GB2543093B

GB2543093B - Method and apparatus for assisted alignment of a vehicle with a wireless charger

Info

Publication number: GB2543093B
Application number: GB1517887.4A
Authority: GB
Inventors: Maliczenko Lukasz
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2015-10-09
Filing date: 2015-10-09
Publication date: 2019-06-12
Anticipated expiration: 2035-10-09
Also published as: GB201517887D0; GB2543093A

Description

METHOD AND APPARATUS FOR ASSISTED ALIGNMENT OF A VEHICLE WITH A WIRELESS CHARGER

TECHNICAL FIELD

The present disclosure relates to a method and apparatus for assisted alignment of a vehicle with a wireless charging device. Aspects of the invention relate to a method of assisting alignment of a vehicle with a wireless charging device, a system for assisted alignment of a vehicle with a wireless charging device, a vehicle comprising the system for assisted alignment of a vehicle with a wireless charging device and computer software for implementing the method of assisting alignment of a vehicle with a wireless charging device.

BACKGROUND

Amidst increasing prevalence of electric and hybrid electric vehicles there has been developed a number of arrangements for charging a battery in a vehicle.

One such arrangement is in the form of an electrical charging lead, with a proximate end electrically connected to a charging station and a distal end terminating in a plug to be inserted in a socket in the vehicle. This arrangement is inconvenient in that the electrical charging lead must manually be plugged into the vehicle, typically requiring the vehicle operator to stop and exit the vehicle.

This inconvenience associated with the use of an electrical charging lead is mitigated using wireless charging. An off-board charging coil in a wireless charging device induces a charging current in a proximately disposed on-board charging coil in the vehicle. There is therefore no requirement for the vehicle operator to exit the vehicle and make a physical connection between the charger and the vehicle. Another benefit stems from the contactless nature of the electrical coupling, which facilitates increased electrical safety.

Yet wireless charging presents certain challenges of its own. For example, it generally relies upon precise alignment between the on-board charging coil on the vehicle and the off-board charging coil in the charging device, particularly for maximum effectiveness. It can be very difficult for a vehicle operator to substantially align the vehicle with the charging device for charging. Yet without proper alignment, the wireless charging may not function or be rendered less effective.

It is an object of embodiments of the invention to provide assisted alignment of the vehicle with the charging device in preparation for charging a battery on the vehicle using the wireless charging device.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a method of assisting alignment of a vehicle with a wireless charging device, a system for assisted alignment of a vehicle with a wireless charging device, a vehicle comprising the system for assisted alignment of a vehicle with a wireless charging device and computer software for implementing the method of assisting alignment of a vehicle with a wireless charging device.

According to an aspect of the invention, there is provided a method of assisting alignment of a vehicle with a wireless charging device, the method comprising: obtaining image data of a region proximate the vehicle; receiving a user input from a vehicle operator indicative of the location of the wireless charging device; processing the image data thereby to search for one or more predetermined optical characteristics of the wireless charging device in the image data for the purpose of identifying a wireless charging device in the region proximate the vehicle, wherein the processing of the image data takes into account the location of the wireless charging device according to the user input.

By identifying the presence of a wireless charging device in the region proximate the vehicle, the wireless charging device is rendered visible to the vehicle systems, facilitating assisting the alignment of the vehicle with the wireless charging device.

There may be displayed a visual representation of the image data that is visible to a vehicle operator. Such a visual representation provides feedback to the vehicle operator that can be utilised by the vehicle operator during an alignment procedure.

There may be displayed in relation to the visual representation of the image data a graphic indicator marking an identified charging device in the visual representation of the image data. The method may comprise displaying in relation to the visual representation of the image data a graphic indicator marking a partially identified charging device in the visual representation of the image data. These features help the vehicle operator to identify the location of the charging device with respect to the present vehicle position.

The visual representation of the image data may be an image. This provides a clear representation of the image data provided by the camera.

