CN214775469U

CN214775469U - Vehicle with automatic driving function and charging pile

Info

Publication number: CN214775469U
Application number: CN202022663856.0U
Authority: CN
Inventors: 孙江元
Original assignee: Beijing Voyager Technology Co Ltd
Current assignee: Beijing Voyager Technology Co Ltd
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2021-11-19
Anticipated expiration: 2030-11-17

Abstract

The embodiment of the application discloses a vehicle with an automatic driving function. The vehicle comprises a vehicle-mounted control module and a vehicle-mounted charging module; the vehicle-mounted charging module comprises a positioning transmitter; the vehicle-mounted control module is used for controlling the positioning emitter to emit a positioning signal; the positioning signal is used for determining the position of a charging interface on the vehicle; and the vehicle-mounted charging module is used for matching with the charging pile to charge after the charging interface position of the vehicle is determined. The vehicle disclosed by the embodiment of the application can be automatically matched with the charging pile to complete charging in the operation process.

Description

Vehicle with automatic driving function and charging pile

Technical Field

The application relates to the field of automatic driving, in particular to a vehicle with an automatic driving function and a charging pile.

Background

In recent years, unmanned automatic driving is an important direction of vehicle development at present, and with increasing importance on environmental protection, more and more vehicles are driven by new energy. When the electric quantity of the automatic driving vehicle is insufficient in the driving process, the vehicle needs to be charged in time. However, when the current automatic driving vehicle is charged, manual intervention is often needed for charging, the charging process is complicated, and the operation cost is high.

Therefore, it is necessary to provide a vehicle with an automatic driving function and a charging pile for automatically charging the automatic driving vehicle.

SUMMERY OF THE UTILITY MODEL

One aspect of an embodiment of the present application provides a vehicle with an automatic driving function, the vehicle including an on-vehicle control module and an on-vehicle charging module; the vehicle-mounted charging module comprises a positioning transmitter; the vehicle-mounted control module can be used for controlling the positioning transmitter to transmit a positioning signal; the positioning signal is used for determining the position of a charging interface on the vehicle; and the vehicle-mounted charging module can be used for charging in cooperation with the charging pile after the charging interface position of the vehicle is determined.

In some embodiments, the onboard charging module is disposed at the bottom of the vehicle.

In some embodiments, the charging interface is disposed on the vehicle-mounted charging module, and the positioning transmitter is disposed around the charging interface.

In some embodiments, the positioning transmitter is a laser transmitter.

In some embodiments, the onboard control module is further configured to: acquiring battery state information of the vehicle; and sending the battery state information to a vehicle management platform so as to update the battery state of the vehicle.

Another aspect of an embodiment of the present application provides a charging pile including a charging control module, a charging device module, and a charging gun, the charging device module including a positioning receiver; the charging control module can be used for determining the position of a charging interface on a vehicle based on the positioning signal received by the positioning receiver; the charging device module can be used for being matched with a vehicle-mounted charging module of the vehicle for charging after the charging interface position of the vehicle is determined.

In some embodiments, the charging post further comprises a mobile device for controlling the charging gun to move based on the position of the charging interface so that the charging gun cooperates with the charging interface.

In some embodiments, the positioning signal is a five-point laser signal emitted by a laser emitter, and the determining the position of the charging interface of the vehicle based on the positioning signal emitted by the positioning emitter on the vehicle includes: and determining the position area of the charging interface based on four-point laser signals in the five-point laser signals, and determining the central position of the charging interface based on one-point laser signals except the four-point laser signals.

In some embodiments, the charging gun further comprises a locking structure for locking the connection of the charging gun to the charging interface; the charging control module is further configured to: after the charging interface is matched with the charging gun, handshake communication is carried out between the charging interface and the vehicle, so that the locking structure is controlled to lock the connection between the charging gun and the charging interface after the handshake communication is finished; and controlling the locking structure to unlock the connection between the charging gun and the charging interface after the vehicle is charged.

