectively set to the vehicle into angle threshold value.
According to an aspect of the present invention, additionally provide a kind of for the vehicle of the vehicle travelled on wireless charging track
Deviate method for early warning, wherein the wireless charging track is provided with electric energy transmission device, the electric energy transmission device is arranged on institute
State the central position in wireless charging track and extend along the wireless charging track, the electric energy transmission device can produce
Electric field or magnetic field, the described method comprises the following steps：Obtain the electric field detected in vehicle side or magnetic field strength date and institute
State the transport condition data of vehicle；Judge whether the vehicle enters the nothing based on acquired electric field or magnetic field strength date
Micro USB tramway, and in the case where being judged as that the vehicle enters the wireless charging track according to the acquired car
Transport condition data predict whether the vehicle is intended to along the wireless charging lanes；And it is being predicted as the car
It is intended to along in the case of the wireless charging lanes, based on the electric field or magnetic field intensity detected in the vehicle side
Change confirms whether the traveling-position of the vehicle is changed relative to the centre position in the wireless charging track.
According to an aspect of the present invention, a kind of vehicle is additionally provided, it is equipped with the car as described in above-mentioned various aspects
Deviate early warning system.
Vehicle according to the abovementioned embodiments of the present invention deviates early warning system and method and deviates equipped with the vehicle
The vehicle of early warning system, can utilize the electric energy transmission device in wireless charging track, the feelings of extra camera are being not required
Condition gets off to realize that vehicle deviates early warning, and from the shadow for the mal-condition such as weather condition, illumination variation, lane line be unintelligible
Ring.In addition, the vehicle deviate early warning system and method can also when vehicle deviate from the centre position in wireless charging track and
When remind driver correct vehicle deviation, it is possible thereby to improve the charge efficiency of electric vehicle.
Brief description of the drawings
Fig. 1 shows the schematic diagram in the wireless charging track for being provided with electric energy transmission device according to an embodiment of the invention；
Fig. 2 shows that vehicle according to an embodiment of the invention deviates the block diagram of early warning system；And
Fig. 3 shows that vehicle according to an embodiment of the invention deviates the flow chart of method for early warning.
Embodiment
Hereinafter, the embodiment of the present invention is described with reference to the accompanying drawings.Following detailed description and drawings are used for exemplarily
Illustrate the principle of the present invention, the invention is not restricted to described preferred embodiment, the scope of the present invention is defined by the claims.
The present invention relates to a kind of vehicle of the vehicle for being travelled on wireless charging track to deviate early warning system and method,
It can utilize the electric energy transmission device in wireless charging track, and vehicle is realized in the case where extra camera is not required
Deviate early warning, and from the influence for the unfavorable objective condition such as weather condition, illumination variation, lane line be unintelligible.
Fig. 1 shows the schematic diagram in the wireless charging track for being provided with electric energy transmission device according to an embodiment of the invention.
As shown in Figure 1, vehicle 100 travels in wireless charging track 200.Wireless charging track 200 include be laid on below ground,
For the electric energy transmission device 210 to charge in a non contact fashion to vehicle 100.Vehicle 100 includes and electric energy transmission device
210 corresponding electric energy reception devices 110.Electric energy transmission device 210 can be passed by electromagnetic induction, electromagentic resonance, radio wave
The cordless such as defeated, field coupling transmit electric energy to electric energy reception device 110.Substantial amounts of electric energy transmission device 210 is in track
Middle position on width is arranged at uniform intervals along the extending direction in track.Vehicle 100 enters wireless charging electric car
After road 200, electric energy reception device 110 and the position alignment of electric energy transmission device 210 is set to charge.Electric energy transmission device
210 middle position on wireless charging lane width direction, and magnetic field or electric field can be constantly produced, and
The magnetic field intensity or electric field strength detected at the diverse location of electric energy transmission device 210 is with to electric energy transmission device
The change of 210 lateral separation and change.
It should be noted that vehicle as described herein includes the electric vehicle of pure electric vehicle or oil electricity mixing etc..Herein
The vehicle can also include the on-electric vehicle for being provided with magnetic field strength transducer or electric field strength transducer[sensor.In addition, such as
Upper described, a large amount of electric energy transmission devices are arranged at uniform intervals along the extending direction in wireless charging track.But due to vehicle
Travel speed is higher, which, which can be considered as, is not present.
Hereinafter, early warning is deviateed by detecting the intensity in the magnetic field produced by electric energy transmission device to perform vehicle.So
And implementation below of the invention is also applied for identical principle, by detecting the electric field produced by electric energy transmission device
Intensity come carry out vehicle deviate early warning situation.In this case, magnetic field strength transducer is correspondingly changed to electric field strength
Sensor, and in the detection of vehicle side magnetic field intensity and judgement, prediction and confirmation based on detected magnetic field intensity
Deng judgement, prediction and the confirmation for being correspondingly instead based on detected electric field strength.
Fig. 1 shows the vehicle that is according to the present invention used on wireless charging track travel of the equipment in vehicle 100
Vehicle deviate early warning system 10.The Lane Departure Warning System 10 can include detection unit 20, predicting unit 30, judge list
Member 40 and output unit 50.
Detection unit 20 is configured to obtain the magnetic field strength date detected in 100 side of vehicle and the traveling of vehicle 100
Status data.Detection unit 20 includes magnetic field strength transducer 21, it is used to detect received from wireless in 100 side joint of vehicle
The intensity in the magnetic field of the electric energy transmission device in charging track.The magnetic field strength transducer 21 is located at the bottom of vehicle 100, and can
Be electric vehicle electric energy reception device in original magnetic field strength transducer.For the vehicle of on-electric vehicle, magnetic
Field intensity sensor 21 can also be the magnetic field strength transducer for being exclusively used in lane departure warning.Magnetic field strength transducer 21 can be with
It is Hall sensor, magnetoresistive sensor, giant magneto-resistance sensor, fluxgate sensor etc..