The user input may be indicative of the location of the wireless charging device in the visual representation of the image data. In the event that the processing of the image data has failed to identify the wireless charging device in the region proximate the vehicle, the location of the wireless charging may be determined to correspond to the location of the wireless charging device according to the user input. Thus the optical identification of the wireless charging device can be supplemented or overridden by user input. For example, in the case of a partially identified wireless charging device, the vehicle operator can confirm the identification of the wireless charging device. Alternatively, the vehicle operator may choose one out of a plurality of partially or fully identified wireless charging devices. A touch-sensitive display may provide the visual representation of the image data and the user input may be effected by touching the touch-sensitive display. This ensures efficient use of space, as the display and input means are combined. A vehicle path may be determined between a present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device. Thus once the vehicle has identified the location of the wireless charging device, a vehicle path that is traversable between the vehicle can be ascertained. This can be employed to assist the vehicle operator during alignment.

The method may comprise displaying in relation to the visual representation of the image data an indication of the determined vehicle path. This provides visual feedback facilitating guiding the vehicle operator to the charging device.

The indication of the determined vehicle path may take the form of one or more curvilinear dotted or continuous lines that provides guidance to the vehicle operator in relation to the determined vehicle path. This provides an easy to understand and follow guidance mechanism to the vehicle operator.

The method may comprise outputting a warning upon a substantial deviation from the determined vehicle path. The warning may be displayed in relation to the visual representation of the image data. The method may comprise displaying or sounding an indication of corrective measures needed to return to the determined vehicle path. Thus feedback can be provided to the vehicle operator facilitating correction of the motion of the vehicle where there is a deviation with respect to the determined vehicle path.

The method may comprise displaying in relation to the visual representation of the image data a graphic indicative of the remaining distance between the present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device. Thus the vehicle operator can ascertain the remaining distance to travel during the alignment procedure.

The method may comprise updating the vehicle path as the vehicle position is changed and updating the indication of the required vehicle path on the displayed image. Thus the vehicle path can be dynamically updated during alignment.

According to another aspect of the invention, there is provided a system for assisted alignment of a vehicle with a wireless charging device, the system comprising: image obtaining means for obtaining image data of a region proximate the vehicle; user input means for receiving user input indicative of the location of the wireless charging device; storage means for storing predetermined optical characteristics of the wireless charging device and image data obtained from the image obtaining means; and processing means for processing the image data thereby to search for one or more of the predetermined optical characteristics of the wireless charging device in the image data for the purpose of identifying the wireless charging device in the region proximate the vehicle, such that the processing of the image data takes into account the location of the wireless charging device according to the user input.

In system for assisted alignment of a vehicle with a wireless charging device described above, the image obtaining means may comprise one or more cameras; the storage means may comprise memory; and/or the processing means may comprise one or more processors. The processor(s) may be dedicated or used for one or more other purposes.

There may be provided display means for displaying a visual representation of the image data that is visible to a vehicle operator. The display means may comprise a visual display unit such as an LCD display.

The processing means may be arranged to display on the display means in relation to the visual representation of the image data a graphic indicator marking an identified charging device in the visual representation of the image data.

The processing means may be arranged to display on the display means in relation to the visual representation of the image data a graphic indicator marking a partially identified charging device in the visual representation of the image data.

The visual representation of the image data may be an image.

The user input means may comprise a user interface.

The user input may be indicative of the location of the wireless charging device in the visual representation of the image data.

The processing means may be arranged such that, in the event that the processing of the image data has failed to identify the wireless charging device in the region proximate the vehicle, the location of the wireless charging is determined to correspond to the location of the wireless charging device according to the user input.

The display means may be a touch-sensitive display and the user input is effected by touching the touch-sensitive display.

The processing means may be configured to determine a vehicle path between a present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device.

The processing means may be arranged to display in relation to the visual representation of the image data an indication of the determined vehicle path.

The indication of the determined vehicle path may take the form of one or more curvilinear dotted or continuous lines that provides guidance to the vehicle operator in relation to the determined vehicle path.

The vehicle assisted alignment system may be arranged to output a warning upon a substantial deviation from the determined vehicle path, optionally wherein the warning is displayed in relation to the visual representation of the image data, optionally displaying or sounding an indication of corrective measures needed to return to the determined vehicle path.

The processing means may be arranged to display in relation to the visual representation of the image data a graphic indicative of the remaining distance between the present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device

The processing means may be arranged to update the vehicle path as the vehicle position is changed and to update the indication of the determined vehicle path on the displayed image.