In some embodiments, the charging control module is further to: acquiring current battery state information and historical battery state information of the vehicle in a charging process; comparing the current battery state information with the historical battery state information to determine battery state change information; and when the battery state change information is larger than a change threshold value, controlling the charging device module to be disconnected with the vehicle-mounted charging module so as to interrupt charging.

Drawings

The present application will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:

FIG. 1 is an exemplary block diagram of a vehicle having an autonomous driving function according to some embodiments of the present application;

fig. 2 is an exemplary block diagram of a charging pole according to some embodiments of the present application;

FIG. 3 is an exemplary flow chart of a method of automatically charging a vehicle, according to some embodiments of the present application;

fig. 4 is an exemplary schematic diagram of a vehicle charging in cooperation with a charging post according to some embodiments of the present application.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

It should be understood that "system", "device", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

Embodiments of the present application may be applied to different transportation systems, e.g., taxis, special cars, tailgating, buses, designated drives, etc. The terms "passenger", "passenger end", "passenger terminal", "customer", "demander", "service requester", "consumer" and "customer using" are used interchangeably herein to refer to a party that needs or orders a service, either a person or a tool. Similarly, "driver," "driver end," "driver terminal," "provider," "service provider," "server," "service party," and the like, as described herein, are also interchangeable and refer to an individual, tool, or other entity, etc. that provides a service or assists in providing a service. In addition, a "user" as described herein may be a party that needs or subscribes to a service, or a party that provides or assists in providing a service.

In the automatic driving operation stage, the vehicle with the automatic driving function sometimes needs to be continuously operated for a long time, for example, for 24 hours, 36 hours, or even 48 hours. The automatic driving vehicle needs to judge whether charging is needed or not according to the current vehicle state, and the vehicle needing charging automatically goes to a charging station for charging. The vehicle having the automatic driving function may include a fully-automatic driving vehicle and a semi-automatic driving vehicle. The fully-automatic driving vehicle can be a vehicle which can automatically run on the road and automatically go to a charging position of a charging station to complete charging; a semi-autonomous vehicle may refer to any vehicle that has automatic travel to a charging station to a charging location to complete charging, and may be manually engaged in driving during other phases (e.g., driving on the road). When the number of vehicles is small, a manual assistance mode can be adopted, for example, gun plugging and charging are carried out manually, however, when the operating vehicles reach a certain scale (for example, 10 thousands of vehicles), if gun plugging and charging are carried out manually on each vehicle, the operation is very tedious, the workload is very large, and the labor cost is relatively high. Therefore, this application embodiment provides a vehicle and fill electric pile with autopilot function, and the vehicle can accomplish the operation of charging automatically after arriving the charging station and get into the position of charging, reduces artifical intervention, practices thrift the human cost to reach the purpose that reduces the operation cost of autopilot vehicle. The technical solutions disclosed in the embodiments of the present application are explained in detail by the description of the drawings below.

FIG. 1 is an exemplary block diagram of a vehicle having an autonomous driving function according to some embodiments of the present application.

As shown in fig. 1, a vehicle 100 having an automatic driving function may include an in-vehicle control module 110 and an in-vehicle charging module 120. The vehicle-mounted control module 110 is electrically connected with the vehicle-mounted charging module 120. The in-vehicle control module 110 has a control function, and can control the operation of the autonomous vehicle and the travel of the autonomous vehicle to a charging position of a charging station to complete charging, and the like. The vehicle-mounted charging module has a charging function and a positioning function. The function of charging can be used for charging the vehicle, and the locate function can be used for on-vehicle module of charging and fill the rifle cooperation of charging of electric pile and fix a position, fixes a position the back of accomplishing, can charge to the vehicle. The location function on the onboard charging module may include a location transmitter or a location receiver disposed on the vehicle. Correspondingly, can set up location receiver or location transmitter on filling electric pile. For example, the location transmitter may be provided on the vehicle and the location receiver may be provided on the charging pile. For another example, the positioning receiver may be provided on the vehicle and the positioning transmitter may be provided on the charging pile. The cooperation of location transmitter and location receiver can realize the location discernment of on-vehicle module and the rifle that charges of charging.