Detection unit 20 is configured to obtain the transport condition data of vehicle 100.The transport condition data of vehicle 100 can be with
The data of speed, steering angle, indicator light switch state including instruction vehicle 100 etc..Detection unit 20 can pass through vehicle
100 sensors (such as vehicle speed sensor, steering angle sensor, indicator light switch state sensor etc.) of itself obtain car
100 transport condition data.The transport condition data of vehicle 100 described here is not limited to listed data, may be used also
With the transport condition data that may be needed including other, that is, include to realize the function of Lane Departure Warning System of the invention
Necessary any transport condition data.
Predicting unit 30 is configured to judge whether vehicle 100 enters based on the magnetic field strength date acquired in detection unit 20
Wireless charging track, and in the case where being judged as that vehicle 100 enters wireless charging track according to the transport condition of vehicle 100
Whether data prediction vehicle 100 is intended to along wireless charging lanes.The magnetic field intensity that magnetic field strength transducer 21 detects with
It to the change of the lateral separation for the electric energy transmission device for producing magnetic field to change.The magnetic field produced due to electric energy transmission device
Intensity is constant, therefore 21 lateral separation electric energy transmission device of magnetic field strength transducer is more remote, its magnetic field intensity detected
It is smaller.When surface of the magnetic field strength transducer 21 in electric energy transmission device, its magnetic field intensity detected is maximum.Therefore,
The change of the magnetic field intensity detected according to magnetic field strength transducer 21 may determine that the traveling-position of vehicle 100 relative to electric energy
The change of the lateral separation of emitter, then may determine that position of the vehicle 100 on wireless charging lane width direction
Change.
Specifically, when magnetic field strength transducer 21, (for example, 3s) is persistently more than or equal to the first magnetic in scheduled time length
During the magnetic field intensity of field intensity threshold value BTH1, predicting unit 30 is judged as that vehicle 100 enters wireless charging track.Due to working as vehicle
100 on other tracks, such as magnetic field strength transducer 21 may also detect on the common track adjacent with wireless charging track
To certain magnetic field intensity, therefore, predicting unit 30 is only more than or equal to the feelings of the first magnetic field intensity threshold value BTH1 in magnetic field intensity B
Under condition, just it is judged as that vehicle 10 enters wireless charging track.First magnetic field intensity threshold value BTH1 can be that vehicle 100 is in wireless
The minimum-B configuration intensity that magnetic field strength transducer 21 can detect in the case of in charging track.Alternatively, the first magnetic field intensity
Threshold value BTH1 can be that vehicle 100 not yet fully enters wireless charging track but magnetic field strength transducer 21 comes into wireless charging
Minimum-B configuration intensity during tramway detected by magnetic field strength transducer 21.Moreover, enter or part to exclude vehicle 100
Into wireless charging track situation about leaving again at once, only magnetic field strength transducer 21 in scheduled time length (for example,
In the case of 3s) being continuously detected the magnetic field intensity B more than or equal to the first magnetic field intensity threshold value BTH1, it is judged as that vehicle enters nothing
Micro USB tramway.
In addition, predicting unit 30 in the case where being judged as that vehicle 100 enters wireless charging track according to the row of vehicle 100
Sail whether status data prediction vehicle 100 is intended to along wireless charging lanes.Specifically, predicting unit 30 is being judged as vehicle
In the case that 100 enter wireless charging track, the current vehicle speed data and indicator light switch of vehicle 100 are obtained from detection unit 20
Status data etc..Also, predicting unit 30 is more than or equal to preset vehicle speed threshold value (for example, 30km/ in the current vehicle speed of vehicle 100
H) and indicator light be not switched in the state of be predicted as vehicle 100 and be intended to along wireless charging lanes.
Judging unit 40 can be configured to, in the case where being predicted as vehicle 100 and being intended to along wireless charging lanes, base
Confirm the traveling-position of vehicle 100 whether relative to described wireless in the change of the magnetic field intensity detected in 100 side of vehicle
The centre position in charging track is changed, for example whether deviate from the centre position in wireless charging track.
Specifically, as it was previously stated, in the case of the intensity constant in the magnetic field that electric energy transmission device produces, magnetic field intensity passes
The magnetic field intensity that sensor 21 detects changes to the change of the lateral separation of electric energy transmission device with it.That is, magnetic field intensity
The distance of sensor 21 to electric energy transmission device is more remote, and the magnetic field intensity that it is detected is smaller.Magnetic field strength transducer 21 is in electricity
During the surface of energy emitter, its magnetic field intensity detected is maximum.Therefore, can be detected according to magnetic field strength transducer 21
To the change of magnetic field intensity confirm whether the traveling-position of vehicle 100 deviate from the centre position in wireless charging track.This
Outside, can also be according to the change of magnetic field intensity and the transport condition data of vehicle 100, to confirm to cause the traveling of vehicle 100
Position is deviateed the reason for centre position in wireless charging track etc., and wherein transport condition data can include instruction vehicle 100
The data of at least one of speed and steering angle.
Output unit 50 is configured to be judged as that the traveling-position of vehicle 100 deviate from wireless charging track in judging unit 40
Centre position when send alarm.Output unit 50 can be arranged to send alarm in a manner of sound, vision or tactile etc..Output
The traveling-position for the driver vehicle 100 that unit 50 passes through alert notification vehicle 100 deviate from the interposition in wireless charging track
Put, remind driver to adjust the position of vehicle 100 in time, correct its driving behavior being potentially dangerous.
According to some embodiments of the present invention, Lane Departure Warning System 10 can also include storage unit 60.Storage is single
Member 60 can be configured to be stored in current time and current time before predetermined amount of time each moment by magnetic field intensity
The magnetic field strength date and the transport condition data of vehicle 100 that sensor 21 detects.The scheduled time before current time
Section can be current time before 5s, 6s, 7s, 8s etc..Each moment in predetermined amount of time can be the predetermined amount of time
Each moment that inside (such as 0.05s, 0.1s, 0.2s etc.) is distributed at a time interval.
According to some embodiments of the present invention, judging unit 40 can set the second magnetic field intensity threshold value BTH2.Judge single
Member 40 obtains strong in the magnetic field that current time magnetic field strength transducer 21 detects from detection unit 20 (or storage unit 60)
Spend B (t0).Also, judging unit 40 is in B (t0) less than or equal in the case of BTH2, confirm as the row in current time vehicle 100
Sail the centre position that position deviate from wireless charging track.In this case, to driver alarm will occur for output unit 50,
Remind driver to adjust the position of vehicle 100 in time, correct its driving behavior being potentially dangerous.