The wireless charging device may be arranged to charge the vehicle from the underside of the vehicle when the vehicle drives over the wireless charging device. The wireless charging device may be a pad.

The optical characteristics of the wireless charging device may be updated during and/or following substantial alignment between the vehicle and the wireless charging device. This facilitates improved future optical recognition of the wireless charging device and allows for changing optical characteristics of the wireless charging device, such as then the wireless charging device colour alters as a result of weather exposure. The user may be prompted via the user interface to confirm update of the optical characteristics of the wireless charging device.

The image data of the region proximate the vehicle may be obtained by an external camera. This facilitates improved alignment for the reason that an external camera can offer a superior view of the vehicle position with respect to the wireless charging device.

The external camera may be an overhead camera arranged to obtain image data of an overhead view of the region proximate the vehicle. This facilitates a birds-eye view of the vehicle with respect to the wireless charging device, facilitating superior feedback to the vehicle operator in the form of the visual representation, superior identification of the wireless charging device, and/or superior determination of a vehicle path between the present position of the vehicle and the wireless charging device.

The external camera may be arranged to wirelessly communicate with a wireless receiver of the vehicle.

The image data may be primary image data obtained from a primary image obtaining means such as one or more primary cameras, and the method, system or vehicle comprises secondary image obtaining means such as one or more secondary cameras, for obtaining secondary image data, and the processing may be performed on the primary and/or secondary image data. This facilitates superior identification of the wireless charging device owing to more data being made available for performing object recognition of the wireless charging device.

The external camera may be the secondary image obtaining means.

The processing may be arranged to transition from processing the primary image data to processing the secondary image data. The transition may occur as the vehicle approaches substantial alignment with the wireless charging device. Transitioning in this way can facilitate better identification of the wireless charging device as the view of the wireless charging device becomes less clear on one camera as compared to another.

According to another aspect of the invention, there is provided a vehicle comprising the system according to any of the arrangements described above.

According to another aspect of the invention, there is provided computer software which, when executed by a computer, is arranged to perform one of the methods described above, optionally wherein the software is stored on a computer-readable medium.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

Fig. 1 shows an example of a vehicle having a battery requiring charging;

Fig. 2 shows requisite alignment with a wireless charging device prior to wireless charging via the wireless charging device;

Fig. 3 shows a vehicle employing optical assisted alignment;

Fig. 4 shows the vehicle of Figure 3 approaching substantial alignment with the wireless charging device;

Fig. 5 shows a visual display that may be employed during assisted alignment;

Fig. 6 shows an example of accepting user input during assisted alignment;

Fig. 7 shows a vehicle employing electromagnetic assisted alignment;

Fig. 8 shows the vehicle of Fig. 7 in substantial alignment with the wireless charging device;

Fig. 9 shows a vehicle employing electromagnetic assisted alignment in which two EM receivers are provided as part of a wireless charging receiver on the vehicle;

Fig. 10 shows a vehicle employing electromagnetic assisted alignment in which two EM receivers are provided that are separated from the wireless charging receiver on the vehicle;

Fig. 11 shows a method of optical assisted alignment of a vehicle with a wireless charging device;

Fig. 12 shows a method of optical alignment of a vehicle with a wireless charging device comprising controlling movement of the vehicle;

Fig. 13 shows a method of combined optical assisted alignment and electromagnetic assisted alignment; and

Fig. 14 shows a system for performing combined optical assisted alignment and electromagnetic assisted alignment.

DETAILED DESCRIPTION

Fig. 1 illustrates a vehicle 1 of a form that may comprise an electric battery requiring charging from an external source of energy. Such a vehicle 1 may be an electric vehicle or may be a so-called hybrid vehicle combining electric propulsion with an internal combustion engine.

One form of charging facilitating contactless transmission of electrical energy requires alignment between a wireless charging device 3 such as a stationary charging pad affixed to the ground and a wireless charging receiver 4 of the vehicle 1. Electrical energy from the wireless charging device 3 induces an electric current in the wireless charging receiver 4 of the vehicle 1 to effect charging. Efficiency of the energy transfer requires accurate alignment between the wireless charging receiver 4, and therefore the vehicle 1, and the charging device 3. A lateral offset greater than 150mm or a longitudinal offset greater than 100mm can result in a loss of transfer efficiency owing to misalignment between the vehicle 1 and the wireless charging device 3.