In some embodiments, the onboard charging module 120 may be disposed at the bottom of the vehicle. The vehicle-mounted charging module is arranged at the bottom of the vehicle, so that on one hand, the protection level of the vehicle-mounted charging module can be improved, the collision damage probability of the vehicle is reduced, and the maintenance cost can be further reduced. Because the vehicle sometimes collides with other objects or rubs in the operation process, if the vehicle-mounted charging module is arranged at other parts of the vehicle. For example, the side of the vehicle increases the possibility of damage to the vehicle charging module during collision or friction. On the other hand, set up on-vehicle module of charging in the bottom of vehicle and can also reduce the interference of external light source to the positioning signal of location transmitter transmission to promote the positioning accuracy to the interface that charges.

In some embodiments, the onboard charging module 120 includes a positioning transmitter 121, a charging interface, and a rechargeable battery. The rechargeable battery is disposed on the bottom of the vehicle (e.g., on the chassis of the vehicle) for powering the vehicle. The charging interface is used for being connected with a charging gun of the charging pile so as to charge the rechargeable battery. The interface that charges can set up in the land of vehicle, and the electricity is connected between interface and the rechargeable battery that charges to make the rifle that charges can charge rechargeable battery through the interface that charges. In some embodiments, the rechargeable battery and the charging interface may be disposed adjacent to the bottom of the vehicle near the rear of the vehicle, or may be disposed in front of the vehicle floor. Preferably, can all set up rechargeable battery and the interface that charges in the bottom of vehicle near the position of rear of a vehicle, set up in the bottom of vehicle can be better place the rechargeable battery who has great structure to and prevent that the battery from receiving the counter weight that extrudees inflation and balanced vehicle at vehicle collision in-process, make the vehicle possess better stability. In some embodiments, the positioning transmitter may be arranged around the charging interface. The positioning transmitter is arranged around the charging interface, so that the distance between the charging interface and the positioning transmitter can be reduced, and the accuracy of positioning the position of the charging interface through the positioning signal of the positioning transmitter can be improved. The positioning transmitter is arranged around the charging interface, namely that the distance between the positioning transmitter and the charging interface is smaller than a preset threshold value. The value range of the preset threshold value can be any value from 5cm to 50 cm. The value range of the preset threshold value can be any value from 10cm to 40 cm. The value range of the preset threshold value can be any value from 20cm to 30 cm. For example, the preset threshold may be 20cm, 10cm or 5 cm.

The positioning transmitter 121 can transmit a positioning signal for reflecting the position of the charging interface. The positioning receiver arranged on the side of the charging pile can judge the position of the charging interface by receiving the positioning signal. The positioning transmitter may be disposed on the vehicle. In some embodiments, the positioning transmitter may be disposed on the rechargeable battery; the charging interface can be arranged on a charging interface of the vehicle; it may be provided at other portions of the vehicle, for example, a side portion of the vehicle body. This embodiment is not limited to this. Preferably, the positioning transmitter 121 may be disposed on a rechargeable battery or a charging interface of the vehicle to reduce a distance between the positioning transmitter and the charging interface, and accuracy in positioning the charging interface may be improved. For the locator, the volume of the positioning receiver and the complexity of the equipment (because the positioning receiver comprises a positioning model receiving array and the like, the volume of related elements is larger) are larger than that of the positioning transmitter, so that the positioning transmitter is arranged on the vehicle, the number of elements arranged on one side of the vehicle can be reduced, the complexity of the charging device module on the vehicle can be reduced, and the weight of the vehicle can be reduced.

In some embodiments, in-vehicle control module 110 may be used to control a positioning transmitter to transmit a positioning signal. The locating signal may be used to determine a location of a charging interface on the vehicle. When the vehicle automatically enters the charging area, after the position of the vehicle is determined, the vehicle-mounted control module 110 may control the positioning transmitter to be turned on, and transmit a positioning signal, so that the positioning receiver on the charging pile side can determine the position of the charging interface according to the positioning signal. After the position of the charging interface is determined, the charging gun can be in butt joint with the charging interface so as to charge a rechargeable battery of the vehicle.