In the above-described embodiments, the setting of the second magnetic field intensity threshold value BTH2 is filled with the electric energy transmitting in wireless charging track
Putting the stationary magnetic field intensity of generation and the speed of vehicle 100 is associated.The stationary magnetic field produced relative to electric energy transmission device is strong
Degree, the second magnetic field intensity threshold value BTH2 sets smaller, and the traveling-position of vehicle 100 deviates wireless charging track when sending alarm
Centre position it is more remote.Therefore, the second magnetic field intensity threshold value BTH2 can be suitably set so that vehicle deviates early warning system 10
Alarm can be sent when the traveling-position of vehicle 100 deviates the centre position in wireless charging track with desired distance.In addition,
Current time vehicle velocity V (t of the setting of second magnetic field intensity threshold value BTH2 also with vehicle 1000) associated, and the second magnetic field is strong
It is that could be provided as current vehicle speed V (t to spend threshold value BTH20) function.The vehicle velocity V (t0) at current time is bigger, and the second magnetic field is strong
Degree threshold value BTH2 should set bigger.In addition, for the purpose of safety, in the case where speed is larger should than speed compared with
Small situation carries out early warning earlier.Wherein, above-mentioned function can be linear function or the function of other forms.
According to some embodiments of the present invention, judging unit 40 can set the 3rd magnetic field intensity threshold value BTH3.Also, sentence
Disconnected unit 40 obtains each moment magnetic field before current time and current time in predetermined amount of time from storage unit 60
The magnetic field intensity B (t) that intensity sensor 21 detects.Judging unit 40 each B (t) be respectively less than be equal to BTH3 in the case of,
The traveling-position for confirming as the vehicle 100 in predetermined amount of time before current time and current time deviates wireless charging always
The centre position traveling in track.In this case, alarm will occur to driver for output unit 50, remind driver to adjust in time
The position of vehicle 100, corrects its driving behavior being potentially dangerous.
In these embodiments, it is similar with the second magnetic field intensity threshold value BTH2, the setting of the 3rd magnetic field intensity threshold value BTH3
The stationary magnetic field intensity and the velocity correlation of vehicle 100 produced with the electric energy transmission device in wireless charging track joins.Relative to
The stationary magnetic field intensity that electric energy transmission device produces, the 3rd magnetic field intensity threshold value BTH3 sets smaller, it is meant that vehicle 100
The centre position that traveling-position deviates wireless charging track is more remote.Therefore, the 3rd magnetic field intensity threshold value can be suitably set
BTH3 so that vehicle deviates the scheduled time that early warning system 10 can be in vehicle 100 before current time and current time
Alarm is sent in the case of always deviateing the centre position in wireless charging track with desired distance in section.In addition, the 3rd magnetic field
Each moment of the setting of intensity threshold BTH3 also with vehicle 100 before current time and current time in predetermined amount of time
Vehicle velocity V (t) it is associated.For example, the 3rd magnetic field intensity threshold value BTH3 can be the average value of each vehicle velocity V (t) of vehicle 100
Function.The average value of each vehicle velocity V (t) is bigger, and the second magnetic field intensity threshold value BTH2 should set bigger.In addition, for
Safety consideration, in the case that average speed is larger should relative to average speed it is less in the case of carry out early warning earlier.
Above-mentioned function can be linear function or the function of other forms.
According to some embodiments of the present invention, for same or like speed (V (t0) average value substantially phase with V (t)
Together), the second magnetic field intensity threshold value BTH2 can be set smaller than the 3rd magnetic field intensity threshold value BTH3.Thus, vehicle is inclined
Wireless charging track can be deviateed in the traveling-position of vehicle 100 based on the second magnetic field intensity threshold value BTH2 from early warning system 10
Centre position it is in larger distance at the time of send alarm.That is, vehicle deviates the traveling that early warning system 10 can identify vehicle 100
The danger level for the centre position larger distance that position current time (such as suddenly) deviate from wireless charging track is higher
Dangerous driving behavior.Relatively, vehicle, which deviates early warning system 10, can be based on the 3rd magnetic field intensity threshold value BTH3, identify car
100 traveling-position is deviateed wireless with less distance always before current time and current time in predetermined amount of time
The danger level as the centre position in track that charges is relatively low but long-term dangerous driving behavior.
Deviateing change of the early warning system 10 based on magnetic field intensity embodiment above describes vehicle, (that is, magnetic field intensity is big
It is small) come carry out vehicle deviate early warning embodiment.According to some embodiments of the present invention, vehicle deviate early warning system 10 can be with
Confirm whether the traveling-position of vehicle 100 deviate from the centre position in wireless charging track according to the change rate of magnetic field intensity.
Also, vehicle deviate early warning system 10 can also according to the transport condition data of the change rate combination vehicle 100 of magnetic field intensity come
Determine the reason for traveling-position of vehicle 100 deviates the centre position in wireless charging track.
According to some embodiments of the present invention, judging unit 40 can set the first change rate threshold value of magnetic field intensity
DBTH1.Judging unit 40 can calculate the change rate of magnetic density Δ B (t at current time0), i.e. in current time magnetic field intensity
Magnetic field intensity B (the t that sensor 21 detects0) relative to the magnetic field intensity B (t of previous moment1) change rate.The change rate can
To be obtained by the following formula：ΔB(t0)=(B (t0)-B(t1))/|t0-t1|.Judging unit 40 can from detection unit 20 (or
Storage unit 60) obtain the magnetic field intensity B (t detected in current time magnetic field strength transducer 210), and from storage unit
60 obtain the magnetic field intensity B (t that the previous moment magnetic field strength transducer 21 at current time detects1).Judging unit 40 can
With calculating magnetic field change rate of strength Δ B (t0), and in Δ B (t0) be less than 0 and | △ B (t0) | more than or equal to the first change rate threshold
In the case of value DBTH1, the traveling-position confirmed as in current time vehicle 100 deviate from the interposition in wireless charging track
Put.In this case, alarm will occur to driver for output unit 50, remind driver to adjust the position of vehicle 100 in time,
Correct its driving behavior being potentially dangerous.