Thus with such a limited range, manually controlling the vehicle 1 in order to achieve alignment without assistance can be difficult, as described below.

Fig. 2 provides an example of the vehicle motion required to achieve a desired alignment. There is shown a wireless charging device 3 in the form of a stationary wireless charging pad affixed to the ground. The vehicle 1 must be manoeuvred so as to align a wireless charging receiver 4 positioned on the underside of the vehicle 1 with the wireless charging device 3. Depending on the starting position of the vehicle 1, one or more precise manoeuvres, each comprising longitudinal movement in a forward or reverse direction and appropriate steering, must be performed in order to achieve alignment. As the vehicle 1 approaches the wireless charging device 3, the vehicle operator may no longer have visibility of the wireless charging device 3, exacerbating the difficulty in achieving alignment.

Without any form of guidance then, it is difficult for the vehicle operator to achieve the requisite alignment for optimal transfer of energy between the wireless charging device 3 and the vehicle 1.

Embodiments of the invention provide assisted alignment, easing the alignment process and facilitating improved alignment and therefore charging effectiveness.

Fig. 3 shows an image obtaining means 5 in the form of a camera mounted to the vehicle 1 enabling image data of a region proximate the vehicle to be obtained. Such a region will be limited by a field of view 7 and thus it will be understood that the presence of the wireless charging device 3, or lack thereof, in the image data obtained by the image obtaining means 5 will depend on the position and orientation of the vehicle 1 relative to the position of the wireless charging device 3.

The image obtaining means may be controlled by a processing means

The image obtaining means 5 may comprise one camera and/or cameras employing a wide angle lens in order to increase the field of view 7 and therefore the visibility of the wireless charging device 3 for certain positions and orientations of the vehicle 1 relative to the wireless charging device 3. One or more cameras may be mounted atop the vehicle or in other locations such as at a front of the vehicle 1 below the plane of the bonnet of the vehicle 1, for example behind a grill of the vehicle 1. One or more cameras may be movably mounted. One or more cameras may be horizontally and/or vertically rotatable to enable the orientation of the camera relative to the vehicle 1 to be adjusted. Adjustment of the orientation of such cameras may be controlled by a camera control means in the form of a camera controller, not shown. Such a movable camera may be controlled by the camera control means so as to retain a constant inclination relative to a ground plane regardless of the inclination of the vehicle. A portion of the vehicle 1 may be made transparent to provide visibility therethrough for the image obtaining means 5. For example one or more windows may be provided in the vehicle 1. Alternatively, a transparent bonnet may be provided. This would facilitate a camera having visibility of a portion underneath the vehicle 1. It would also be possible to employ a separate camera underneath the vehicle 1 or a camera on a rotatable mount, such that visibility of a portion immediately in front of, or even underneath, the vehicle 1 is made possible.

Image data captured by the image obtaining means 5 may be stored by a storage means, not shown, in the form of volatile or non-volatile memory. A fast read/write time is desirable to minimize delays associated with temporary storage of the image data for processing.

The stored image data is then processed using processing means, not shown, which may take the form of a dedicated processor or a processor with spare processing capacity used in the vehicle to perform other functions. Specifically, the processing means searches for one or more optical characteristics of the wireless charging device 3 in the image data. Examples of optical characteristics of the wireless charging device 3 include its shape, colour, markings, patterns, etc. These may be adjusted to facilitate stronger more recognisable optical characteristics. Object recognition techniques are employed, and based on the obtained image data, a determination is made in the processing means whether a charging device 3 is present in the region proximate the vehicle.

In one example, see Fig. 11, a method of optical assisted alignment of the vehicle 1 comprises obtaining image data 110; searching for predetermined optical characteristics of the wireless charging device 120; and identifying the wireless charging device 130.

Identification of the wireless charging device 3 facilitates providing feedback to the vehicle operator during alignment between the vehicle 1 and the wireless charging device 3 thereby providing assisted alignment.