When the vehicle charges, the charging gun and the charging interface on the charging pile need to be docked for charging, and the vehicle is driven into the charging station and is difficult to park accurately at every time when reaching the charging position close to the charging pile, if the position has deviation, the charging interface on the vehicle and the charging plug (such as the charging gun) of the charging pile can not be docked, and the vehicle can not be charged. Therefore, the charging interface on the vehicle can be accurately positioned through the positioning signal transmitted by the positioning transmitter so as to charge the vehicle. Compared with other charging modes (for example, coil charging), the charging mode of the charging gun has higher requirement on the docking accuracy of the charging gun and the charging interface during charging. The way that the coil charges has essential difference with the way that fills electric pile and charge. The alignment degree of coil charging only can influence charging efficiency, and the bigger the coincidence area is, the stronger the electromagnetic induction is. And the charging gun cannot transmit current even 1 muA current as long as the plug and the socket are not aligned during charging. Therefore, when the charging gun is used to charge the rechargeable battery, the position of the charging interface needs to be accurately determined. And the position of the charging interface can be accurately positioned through the positioning signal transmitted by the positioning transmitter in the application.

In some embodiments, the vehicle charging module 120 may be configured to cooperate with the charging post to perform charging after the charging interface of the vehicle is located. The matching with the charging pile means that the charging interface of the vehicle is butted with the charging head of the charging pile. For example, one side of the charging gun is provided with a convex joint, one side of the charging interface is provided with a concave interface, and the convex joint is in butt joint with the concave joint. In some embodiments, a concave interface may be disposed on one side of the charging gun, and a convex joint may be disposed on one side of the charging interface. The above examples are for illustrative purposes only, and the docking between the charging gun and the charging interface may also take other common forms, which is not limited by the present embodiment.

In some embodiments, the positioning transmitter may be a laser transmitter, which may be disposed at a bottom of the vehicle, which may be disposed adjacent to a charging interface of the vehicle. The closer the distance between the laser transmitter and the charging interface (e.g. 5cm, 10cm, 15cm), the more accurate the position of the charging interface can be determined by the positioning signal. The laser signal emitted by the laser emitter at the bottom of the vehicle is less influenced by an external light source. In addition, under the vehicle bottom environment, because the environment is darker, required laser signal intensity is also lower, and required laser emitter's transmitting power is also lower to reduce system's consumption. In some embodiments, the positioning transmitters may also be other types of transmitters. For example, an infrared emitter, etc., which is not limited in this embodiment. In some embodiments, the laser transmitter may also be located elsewhere in the vehicle. For example, the side of the vehicle, etc., and this embodiment is not limited thereto.

In some embodiments, the on-board control module 110 may also be configured to obtain battery status information of the vehicle and send the battery status information to the vehicle management platform to update the battery status of the vehicle. The battery state information refers to various types of information indicating the state of the vehicle battery. For example, the battery temperature, battery level, SOC (state of charge), SOH (battery capacity, health, performance status), positive and negative relays, BMS (electric vehicle battery management system) main control board status, and the like of the vehicle battery. For example, when the temperature of the battery is higher than a set temperature threshold (e.g., 60 degrees, 70 degrees, 80 degrees, etc.), it may be considered that the battery may have a fault, and the battery status may be updated to a fault status to indicate that maintenance is needed; for another example, when the battery capacity is lower than the set capacity threshold (e.g., 20%, 15%, etc.), it is determined that the battery needs to be charged, and at this time, the battery state of the vehicle on the vehicle management platform may be updated, for example, the battery state of the vehicle may be changed from no-charging-needed state to charging-needed state. The vehicle management platform may be a local vehicle management platform or a cloud vehicle management platform, which is not limited in this embodiment.