In these embodiments, the setting of the first change rate threshold value DBTH1 and the current time vehicle velocity V (t of vehicle 1000)
It is associated, and the first change rate threshold value DBTH1 can be arranged to vehicle velocity V (t0) function.Vehicle velocity V (t0) bigger, the first change
Rate threshold value DBTH1 should set smaller, so that in the case of in the case that speed is larger relative to smaller speed earlier
Carry out early warning.Above-mentioned function can be linear function or the function of other forms.
According to some embodiments of the present invention, judging unit 40 can set the first steering angle threshold value STH1.Judging unit
40 can obtain the steering angle S (t at the current time of vehicle 100 from detection unit 20 (or storage unit 60)0).Judging unit
40 in change rate of magnetic density Δ B (t0) be less than 0 and | Δ B (t0) | more than or equal to the first change rate threshold value DBTH1 and steering angle
S(t0) more than or equal in the case of the first steering angle threshold value STH1, confirm as since the driver of vehicle 100 has done go to action
And the traveling-position of vehicle 100 is caused to deviate from the centre position in wireless charging track.In this case, output unit 50 will
Alarm occurs to driver, reminds driver to pay attention to keeping on vehicle 100 stabilization of steering wheel, adjusts the position of vehicle 100 in time
Put, correct its driving behavior being potentially dangerous.
It should be noted that the first steering angle threshold value STH1's sets the also current time vehicle velocity V (t with vehicle 1000) phase
Association, and the first steering angle threshold value STH1 could be provided as vehicle velocity V (t0) function.Vehicle velocity V (the t at current time0) bigger,
First steering angle threshold value STH1 should set smaller, so that in the case where speed is larger relative to the situation of smaller speed
Under carry out early warning earlier.Above-mentioned function can be linear function or the function of other forms.
According to some embodiments of the present invention, judging unit 40 can also set magnetic field intensity the second change rate threshold value
DBTH2.Judging unit 40 can be out of, storage unit 60 obtains before current time and current time predetermined amount of time
The magnetic field intensity B (t) that detects of each moment magnetic field strength transducer 21, and calculate at current time and current time
The magnetic field intensity B (t-dt) that each moment magnetic field intensity B (t) in predetermined amount of time before detects relative to previous moment
Change rate Δ B (t).The change rate can be obtained by the following formula：△ B (t)=(B (t)-B (t-dt))/dt.Judge single
Member 40 is additionally provided with zero crossing counter.The zero crossing counter records change rate of magnetic density Δ B (t) at current time and
Occurs the number of positive and negative values change in predetermined amount of time before current time over time.Judging unit 40 is Δ B's (t)
In the case that the counting that absolute value is all higher than equal to the second change rate threshold value DBTH2 and zero crossing counter is more than predetermined value, really
Think the traveling-position of vehicle 100 in the predetermined amount of time before current time and current time relative to wireless charging electric car
The centre position in road is always changing, i.e., vehicle 100 continues double swerve traveling in wireless charging track.In this feelings
Under condition, alarm will occur to driver for output unit 50, remind driver to pay attention to vehicle 100 being maintained in wireless charging track
Middle position.
In the above-described embodiments, the setting of the second change rate threshold value DBTH2 and vehicle 100 current time and it is current when
The vehicle velocity V (t) at each moment before quarter in predetermined amount of time is associated.For example, the second change rate threshold value DBTH2 can be set
For the function of the average value of each vehicle velocity V (t) of vehicle 100.The average value of each vehicle velocity V (t) is bigger, the second change rate threshold value
DBTH2 should set smaller so that in the case where average speed is larger relative to average smaller speed situation earlier
Carry out early warning.Above-mentioned function can be linear function or the function of other forms.
Similarly, according to some embodiments of the present invention, judging unit 40 can set the second steering angle threshold value STH2.Sentence
Disconnected unit 40 can be every out of predetermined amount of time before the current time and current time that storage unit 60 obtains vehicle 100
The steering angle S (t) at one moment.Judging unit 40 is all higher than being equal to the second magnetic field in the absolute value of change rate of magnetic density Δ B (t)
The counting of change rate of strength threshold value DBTH2 and zero crossing counter is more than predetermined value, and steering angle S (t) is all higher than second turn
In the case of the threshold value STH2 of angle, confirm as since driver is in predetermined amount of time before current time and current time
Always do go to action and so that the traveling-position of vehicle 100 always becomes relative to the centre position in wireless charging track
Change.Correspondingly, vehicle 100 continues double swerve traveling due to the steering wheel operation of driver in wireless charging track.
In this case, alarm will occur to driver for output unit 50, remind driver to pay attention to vehicle 100 keeping the steady of steering wheel
It is fixed, the position of vehicle 100 is adjusted in time, corrects its driving behavior being potentially dangerous.
It should be noted that the setting of the second steering angle threshold value STH2 also with vehicle 100 current time and it is current when
The vehicle velocity V (t) at each moment before quarter in predetermined amount of time is associated.For example, the second steering angle threshold value STH2 can be set
For the function of the average value of the vehicle velocity V (t) of vehicle 100.The average value of each vehicle velocity V (t) is bigger, the second steering angle threshold value STH2
Should set smaller so that the larger situation of average speed relative to average speed it is less in the case of carry out earlier it is pre-
It is alert.Above-mentioned function can be linear function or the function of other forms.
According to some embodiments of the present invention, for same or like speed (V (t0) average value substantially phase with V (t)
Together), the first change rate threshold value DBTH1 can be set greater than the second change rate threshold value DBTH2.Thus, vehicle deviates early warning
System 10 can based on the first change rate threshold value DBTH1 vehicle 100 traveling-position with faster speed deviations wireless charging
Alarm is sent at the time of the centre position in track.That is, vehicle deviates the traveling-position that early warning system 10 can identify vehicle 100
The danger level for deviateing with larger distance the centre position in wireless charging track at current time (such as suddenly) is higher
Dangerous driving behavior.Relatively, vehicle, which deviates early warning system 10, can be based on the second change rate threshold value DBTH2, identify vehicle
100 traveling-position before current time and current time in predetermined amount of time always with slower speed deviations it is wireless
Charge track centre position such danger level is relatively low but long-term dangerous driving behavior.
