Method of configuring longitudinal wireless charging chain for electric vehicle and apparatus and system therefor

1. A method of configuring a longitudinal wireless charging chain by a first vehicle, the method comprising:

detecting a second vehicle in which a longitudinal wireless charging chain is configurable;

calculating a distance to the second vehicle;

performing, based on the calculated distance being within a first distance, lateral alignment with the second vehicle;

performing, based on the calculated distance being within a second distance, longitudinal alignment with the second vehicle by decreasing a number of drive pulses of an ultrasonic sensor to reduce a short-range detection limit distance and measuring a ringing time of the ultrasonic sensor; and

performing, based on the calculated distance being within a third distance, fine longitudinal alignment with the second vehicle up to the short-range detection limit distance based on the measured ringing time.

2. The method of claim 1 , wherein the first distance is greater than the second distance, which is greater than the third distance,

wherein when the calculated distance is within the short-range detection limit distance according to the fine longitudinal alignment, the first vehicle completes inter-vehicle alignments for configuration of the longitudinal wireless charging chain and performs inter-vehicle longitudinal wireless charging, and

wherein the distance to the second vehicle is calculated using either one or both of the ultrasonic sensor and a Light Detection and Ranging (LiDAR) provided in the first vehicle.

3. The method of claim 1 , wherein the second vehicle is detected through Vehicle to Everything (V2X) communication.

4. The method of claim 1 , wherein the performing of the lateral alignment with the second vehicle comprises:

classifying objects through pixel analysis of an image captured by a camera;

calculating an average lateral position of pixels corresponding to a classified specific object of the classified objects; and

performing lateral steering control by comparing the average lateral position with ½ of lateral pixels of the image.

5. The method of claim 4 , wherein the classified specific object is a license plate of the second vehicle.

6. The method of claim 4 , wherein the classified specific object is dynamically determined based on a vehicle type of the second vehicle.

7. The method of claim 4 , wherein the camera is a surround view monitor (SVM) front camera.

8. The method of claim 4 , wherein the performing of the lateral alignment comprises:

performing, based on the average lateral position being greater than ½ of the lateral pixels of the image, steering control of the first vehicle to a first direction; and

performing, based on the average lateral position being less than or equal to ½ of the lateral pixels of the image, steering control of the first vehicle to a second direction different from the first direction.

9. The method of claim 1 , wherein the performing of the longitudinal alignment further comprises setting the short-range detection limit distance corresponding to the decreased number of the drive pulses of the ultrasonic sensor.

10. The method of claim 9 , wherein the number of drive pulses of the ultrasonic sensor is decreased to 1.

11. A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors, configure the one or more processors to perform operations for configuring a longitudinal wireless charging chain by a vehicle operatively connected to another vehicle over a communication network, the operations comprising:

detecting the other vehicle in which the longitudinal wireless charging chain is configurable;

calculating a distance to the other vehicle;

performing, based on the calculated distance being within a first distance, lateral alignment with the other vehicle;

performing, based on the calculated distance being within a second distance, longitudinal alignment with the other vehicle by decreasing a number of drive pulses of an ultrasonic sensor to reduce a short-range detection limit distance and measuring a ringing time of the ultrasonic sensor; and

performing, based on the calculated distance being within a third distance, fine longitudinal alignment with the other vehicle up to the short-range detection limit distance based on the measured ringing time.

12. An electric vehicle configured for wireless charging, the electric vehicle comprising:

a vehicle terminal configured to communicate with the other another-vehicle;

a vehicle sensor comprising a camera, a Light Detection and Ranging (LiDAR), and an ultrasonic sensor; and

an electric vehicle (EV) charging device configured to:

detect, in operative connection with the vehicle terminal, the other vehicle in which longitudinal wireless charging chain is configurable;

calculate a distance to the other vehicle in operative connection with the vehicle sensor; and

perform lateral alignment and longitudinal alignment with the other vehicle based on the calculated distance,

wherein the EV charging device is further configured to:

perform, based on the calculated distance being within a first distance, the lateral alignment with the other vehicle;

perform, based on the calculated distance being within a second distance, the longitudinal alignment with the other vehicle by decreasing a number of drive pulses of the ultrasonic sensor to reduce a short-range detection limit distance and measuring a ringing time of the ultrasonic sensor; and

performing, based on the calculated distance being within a third distance, fine longitudinal alignment with the other vehicle up to the short-range detection limit distance based on the measured ringing time.

13. The electric vehicle of claim 12 , wherein the first distance is greater than the second distance, which is greater than the third distance.

14. The electric vehicle of claim 12 , wherein the distance to the other vehicle is calculated using either one or both of the ultrasonic sensor and the LiDAR, and

wherein the camera comprises a surround view monitor (SVM) front camera.

15. The electric vehicle of claim 12 , wherein the other vehicle is detected through Vehicle to Everything (V2X) communication.

16. The electric vehicle of claim 12 , wherein the EV charging device is further configured to:

classify objects through pixel analysis of an image captured by the camera;

calculate an average lateral position of pixels corresponding to a classified specific object of the classified objects; and

perform lateral steering control by comparing the average lateral position with ½ of lateral pixels of the image captured by the camera.

17. The electric vehicle of claim 16 , wherein the classified specific object is a license plate of the other vehicle.

18. The electric vehicle of claim 16 , wherein the classified specific object is dynamically determined based on a vehicle type of the other vehicle.

19. The electric vehicle of claim 16 , wherein the EV charging device is operatively connected to a steering system over an in-vehicle communication network, and

wherein the EV charging device is further configured to:

perform, based on the average lateral position being greater than ½ of the lateral pixels of the image, steering control to move the vehicle to a first direction with respect to a travel direction; and

perform, based on the average lateral position being less than or equal to ½ of the lateral pixels of the image, steering control to move the vehicle to a second direction different from the first direction with respect to the travel direction.

20. The electric vehicle of claim 12 , wherein the EV charging device is further configured to set the short-range detection limit distance corresponding to the decreased number of the ultrasonic sensor drive pulses, and

wherein the EV charging device decreases the number of drive pulses of the ultrasonic sensor to 1.