In some embodiments, the on-board control module 110 may acquire battery status information of the vehicle through a battery sensor provided on the vehicle. The acquired battery state information can be used for judging whether the vehicle battery needs to be charged or not, and judging whether the battery is charged safely or not through the battery state information in the charging process so as to avoid safety events such as charging fire and the like. In some embodiments, the on-board control module 110 may also send battery status information to the vehicle management platform to assist the vehicle management platform in maintaining and scheduling the vehicle, etc. For example, when the current battery capacity is insufficient, the vehicle management platform can timely send an instruction for moving the vehicle to charge. For example, when the battery health degree is lower than the set health degree, the operation and maintenance personnel of the vehicle management platform can maintain the vehicle battery in time, replace the battery and the like. The health degree of the battery can be measured by the battery capacity, generally, the battery capacity of the battery when the battery leaves a factory is 100%, and when the battery capacity is reduced to a certain degree, for example, 80%, the available time after the battery is fully charged is greatly reduced, and at this time, the battery needs to be replaced.

In some embodiments, the in-vehicle charging module 120 may further include a charging door (not shown). The charging interface of the vehicle may be disposed inside the charging bin door. The charging bin gate can play a role in protecting the charging interface. For example, entry of dust, contact of other objects with the charging interface, and the like can be prevented.

Fig. 2 is an exemplary block diagram of a charging pole according to some embodiments of the present application.

As shown in fig. 2, the charging post may include a charging control module 210 and a charging device module 220. The charging control module is electrically connected with the charging device module. The charging device module 220 includes a stationary charging gun 221 and a positioning receiver 222. A charging gun 221 and a positioning receiver 222 may be provided on the charging post.

The charging control module 210 may be configured to determine a location of a charging interface on the vehicle based on the positioning signal received by the positioning receiver. The locating signal is transmitted by a locating transmitter on the vehicle. The positioning receiver may be an infrared receiver, a laser receiver, or the like. The corresponding positioning signal may be a laser signal, an infrared signal, etc.

In some embodiments, the positioning signal may be a five-spot laser signal. Correspondingly, the positioning transmitter may be a five-point laser transmitter and the positioning receiver may be a laser receiver. The laser signal sent by the five-point laser transmitter is the five-point laser signal. A five-spot laser signal refers to a laser signal having five laser spots in five different directions. The five-point laser signal can be emitted by a point laser arranged in the five-point laser emitter and a prism with five reflecting surfaces. Specifically, the spot beams emitted by the spot laser are projected onto five reflecting surfaces of the prism so as to reflect five laser spots in different directions. Wherein, a spot of laser is a beam of laser. That is, there are five laser signals emitted from the laser emitter. The four laser signals surround the middle laser signal. Different laser beams are used to locate different positions, respectively. Four laser signals surrounding the middle laser signal are used for reflecting the range of the charging interface. For example, the charging interface is oriented in four directions, i.e., up, down, left, and right. The middle laser signal is used for reflecting the position center of the charging interface.

In some embodiments, the location of the charging interface of the vehicle may be determined based on a positioning signal transmitted by a positioning transmitter on the vehicle. Illustratively, this may be determined in the following manner: and determining the position area of the charging interface based on four-point laser signals in the five-point laser signals, and determining the central position of the charging interface based on one-point laser signals except the four-point laser signals. The position area of the charging interface refers to an area formed by a peripheral surrounding part of the charging interface. For example, the position area of the charging interface may be a position area surrounded by a circle of guide grooves on the charging interface. Or, when the charging interface is a concave interface, the position region of the charging interface may be a sidewall or the like forming the periphery of the concave. Four-point laser in the five-point laser signal respectively reflects different positions around the position area of the charging interface, and the charging pile control module can confirm the position of the charging interface according to the signal.

In this embodiment, the charging control module can automatically determine the position of the charging interface according to the received positioning signal, and then control the charging gun to move to the position of the charging interface. Then the charging control module can be connected with the charging gun and the charging interface, and the vehicle can be charged after the connection is completed.