Early warning system 10 is deviateed according to the vehicle of the invention of above-described embodiment, can be based on the magnetic detected in vehicle side
The change of field intensity and the transport condition data of vehicle 100 etc., confirm whether the traveling-position of vehicle 100 deviate from wireless charging
The reason for centre position of tramway and the traveling-position of vehicle 100 deviate the centre position in wireless charging track.Therefore, root
Deviate early warning system according to the vehicle for wireless charging track of the present invention, the electric energy transmitting in wireless charging track can be utilized
Device, realizes that vehicle deviates early warning in the case where extra camera is not required, and from weather condition, illumination change
Change, the influence for the mal-condition such as lane line is unintelligible.In time driver can also be reminded to entangle in addition, the vehicle deviates early warning system
The deviation of positive vehicle, it is possible thereby to improve the charge efficiency of electric vehicle.
In the following, it will be described in detail with reference to accompanying drawings the side for carrying out vehicle deviation early warning for wireless charging track according to the present invention
Method.Fig. 3 shows that vehicle according to an embodiment of the invention deviates the flow chart of method for early warning.
In step sl, the transport condition number of the magnetic field strength date detected in 100 side of vehicle and vehicle 100 is obtained
According to.Specifically, step S1 can include the transport condition data for the magnetic field strength date and vehicle 100 for obtaining current time
Step.Step S1 can also include the magnetic field at each moment in the predetermined amount of time before storage current time and current time
The step of transport condition data of intensity data and vehicle 100.When predetermined amount of time before current time can be current
The period up to 5s, 6s, 7s, 8s etc. before quarter.Each moment in predetermined amount of time can be in the predetermined amount of time
Each moment of (such as 0.05s, 0.1s, 0.2s etc.) distribution at a time interval.
In step s 2, judge whether vehicle 100 enters wireless charging track according to acquired magnetic field strength date.Tool
Body, when the magnetic field intensity detected in 100 side of vehicle, (for example, 3s) is persistently more than or equal to the first magnetic in scheduled time length
During field intensity threshold value BTH1, it is judged as that vehicle 100 enters wireless charging track.It is being judged as vehicle 100 into wireless charging electric car
In the case of road, S3 is entered step.
In step s3, judge whether vehicle 100 anticipates according to the transport condition data of the vehicle 100 obtained in step sl
Figure is along wireless charging lanes.Specifically, the transport condition data of vehicle 100 can include instruction vehicle 100 speed and
The data of indicator light switch state etc..It is more than or equal to preset vehicle speed threshold value (for example, 30km/h) in the speed of vehicle 100 and refers to
Show that lamp is predicted as vehicle 100 and is intended to along wireless charging lanes in the state of being not switched on.It is being judged as that vehicle 100 is intended to along nothing
In the case that micro USB tramway travels, S4 is entered step.
In step s 4, the traveling-position of vehicle 100 is confirmed according to magnetic field strength date acquired in step sl
Whether the centre position in wireless charging track etc. deviate from.Specifically, vehicle 100 can be confirmed according to the change of magnetic field intensity
Traveling-position whether deviate from the centre position in wireless charging track.Change that can also be according to magnetic field intensity and vehicle
100 transport condition data determines the reason for traveling-position of vehicle 100 deviates the centre position in wireless charging track, wherein going
The speed of instruction vehicle 100 and the data of at least one of steering angle can be included by sailing status data.
According to some embodiments, the second magnetic field intensity threshold value BTH2 can be set, and at current time in 100 side of vehicle
Magnetic field intensity B (the t detected0) be less than or equal to BTH2 in the case of, the traveling-position confirmed as in current time vehicle 100 is inclined
From the centre position in wireless charging track.According to other embodiments, the 3rd magnetic field intensity threshold value BTH3 can be set, and
The magnetic field intensity B that each moment before current time and current time in predetermined amount of time detects in 100 side of vehicle
(t) it is respectively less than in the case of being equal to BTH3, confirms as before current time and current time vehicle 100 in predetermined amount of time
Traveling-position deviate the centre position in wireless charging track always.According to some embodiments of the present invention, for identical or phase
Near speed (vehicle velocity V (the t at current time0) with each moment in the predetermined amount of time before current time and current time
Vehicle velocity V (t) average value it is roughly the same), the second magnetic field intensity threshold value BTH2 can also be set smaller than the 3rd magnetic
Field intensity threshold value BTH3.Thus, it is possible to when identifying that the traveling-position of vehicle 100 is current based on the second magnetic field intensity threshold value BTH2
The higher danger of danger level for carving the centre position that (such as suddenly) deviate from wireless charging track with larger distance is driven
Sail behavior；Relatively, the 3rd magnetic field intensity threshold value BTH3 can be based on, identifies the traveling-position of vehicle 100 at current time
And the centre position in wireless charging track is deviateed so with less distance always in predetermined amount of time before current time
Danger level is relatively low but long-term dangerous driving behavior.
According to some embodiments, magnetic field intensity the first change rate threshold value DBTH1 can also be set, and exist at current time
Magnetic field intensity B (the t that 100 side of vehicle detects0) the magnetic field intensity B (t that are detected relative to previous moment1) magnetic field intensity become
Rate Δ B (t0) it is less than zero and its absolute value | △ B (t0) | in the case of more than or equal to the first change rate threshold value DBTH1, confirm as
The centre position in wireless charging track is deviate from the traveling-position of current time vehicle 100.Further, it is also possible to set first turn
To angle threshold value STH1.In change rate of magnetic density Δ B (t0) it is less than zero and its absolute value | △ B (t0) | more than or equal to the first change
Rate threshold value DBTH1 and steering angle S (t0) more than or equal in the case of the first steering angle threshold value STH1, confirm as due to vehicle
100 driver has done go to action and so that the traveling-position of vehicle 100 deviate from wireless charging track at current time
Centre position.