Where a positive match is made, the location of the wireless charging device 3 may be determined based on the position of the matching segment of the image data and the orientation of the one or more cameras of the image obtaining means. Here the term location is used in a general sense to mean information for alignment pertaining to the relative position of the wireless charging device 3 with respect to the vehicle 1, such as the angle of offset of the wireless charging device 3 from the longitudinal axis of the vehicle 1, giving information suitable for steering during alignment.

Referring to Fig. 5, a display means 9 in the form of a display unit such as an LCD monitor, which may be dedicated or form part of an existing display in the vehicle 1 such as a vehicle HUD, may provide a visual representation 10 of the image data obtained by the image obtaining means 5. The image data obtained from the image obtaining means 5 may be processed thereby to provide an overhead view, not shown, of the vehicle and its surrounds.

The processing means may attempt to determine a vehicle path between the present location of the vehicle 1 and the identified location of the wireless charging device 3. This vehicle path is a path traversable by the vehicle 1, given known vehicle specifics, such as its steering capabilities and turning radius. Where a vehicle path cannot be determined for a particular position and orientation of the vehicle 1, given the vehicle specifics, the processing means may identify a suggested vehicle path between a starting position remote from the present position of the vehicle 1 and the position of the wireless charging device 3. Either or both of the vehicle path or suggested vehicle path may be displayed on the display means 9.

The example shown in Fig. 5 shows a visual representation 10 which would be obtained by a front-facing image obtaining means 5 in the case shown in Fig. 4, when the vehicle is directly facing the charging device 3. A graphic indicator 12 may be provided in relation to the visual representation 10 showing the identified location of the wireless charging device 3. In the illustrated example of Fig. 5, this graphic indicator 12 takes the form of shading, but the graphic indicator 12 may take other forms. An indication may be provided such as via the progress bar 13 as to the remaining distance between the vehicle 1 and the wireless charging device 3. Alternatively, the indication may be indicative of the extent of progress of the vehicle motion along a determined vehicle path. The display means 9 may display an indication of the determined vehicle path, which may take the form of guide lines 11a, 11b, providing guidance to the vehicle operator of the path to alignment between the vehicle 1 and the wireless charging device 3.

The indication of the determined vehicle path may comprise one or more guide lines 11a, 11b and/or one or more quadrilateral shapes such as a rectangle, trapezoid or other quadrilateral shape. The indication of the determined vehicle path can thus act like a ‘red carpet’ leading to the wireless device 3 showing the proposed vehicle trajectory.

There may be provided input means in the form of an input interface enabling the vehicle operator to specify a location of the wireless charging device 3. Thus in the event that the image processing fails to identify the location of the wireless charging device 3 or only partially recognises the wireless charging device 3, the vehicle operator may specify the location of the wireless charging device 3. This specified location may be taken into account during the image processing, for example so that the image processing is focused on a certain region of the image data. The user input means may take the form of a touch-sensitive display that may be touched at the location of the wireless charging device 3 in the representation of the image data. Another occasion when user input may be employed is when, as shown in the display means 9 on the left-hand side of Fig. 6, two wireless charging devices 3a and 3b are identified in the image data. In the event that two or more wireless charging devices 3 are identified by the processing means, the vehicle operator may be prompted to specify the desired wireless charging device 3 with respect to which to initiate alignment and thereafter to charge the vehicle 1 from. In the right-hand side of Fig. 6, the vehicle operator has selected the wireless charging device 3b, and it is now shaded to show the location of the selected wireless charging device 3b.

Information about the vehicle 1 may be obtained by the processing means including but not limited to the present steering angle of the wheels, vehicle velocity, acceleration and brake information. This information may be obtained by the processing means via a communication bus of the vehicle, such as a controller area network (CAN bus).

Such vehicle information may be employed in order to control the motion of the vehicle 1 so as to bring the vehicle 1 into alignment with the wireless charging device 3. The control may be effected using control signals sent from the processing means over the CAN data bus. The steering and/or longitudinal motion of the vehicle 1 may be controlled. The vehicle operator may be prompted or be otherwise able to specify whether either or both of steering and the longitudinal motion of the vehicle 1 is to be controlled. Control over the steering in particular may prove advantageous because it may be difficult for the vehicle operator to accurately control steering to achieve alignment between the vehicle 1 and the wireless charging device 3.