In some embodiments, the charging post may further include a moving device (not shown), and the moving device may be configured to control the movement of the charging gun based on the position of the charging interface, so as to move the charging gun to the position of the charging interface, so that the charging gun is matched with the charging interface, and the charging gun may be accurately inserted into the charging interface. The movement device can be formed in a conventional mechanical structure. For example, the moving means may be constituted by a driving assembly having a driving function for driving the charging gun of the charging pile to move. The driving assembly may move or rotate the charging gun through conversion of external power. For example, the charging gun may be moved or rotated to correspond with the interface of the charging interface and docked with the charging interface by lifting or translating the charging gun. For example, the driving assembly may include a motor, a slide rail, and a lifting member, the motor drives the charging gun to move on the slide rail, so that the charging gun moves to a position of the charging interface determined by the positioning signal on the two-dimensional plane, and then the lifting member lifts the height of the charging gun to insert the charging gun into the charging interface. In this embodiment, the position of the charging interface may be represented in the form of position coordinates, so that the mobile device may accurately move the charging gun to a specified position. In some embodiments, the driving assembly may include a cylinder, and the cylinder pushes the charging gun to move horizontally, so that the docking of the charging gun with the charging interface may also be completed. For example, when the charging interface is arranged on the side of the vehicle and the charging gun and the charging interface are at the same horizontal height, the docking of the charging gun and the charging interface can be completed only by horizontal movement. The present embodiment does not limit the specific form of the driving assembly.

In some embodiments, the charging gun may further comprise a locking structure for locking the connection of the charging gun to the charging interface. The charging control module may also be configured to: after the charging interface is matched with the charging gun, handshake communication is carried out between the charging interface and the vehicle, so that the locking structure is controlled to lock the connection between the charging gun and the power interface after the handshake communication is completed. After the charging gun is in butt joint with the charging interface, the vehicle and the identity of the charging pile are confirmed in a handshaking communication mode, the charging gun can be locked through the locking structure after confirmation, and the connection stability in the charging process is ensured. The locking structure may be in the form of a conventional snap-fit, but may also be in other forms, such as electromagnetic, for locking the connection by electromagnetic attraction. After the vehicle is charged, the vehicle-mounted control module can also control the locking structure to unlock the charging gun and the charging interface, and the unlocked charging gun can be separated from the charging interface to finish charging the vehicle.

In some embodiments, the charging control module may be further operable to: the current battery state information and the historical battery state information of the vehicle in the charging process are obtained. For the description of the battery status information, reference may be made to the related description in fig. 1, and the description is not repeated here. The current battery state information refers to battery state information in the charging process, and the historical battery state information comprises the battery state information in the historical charging process and the state information of the vehicle in the operation process. The current battery state information may then be compared to the historical battery state information to determine battery state change information. The battery state change information refers to a difference between current battery state information and historical battery state information. For example, the change in the battery level, the charging speed when charging the battery, the voltage, the current, and the like. And finally, when the battery state change information is larger than the change threshold, the charging device module is controlled to be disconnected with the vehicle-mounted charging module so as to interrupt charging. The variation threshold value can be set in advance by a vehicle or a charging pile management platform. E.g., 5%, 10%, etc. Through comparison and analysis, the battery state in the charging process is comprehensively judged, and the charging safety is ensured.

The charging device module 220 may be configured to cooperate with an on-board charging module of the vehicle to perform charging after the charging interface position of the vehicle is determined. As shown in fig. 2, in some embodiments, the charging control module may be provided separately from the charging device module. For example, the charging control module may be disposed upright on the ground, and the charging device module may be disposed horizontally underground. The charging control module and the charging device module are arranged separately, the charging control module on the ground can be convenient for operation and maintenance personnel to carry out maintenance operation, the charging device module is arranged underground, the occupied area of the ground can be reduced, and meanwhile, the charging control module can be conveniently matched with the vehicle-mounted charging module arranged at the bottom of a vehicle to charge. In some embodiments, the charging device module and the charging control module may be integrated into a whole, so as to dispose the entire charging pile under the ground, thereby further reducing the floor area. It should be noted that the charging device module 220 may be disposed underground or not. For example, when the charging interface is disposed at the side of the vehicle, the charging device module 220 may be disposed on the ground, and the charging gun may be horizontally inserted into the charging interface to complete the charging connection.