According to some embodiments of the present invention, magnetic field intensity the second change rate threshold value DBTH2 and zero crossing can also be set
Counter.The zero crossing counter records in the predetermined amount of time before current time and current time Δ B (t) with the time
There is the number of positive and negative values change in passage, and wherein Δ B (t) is in the predetermined amount of time before current time and current time
The magnetic field intensity B (t- that are detected relative to previous moment of the magnetic field intensity B (t) that is detected in 100 side of vehicle of each moment
Dt change rate).The counting for being equal to the second change rate threshold value DBTH2 and zero crossing counter is all higher than in the absolute value of Δ B (t)
In the case of predetermined value, the traveling of vehicle 100 in the predetermined amount of time before current time and current time is confirmed as
Position is always changing relative to the centre position in wireless charging track, i.e., vehicle 100 continues in wireless charging track
Double swerve travels.Further, it is also possible to set the second steering angle threshold value STH2, and it is all higher than being equal in the absolute value of Δ B (t)
The counting of second change rate threshold value DBTH2 and zero crossing counter is more than predetermined value, and steering angle S (t) is all higher than second turn
In the case of the threshold value STH2 of angle, it is judged as since driver is in predetermined amount of time before current time and current time
Always do go to action and so that the traveling-position of vehicle 100 always becomes relative to the centre position in wireless charging track
Change, i.e., vehicle 100 continues double swerve traveling in wireless charging track.
According to some embodiments of the present invention, for the same or like speed (i.e. vehicle velocity V (t at current time0) with working as
The average value of the vehicle velocity V (t) at each moment is roughly the same in predetermined amount of time before preceding moment and current time), by
One change rate threshold value DBTH1 can be set greater than the second change rate threshold value DBTH2.Thus, it is possible to it is based on the first change rate threshold
Value DBTH1 identifies the traveling-position of vehicle 100 at current time (such as suddenly) with faster speed deviations wireless charging
The higher dangerous driving behavior of the danger level in the centre position in track；Relatively, the second change rate threshold value can be based on
DBTH2, identify the traveling-position of vehicle 100 before current time and current time in predetermined amount of time always with slower
Speed deviations wireless charging track centre position such danger level is relatively low but long-term dangerous driving
Behavior.
When the traveling-position for confirming as vehicle 100 in step s 4 deviate from the centre position in wireless charging track, into
Enter step S5.In step s 5, alarm occurs to driver, reminds driver that vehicle 100 is adjusted to wireless charging electric car in time
The centre position in road.
In the embodiment of the above method, setting and the aforementioned vehicle of each threshold value deviate each threshold value in early warning system 10
Setting it is similar, therefore repeat no more.Each threshold value and its default setting can be defaulted as with the setting of the functional relation of speed,
Manual setting can also be tested according to real road, to provide more preferable user experience.For example, increase or reduction that can be appropriate
Each threshold value, so that the frequency of warning is in the acceptable scope of user.
The foregoing describe vehicle according to an embodiment of the invention and deviate method for early warning.This method can utilize wireless charging
Electric energy transmission device in track, realized in the case where extra camera is not required vehicle deviate early warning, and from
The influence for the mal-conditions such as weather condition, illumination variation, lane line be unintelligible.In addition, this method can also remind driving in time
The deviation of member's correction vehicle, it is possible thereby to improve the charge efficiency of electric vehicle.
While the invention has been described with reference to exemplary embodiments thereof, however, it is understood that the present invention is not limited to above-mentioned reality
The construction and method of example are applied, and further includes modification without departing from the scope of the present invention and alternative.The scope of the present invention
Only it is defined by the claims.
Claims (12)
1. a kind of vehicle of vehicle travelled on wireless charging track deviates early warning system, wherein the wireless charging track is set
It is equipped with electric energy transmission device, the electric energy transmission device is arranged in the central position in the wireless charging track and along described
Wireless charging track extends, and the electric energy transmission device can produce electric field or magnetic field, the system comprises：
Detection unit, for obtaining the electric field or the transport condition of magnetic field strength date and the vehicle that are detected in vehicle side
Data；
Predicting unit, judges whether the vehicle enters institute based on the electric field acquired in the detection unit or magnetic field strength date
Wireless charging track is stated, and it is single according to the detection in the case where being judged as that the vehicle enters the wireless charging track
The transport condition data of the vehicle acquired in member predicts whether the vehicle is intended to along the wireless charging lanes；With
And
Judging unit, in the case where the predicting unit is predicted as the vehicle intention along the wireless charging lanes,
Change based on the electric field or magnetic field intensity detected in the vehicle side confirm the vehicle traveling-position whether relative to
The centre position in the wireless charging track is changed.
2. vehicle according to claim 1 deviates early warning system, wherein the detection unit includes being arranged on the vehicle
The electric field or magnetic field strength transducer of bottom, the electric field or magnetic field strength transducer are used to come from institute in vehicle side detection
The electric field or magnetic field intensity of electric energy transmission device are stated,
Wherein, when the electric field or magnetic field strength transducer are continuously detected more than or equal to the first electric field in scheduled time length
Or magnetic field intensity threshold value electric field or magnetic field intensity when, the predicting unit is judged as that the vehicle enters the wireless charging electric car
Road.
3. vehicle according to claim 2 deviates early warning system, wherein
The transport condition data of the vehicle includes at least the on off state of the speed for indicating the vehicle and side marker light
Data,
In the case where being judged as that the vehicle enters the wireless charging track, the predicting unit is more than in the speed etc.
When preset vehicle speed threshold value and side marker light closing, it is predicted as the vehicle and is intended to along wireless charging track row
Sail.
4. vehicle according to any one of claim 1-3 deviates early warning system, wherein
The electric field or magnetic field intensity that the judging unit detects at current time in the vehicle side are less than or equal to the second electric field
Or in the case of magnetic field intensity threshold value, the traveling-position for confirming as the vehicle deviate from the wireless charging electric car at current time
The centre position in road.