During vehicle movement the steps of obtaining and processing the image data may be repeated in order to update the determined or suggested vehicle path and any display thereof. A warning may be outputted when the vehicle 1 deviates from the determined or suggested vehicle path. This warning may take the form of an audible or visual warning. The visual warning may be outputted on the display means 9. Indicators may be provided on the visual representation of the image data 10 that provide guidance to the vehicle operator of the required vehicle motion to return to the determined or suggested vehicle path. Arrows showing the required steering may be provided in relation to the visual representation of the image data 10.

In one example, see Fig. 12, a method of aligning a vehicle with a wireless charging device is shown comprising the steps of obtaining image data 210; searching for predetermined optical characteristics of the wireless charging device 220; identifying the location of the wireless charging device 230; determining a vehicle path between the vehicle location and identified location of the wireless charging device 240; and controlling movement of the vehicle based on a determined vehicle path 250.

Fig. 7 shows a vehicle 1 with wireless charging receiver 4 approaching wireless charging device 3 which emits a field of electromagnetic (EM) energy 15. EM source finding techniques may be employed in order to identify the location of the wireless charging device 3 based on the EM energy received by the vehicle 1, the characteristics of which will vary depending on the relative position between the vehicle 1 and the wireless charging device 3.

Fig. 8 shows the vehicle 1 in the aligned state with the wireless charging device 3, ready for charging.

Two separate electromagnetic receivers 5a and 5b may be provided as shown in Figs. 9 and 10 and the location of the wireless charging device 3 relative to the vehicle may be identified based on the relative received strength of the EM energy received by the electromagnetic receivers 5a and 5b. The electromagnetic receivers 5a and 5b may be part of the wireless charging receiver 4 of the vehicle 1, as shown in Fig.9, or they may be separate from the wireless charging receiver 4 of the vehicle 1, as shown in Fig. 10. In certain embodiments, more than two separate electromagnetic receivers may be provided, where any of the separate electromagnetic receivers may or may not be part of the wireless charging receiver 4 of the vehicle 1.

The advantages and disadvantages associated with optical assisted alignment may differ from those associated with EM assisted alignment.

Performing assisted alignment of the vehicle 1 based on image processing searching for optical characteristics of the wireless charging device 3 in image data is particularly effective at longer range, i.e. when the vehicle 1 is not in close proximity with the wireless charging device 3. During this period of alignment, the aligning process is less sensitive to inaccuracies. But as the vehicle draws closer to the wireless charging device 3, the aligning process becomes more sensitive to inaccuracy.

Performing assisted alignment of the vehicle 1 based on characteristics of the EM energy received from the wireless charging device 3 is particularly effective at short range where there is an appreciable EM field strength due to the EM energy emitted from the wireless charging device 3. EM-based locating of the wireless charging device 3 can be highly accurate. For this reason, EM assisted alignment is best adapted for short-range alignment between the vehicle 1 and the wireless charging device 3, when the aligning process is more dependent on accuracy.

In this way, EM assisted alignment 350 may thus be advantageously combined with optical assisted alignment 310, as shown in Fig. 13.

Optical assisted alignment 310 may be initiated by the vehicle operator through user input means. Thus when a vehicle enters a charging zone such as a gas station or parking lot, the vehicle operator may initiate the optical assisted alignment 310 via the user input means. Alternatively, optical assisted alignment 310 may be initiated automatically. For example, the wireless charging device 3 or an external transmitter may emit an optical alignment control signal such that when a vehicle 1 enters a charging zone including the wireless charging device 3, the optical assisted alignment 310 is automatically initiated as the vehicle 1 moves into receiving distance and receives the emitted optical alignment control signal. EM assisted alignment 350 may similarly be initiated by the vehicle operator through the user input means. For example, as the vehicle 1 approaches the vehicle charging device 3, the vehicle operator may initiate the EM assisted alignment 350 via the user input means. Alternatively, the EM assisted alignment 350 may be initiated automatically. For example, the wireless charging device 3 or external transmitter may emit an EM assisted alignment control signal such that when the vehicle 1 enters within a certain proximity of the wireless charging device 3, the EM assisted alignment 350 is automatically initiated as the vehicle 1 moves into receiving distance and receives the emitted EM alignment control signal.

The optical or EM alignment control signal could use a standard wireless protocol such as Bluetooth (RTM) or a protocol based on Wi-Fi (RTM) technology.