In some embodiments, the charging device module may include a charging post door (not shown). The positioning receiver can be arranged on the charging pile bin gate, and the charging control module can control the charging pile bin gate to be opened after the charging interface position of the vehicle is determined according to the positioning signal received by the positioning receiver. In some embodiments, the positioning receiver may also be disposed in the charging pile door, and after the vehicle reaches the specified charging position, the charging pile door is opened to receive the positioning signal transmitted by the positioning transmitter. The charging pile bin gate can protect parts arranged in the inner space behind the bin gate.

FIG. 3 is an exemplary flow chart of a method of automatically charging a vehicle, according to some embodiments of the present application.

For purposes of example, the process of automatically charging an autonomous vehicle is described in connection with the vehicle shown in fig. 1 and the charging post shown in fig. 2. The various steps of the method 300 of autonomous vehicle charging may be performed by the various modules shown in fig. 1 and 2. As shown in fig. 3, a method of charging an autonomous vehicle may include the following steps.

At step 310, it is determined that the autonomous vehicle is parked in a preset charging location.

Specifically, step 310 may be performed by an onboard control module.

In some embodiments, after receiving the information that the vehicle needs to be charged, the vehicle management platform may schedule the vehicle to enter a charging station and enter a preset charging location. The predetermined charging position may refer to a position above a charging device module of the charging pile. As shown in fig. 4, fig. 4 is an exemplary schematic diagram of a vehicle and a charging pile cooperating to charge according to some embodiments of the present disclosure, and the vehicle 430 is driven to above the charging device module 420 with the head facing outward. It is understood that in some embodiments, the vehicle head position may also be inward, i.e., in the direction of the charge control module 410.

In some embodiments, the onboard control module may determine whether the vehicle is parked in a preset charging position according to a distance sensor provided at the head, tail, or bottom of the vehicle. For example, the distance to the charging control module is determined based on a distance sensor (not shown) provided at the rear of the vehicle. It should be appreciated that the above is for exemplary purposes only and that various methods may actually be used to determine whether the autonomous vehicle is parked in the preset charging position. For example, GPS positioning, beidou positioning, high-precision satellite positioning, and the like are utilized.

At step 320, the positioning transmitter transmits a positioning signal.

Specifically, step 320 may be performed by an onboard control module.

In some embodiments, upon determining that the autonomous vehicle is parked at the preset charging position, the onboard control module may control a charging hatch of the vehicle to open and control the positioning transmitter to transmit the positioning signal.

Step 330, receiving the positioning signal by the positioning receiver, and sending the positioning signal to the charging control module.

Specifically, step 330 may be performed by the charging device module.

In some embodiments, the charging device module on the charging post side receives the location signal via a location receiver. For example, the positioning receiver may be disposed within a charging post compartment of the charging device module. After receiving the positioning signal, the charging bin door is opened, and the positioning signal is sent to the charging control module at the same time, so that the position of the charging interface of the vehicle is determined.

And step 340, determining the position of the charging interface of the vehicle based on the positioning signal.

Specifically, step 340 may be performed by the charging control module.

In some embodiments, the charging control module may calculate the position of the charging interface of the vehicle relative to the charging gun, for example, the position of the charging interface 431 relative to the charging gun 421 in fig. 4, according to the positioning signal. For example, the coordinate distance of the charging interface and the position of the charging gun in the same coordinate system includes a plane distance in the XY axis direction and a height distance in the Z axis direction (the Z axis is a direction perpendicular to the charging device module). For a specific manner of determining the charging interface, reference may be made to descriptions of other parts in this specification, and details are not described here.