5. the vehicle according to any one of claim 1-4 deviates early warning system, the system also includes：
Storage unit, each moment before the storage unit storage current time and current time in predetermined amount of time exist
The electric field or magnetic field strength date and the transport condition data of the vehicle that the vehicle side detects,
The transport condition data of wherein described vehicle includes indicating the speed of the vehicle and the number of at least one of steering angle
According to, and
Each moment of the wherein described judging unit in the predetermined amount of time before current time and current time is described
When the electric field or magnetic field intensity that vehicle side detects respectively less than are equal to the 3rd electric field or magnetic field intensity threshold value, the vehicle is confirmed as
Traveling-position deviate the wireless charging track always in predetermined amount of time before current time and current time
Centre position.
6. vehicle according to any one of claim 1-3 deviates early warning system, the system also includes：
Storage unit, each moment before the storage unit storage current time and current time in predetermined amount of time exist
The electric field or magnetic field strength date and the transport condition data of the vehicle that the vehicle side detects,
The transport condition data of wherein described vehicle includes indicating the speed of the vehicle and the number of at least one of steering angle
According to, and
Electric field that wherein described judging unit detects at current time in the vehicle side or magnetic field intensity relative to it is previous when
The electric field or change rate of magnetic density at quarter be less than zero and the change rate absolute value be more than or equal to the first change rate threshold value feelings
Under condition, the traveling-position for confirming as the vehicle deviate from the centre position in the wireless charging track at current time.
7. vehicle according to claim 6 deviates early warning system, wherein
The judging unit is less than zero in the change rate and the absolute value of the change rate is more than or equal to first change rate
When the steering angle of threshold value and the vehicle is more than or equal to the first steering angle threshold value, confirm as due to the driver's of the vehicle
Go to action causes the traveling-position of the vehicle to deviate from the centre position in the wireless charging track at current time.
8. vehicle according to any one of claim 1-3 deviates early warning system, the system also includes：
Storage unit, each moment before the storage unit storage current time and current time in predetermined amount of time exist
The electric field or magnetic field strength date and the transport condition data of the vehicle that the vehicle side detects,
The transport condition data of wherein described vehicle includes indicating the speed of the vehicle and the number of at least one of steering angle
According to, and
Each moment of the wherein described judging unit in the predetermined amount of time before current time and current time in institute
State electric field that vehicle side detects or magnetic field intensity relative to previous moment electric field or magnetic field intensity change rate absolute value
In the case that counting more than or equal to the second change rate threshold value and zero crossing counter is more than or equal to predetermined value, institute is confirmed as
State vehicle and continue left and right rolling in the predetermined amount of time before current time and current time in the wireless charging track
Dynamic traveling, wherein change rate described in the zero crossing counter records number of positive and negative values change occurs over time.
9. vehicle according to claim 8 deviates early warning system, wherein
The judging unit is more than or equal to the second change rate threshold value in the absolute value of the change rate, and the zero crossing counts
The counting of device is more than or equal to predetermined value, and the vehicle steering angle be more than or equal to the second steering angle threshold value in the case of,
Confirm as since the go to action of the driver of the vehicle causes the vehicle before current time and current time
Continue double swerve traveling in predetermined amount of time in the wireless charging track.
10. the vehicle according to any one of claim 4-9 deviates early warning system, wherein
It is second electric field or magnetic field intensity threshold value, the 3rd electric field or magnetic field intensity threshold value, the first change rate threshold value, described
Each in second change rate threshold value, the first steering angle threshold value and the second steering angle threshold value is respectively set to the car
Speed function.
11. a kind of vehicle of vehicle for being travelled on wireless charging track deviates method for early warning, wherein the wireless charging
Track is provided with electric energy transmission device, the electric energy transmission device be arranged on the central position in the wireless charging track and
Extend along the wireless charging track, the electric energy transmission device can produce electric field or magnetic field, and the described method includes following step
Suddenly：
Obtain the electric field detected in vehicle side or magnetic field strength date and the transport condition data of the vehicle；
Judge whether the vehicle enters the wireless charging track based on acquired electric field or magnetic field strength date, and
It is judged as that the vehicle enters in the case of the wireless charging track according to the transport condition data of the acquired vehicle
Predict whether the vehicle is intended to along the wireless charging lanes；And
In the case where being predicted as the vehicle and being intended to along the wireless charging lanes, based on being detected in the vehicle side
Electric field or magnetic field intensity change confirm the vehicle traveling-position whether relative to the wireless charging track centre
Position is changed.
12. a kind of vehicle, it is equipped deviates early warning system just like claim 1-10 any one of them vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610941363.4A CN107972666B (en) | 2016-10-25 | 2016-10-25 | Vehicle deviation early warning system and method for vehicle running on wireless charging lane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610941363.4A CN107972666B (en) | 2016-10-25 | 2016-10-25 | Vehicle deviation early warning system and method for vehicle running on wireless charging lane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107972666A true CN107972666A (en) | 2018-05-01 |
| CN107972666B CN107972666B (en) | 2021-08-27 |
Family