As an alternative to the EM alignment control signal, the EM assisted alignment may be arranged to be initiated upon receipt of EM energy emitted from the wireless charging device 3 for the purpose of charging. That is, as soon as EM energy is received by the wireless charging receiver 4 and/or separate EM receivers 5a and 5b, the EM assisted alignment procedure may be performed.

During optical assisted alignment 310, as the vehicle approaches the wireless charging device 3 there may advantageously, for the reasons described above, be a transition to EM assisted alignment 350. At this point the vehicle nears the EM field emitted by the wireless charging device 3 and optical assisted alignment 310 may become more challenging as the vehicle edges closer to the wireless charging device 3. For example, ultimately the vehicle 1 may begin to drive over the wireless charging device 3, see the transition from Fig. 7 to Fig. 8, and a transition to EM assisted alignment 350 obviates having to employ another camera on the underside of the vehicle or extreme deviations of camera orientations of cameras not provided on the underside of the vehicle to retain visibility of the wireless charging device 3.

This transition may either be effected using the EM alignment control signal or alternatively based on a determined proximity between the vehicle 1 and the wireless charging device 3 based on the identified location of the wireless charging device 3 with respect to the vehicle 1.

An indication may be provided on the display means 9 that a wireless charging device 3 has been identified. Optical assisted alignment 310 and/or EM assisted alignment 350 may be prevented from initiating in the case that the vehicle velocity is above a set threshold. Alternatively or additionally, optical assisted alignment 310 and/or EM assisted alignment 350 may be prevented from initiating pending confirmation by way of input from the vehicle operator. Thus, an example of a sequence of operation is that when the vehicle 1 enters within a certain proximity of the wireless charging device 3, an alignment control signal is received, whereupon an indication may be provided on the display means that a wireless charging device 3 has been identified, and optical and/or EM assisted alignment is initiated providing a) the vehicle velocity is below a set threshold, and b) input is received from the vehicle operator confirming initiation of the assisted alignment.

Fig. 14 shows an example of a system for performing combined optical and electromagnetic assisted alignment 400. A processor 410 communicates with memory 420. The processor 410 controls: one or more cameras 430; one or more electromagnetic receivers 450; an alignment control signal receiver 460; a display 470; a vehicle controller 480; and a user interface 490. The processor interacts with the CAN data bus 415.

Following input from the user interface 490 or receipt of an optical alignment control signal by the alignment control signal receiver 460, the processor 410 will cause one or more cameras 430 to capture image data corresponding to a region proximate the vehicle 1 that is stored in the memory 420. The processor 410 will then perform image processing on the image data to search for one or more optical characteristics of the wireless charging device 3 that are stored in the memory 420. The processor 410 may cause the display 470 to output a visual representation 10 of the image data. The processor 410 will try to locate the wireless charging device 3 in the image data and output the location of the wireless charging device 3 on the display 470. The processor 410 may determine a vehicle path between a present location of the vehicle 1 and the identified location of the wireless charging device 3. Using the determined vehicle path the processor 410 may control the vehicle movement via the vehicle controller 480 and interaction with the CAN data bus 415, through which the processor can obtain information relating to the vehicle state such as the present steering angle, vehicle velocity, etc. The processor 410 may repeat these operations as required during an optical assisted alignment procedure.

Following input from the user interface 490 or receipt of an electromagnetic alignment control signal by the alignment control signal receiver 460, the processor 410 may identify the location of the wireless charging device 3 based on the characteristics of the electromagnetic energy received from the one or more EM receivers 450.

The processor 410 may alternatively identify the location of the wireless charging device 3 based on the image processing of the image data and also the characteristics of the EM signal received from the EM receivers 450.

The identified location of the wireless charging device 3 is then employed to display the location of the wireless charging device 3, determine a vehicle path and control the vehicle, as described above.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims

1. A method of assisting alignment of a vehicle with a wireless charging device, the method comprising: obtaining image data of a region proximate the vehicle; receiving a user input from a vehicle operator indicative of a location of the wireless charging device; and processing the image data thereby to search for one or more predetermined optical characteristics of the wireless charging device in the image data for the purpose of identifying a wireless charging device in the region proximate the vehicle, wherein the processing of the image data takes into account the location of the wireless charging device according to the user input.