ID=62005066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610941363.4A Expired - Fee Related CN107972666B (en) | 2016-10-25 | 2016-10-25 | Vehicle deviation early warning system and method for vehicle running on wireless charging lane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972666B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110025851A (en) * | 2019-04-22 | 2019-07-19 | 江苏人先医疗科技有限公司 | A kind of infusion pump and its management method |
| CN110103758A (en) * | 2019-04-28 | 2019-08-09 | 浙江大学宁波理工学院 | A kind of wireless charging system for electric vehicle |
| CN111469917A (en) * | 2019-01-07 | 2020-07-31 | 上海汽车集团股份有限公司 | Vehicle steering control method and device |
| CN113205703A (en) * | 2020-02-03 | 2021-08-03 | 奥迪股份公司 | Driving assistance system and method for road isolation belt collision avoidance |
| CN113834949A (en) * | 2020-06-08 | 2021-12-24 | 北京小米移动软件有限公司 | Speed measuring method, device and equipment for wireless charging electric automobile and storage medium |
| WO2022110905A1 (en) * | 2020-11-30 | 2022-06-02 | 中车长江车辆有限公司 | Power supply system, mobile device and method for positioning using power supply network |
| CN117906728A (en) * | 2024-03-20 | 2024-04-19 | 四川开物信息技术有限公司 | Vehicle weighing system |
| WO2024194859A1 (en) * | 2023-03-21 | 2024-09-26 | Electreon Wireless Ltd. | Method and system for positioning a vehicle having wireless power transfer based on magnetic flux sensing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0767271A (en) * | 1993-08-26 | 1995-03-10 | Sumitomo Electric Ind Ltd | Displacement detector in noncontact power supply for mobile body |
| CN102544610A (en) * | 2011-01-04 | 2012-07-04 | 周嗣轲 | Method and system for charging electric vehicle on road |
| US20140125286A1 (en) * | 2012-05-14 | 2014-05-08 | Korea Advanced Institute Of Science And Technology | Method for controlling the charging of segments for an online electric vehicle |
| JP2015228047A (en) * | 2012-09-07 | 2015-12-17 | 日産自動車株式会社 | Travel assist system, travel assist server, and vehicle |
| US20160023557A1 (en) * | 2014-07-25 | 2016-01-28 | Qualcomm Incorporated | Devices, systems, and method for dynamic electric vehicle charging with position detection |
| CN105882446A (en) * | 2016-04-29 | 2016-08-24 | 乐视控股（北京）有限公司 | Wireless charging method for electric automobile, device and system |
-
2016
- 2016-10-25 CN CN201610941363.4A patent/CN107972666B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0767271A (en) * | 1993-08-26 | 1995-03-10 | Sumitomo Electric Ind Ltd | Displacement detector in noncontact power supply for mobile body |
| CN102544610A (en) * | 2011-01-04 | 2012-07-04 | 周嗣轲 | Method and system for charging electric vehicle on road |
| US20140125286A1 (en) * | 2012-05-14 | 2014-05-08 | Korea Advanced Institute Of Science And Technology | Method for controlling the charging of segments for an online electric vehicle |
| JP2015228047A (en) * | 2012-09-07 | 2015-12-17 | 日産自動車株式会社 | Travel assist system, travel assist server, and vehicle |
| US20160023557A1 (en) * | 2014-07-25 | 2016-01-28 | Qualcomm Incorporated | Devices, systems, and method for dynamic electric vehicle charging with position detection |
| CN105882446A (en) * | 2016-04-29 | 2016-08-24 | 乐视控股（北京）有限公司 | Wireless charging method for electric automobile, device and system |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469917A (en) * | 2019-01-07 | 2020-07-31 | 上海汽车集团股份有限公司 | Vehicle steering control method and device |
| CN111469917B (en) * | 2019-01-07 | 2021-11-09 | 上海汽车集团股份有限公司 | Vehicle steering control method and device |
| CN110025851A (en) * | 2019-04-22 | 2019-07-19 | 江苏人先医疗科技有限公司 | A kind of infusion pump and its management method |
| CN110103758A (en) * | 2019-04-28 | 2019-08-09 | 浙江大学宁波理工学院 | A kind of wireless charging system for electric vehicle |
| CN110103758B (en) * | 2019-04-28 | 2022-04-08 | 浙江大学宁波理工学院 | Wireless charging system for electric automobile |
| CN113205703A (en) * | 2020-02-03 | 2021-08-03 | 奥迪股份公司 | Driving assistance system and method for road isolation belt collision avoidance |
| CN113834949A (en) * | 2020-06-08 | 2021-12-24 | 北京小米移动软件有限公司 | Speed measuring method, device and equipment for wireless charging electric automobile and storage medium |
| CN113834949B (en) * | 2020-06-08 | 2024-04-30 | 北京小米移动软件有限公司 | Speed measuring method, device and equipment for wireless charging electric automobile and storage medium |
| WO2022110905A1 (en) * | 2020-11-30 | 2022-06-02 | 中车长江车辆有限公司 | Power supply system, mobile device and method for positioning using power supply network |
| WO2024194859A1 (en) * | 2023-03-21 | 2024-09-26 | Electreon Wireless Ltd. | Method and system for positioning a vehicle having wireless power transfer based on magnetic flux sensing |
| CN117906728A (en) * | 2024-03-20 | 2024-04-19 | 四川开物信息技术有限公司 | Vehicle weighing system |
| CN117906728B (en) * | 2024-03-20 | 2024-06-07 | 四川开物信息技术有限公司 | Vehicle weighing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107972666B (en) | 2021-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107972666A (en) | The vehicle of the vehicle travelled on wireless charging track deviates early warning system and method | |
| EP2829845B1 (en) | Traffic control device and traffic control system | |
| EP2757657B1 (en) | Moving-vehicle electric power feeding system | |
| US8234009B2 (en) | Autonomous mobile apparatus and method of mobility | |
| CN104106103B (en) | Drive assistance device | |
| US8831800B2 (en) | Automated collective transport system | |
| CN104986281B (en) | A kind of manual-automation integrated electric balance car that can be adaptive | |
| KR101147447B1 (en) | Traffic service system of road construction and method thereof | |
| CN106573618B (en) | The travel controlling system and method for vehicle | |
| US10005367B2 (en) | Wireless charging of a vehicle power source | |
| JP2017532930A (en) | Device, system and method for dynamic electric vehicle charging using position sensing | |
| CN105321376A (en) | Driving environment risk determination apparatus and driving environment risk notification apparatus | |
| JP2002236993A (en) | Travel control system | |
| US11327491B2 (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN110271543A (en) | Controller of vehicle, control method for vehicle and storage medium | |
| CN106248392A (en) | The method of testing of a kind of unmanned vehicle lane change time and device | |
| CN110562222A (en) | Emergency braking control method for curve scene, vehicle-mounted device and storage medium | |
| CN107907897A (en) | A kind of intelligent tunnel guider and navigation system based on LIFI | |
| JP6620693B2 (en) | Linked travel system | |
| JP2014193095A (en) | Non-contact power supply system | |
| KR200413236Y1 (en) | Alarming system for prevent traffic accident for traffic calming | |
| US20240167835A1 (en) | Power transmission device, non-contact power transmission system, and method for controlling power transmission device | |
| CN107861504A (en) | A kind of intelligent navigation method and system | |
| CN107730655A (en) | A kind of intelligent travelling crane recorder control method and system | |
| JP2011166882A (en) | Electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210827 |