2. The method according to claim 1, comprising displaying a visual representation of the image data that is visible to a vehicle operator.

3. The method according to claim 2, comprising displaying in relation to the visual representation of the image data a graphic indicator marking an identified charging device in the visual representation of the image data.

4. The method according to claim 2 or claim 3, wherein the user input is indicative of the location of the wireless charging device in the visual representation of the image data.

5. The method according to any preceding claim, wherein, in the event that the processing of the image data has failed to identify the wireless charging device in the region proximate the vehicle, the location of the wireless charging is determined to correspond to the location of the wireless charging device according to the user input.

6. The method according any preceding claim, comprising determining a vehicle path between a present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device.

7. The method according to claim 6 as dependent on at least claim 2, comprising displaying in relation to the visual representation of the image data an indication of the determined vehicle path, optionally wherein the indication of the determined vehicle path takes the form of one or more curvilinear dotted or continuous lines that provides guidance to the vehicle operator in relation to the determined vehicle path.

8. The method according to claim 6 or claim 7, comprising outputting a warning upon a substantial deviation from the determined vehicle path, optionally wherein the warning is displayed in relation to the visual representation of the image data, optionally displaying or sounding an indication of corrective measures needed to return to the determined vehicle path.

9. The method according to any one of claims 6 to 8, comprising updating the vehicle path as the vehicle position is changed and updating the indication of the required vehicle path on the displayed image.

10. The method according to any preceding claim dependent on at least claim 2, comprising displaying in relation to the visual representation of the image data a graphic indicative of the remaining distance between the present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device.

11. A system for assisted alignment of a vehicle with a wireless charging device, the system comprising: image obtaining means for obtaining image data of a region proximate the vehicle; user input means for receiving user input indicative of a location of the wireless charging device; storage means for storing predetermined optical characteristics of the wireless charging device and image data obtained from the image obtaining means; and processing means for processing the image data thereby to search for one or more of the predetermined optical characteristics of the wireless charging device in the image data for the purpose of identifying the wireless charging device in the region proximate the vehicle, such that the processing of the image data takes into account the location of the wireless charging device according to the user input.

12. The system according to claim 11, comprising display means for displaying a visual representation of the image data that is visible to a vehicle operator.

13. The system according to claim 12, wherein the processing means is arranged to display on the display means in relation to the visual representation of the image data a graphic indicator marking an identified charging device in the visual representation of the image data.

14. The system according to any one of claims 12 or 13, wherein the user input is indicative of the location of the wireless charging device in the visual representation of the image data.

15. The system according to any one of claims 11 to 14, wherein the processing means is arranged such that, in the event that the processing of the image data has failed to identify the wireless charging device in the region proximate the vehicle, the location of the wireless charging is determined to correspond to the location of the wireless charging device according to the user input.

16. The system according any preceding claim, wherein the processing means is configured to determine a vehicle path between a present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device.

17. The system according to claim 16 as dependent on at least claim 12, wherein the processing means is arranged to display in relation to the visual representation of the image data an indication of the determined vehicle path, optionally wherein the indication of the determined vehicle path takes the form of one or more curvilinear dotted or continuous lines that provides guidance to the vehicle operator in relation to the determined vehicle path.

18. The system according to claim 16 or 17, wherein the system is arranged to output a warning upon a substantial deviation from the determined vehicle path, optionally wherein the warning is displayed in relation to the visual representation of the image data, optionally displaying or sounding an indication of corrective measures needed to return to the determined vehicle path.

19. The system according to any one of claims 16 to 18, wherein the processing means is arranged to update the vehicle path as the vehicle position is changed and to update the indication of the determined vehicle path on the displayed image.

20. The system according to any preceding claim dependent on at least claim 12, wherein the processing means is arranged to display in relation to the visual representation of the image data a graphic indicative of the remaining distance between the present location of the vehicle and a location in which the vehicle is substantially aligned with the charging device.

21. A vehicle comprising the system according to any of claims 11 to 20.

22. Computer software which, when executed by a computer, is arranged to perform a method according to any one of claims 1 to 10, optionally wherein the software is stored on a computer-readable medium.