And 350, matching the mobile charging gun with the charging interface to charge the vehicle.

Specifically, step 350 may be performed by a mobile device that moves the charging gun according to the determined position of the charging interface.

In some embodiments, after the charging gun is matched with the charging interface, the charging pile and the vehicle are in handshake communication, the identity of each other is confirmed, and charging is started after the communication is successful.

In the vehicle charging process, the charging control module can acquire the battery state information of the vehicle charging in real time, diagnose the battery state information, judge whether the charging process is abnormal or not, and disconnect the charging connection in time if the charging process is abnormal, so that the charging safety is ensured. For more details of this part, reference may be made to the description of fig. 2, which is not repeated here.

And step 360, disconnecting the charging gun from the charging interface after the vehicle is charged so as to stop charging.

Specifically, step 360 may be performed by the charging control module.

After the charging is completed, the charging control module can inform the automatic driving charging vehicle that the charging is completed, and simultaneously unlock the charging gun, and the charging gun is retracted into the inner space behind the charging pile bin door of the charging device module. The autonomous vehicle will be within a period of time after the charging gun is unlocked. For example, within 30 seconds, the charging pile door at the bottom of the vehicle is closed, and the charging is completed. After the charging is completed, the charging control module may notify the vehicle management platform to report the vehicle charging status to resume operation of the vehicle.

It should be noted that fig. 3 and fig. 4 are an embodiment of this specification, and the description of fig. 3 and fig. 4 is only an embodiment of the foregoing (description of fig. 1 and fig. 2), and the technical solution described in this specification is not limited to the example shown in fig. 3 and fig. 4, and there may be a plurality of variations. For example, the transmitter may be a receiver, but not necessarily a transmitter provided in the vehicle. For example, when the transmitter is installed in a vehicle, the transmitter may not necessarily be installed in the bottom portion, and may be installed in a position of another vehicle body.

It should be appreciated that the various modules illustrated in the figures of the present application may be implemented in a variety of ways. For example, in some embodiments, the system and its modules may be implemented in hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory for execution by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided, for example, on a carrier medium such as a diskette, CD-or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The system and its modules of the present application may be implemented not only by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but also by software executed by various types of processors, for example, or by a combination of the above hardware circuits and software (e.g., firmware).

It should be noted that the above description of the vehicle with the automatic driving function, the charging pile and the module thereof is only for convenience of description, and the application is not limited within the scope of the illustrated embodiments. It will be appreciated by those skilled in the art that, given the teachings of the present system, any combination of modules or sub-system configurations may be used to connect to other modules without departing from such teachings. For example, in some embodiments, the charging control module 410 and the charging device module 420 disclosed in fig. 4 may be different modules in a system, or may be a single module that implements the functions of two or more of the above modules, for example. For example, the charging control module 410 and the charging device module 420 may be two modules, or one module may have both the control and charging functions. Such variations are within the scope of the present application.

The beneficial effects that may be brought by the embodiments of the present application include, but are not limited to: (1) the vehicle-mounted charging module is arranged at the bottom of the vehicle, so that the protection level of the vehicle-mounted charging module can be improved, the damage probability of the vehicle during collision is reduced, and the maintenance cost can be further reduced; (2) the positioning emitter is arranged at the bottom of the vehicle, so that the interference of an external light source on a positioning signal can be reduced, and the detection accuracy is improved; (3) the positioning emitter is arranged at the bottom of the vehicle, and the emission power of the positioning emitter is reduced under the environment of the bottom of the vehicle, so that the power consumption of the system is reduced; (4) the method comprises the steps of collecting battery state information of a vehicle in real time in the charging process, judging whether the charging process is safe or not in real time according to the battery state information of the vehicle, and disconnecting a charging gun from a charging interface in time when risks possibly occur so as to ensure the safety of the charging process; (5) the positioning transmitter is arranged on the vehicle, so that the number of elements arranged on one side of the vehicle can be reduced, the complexity of the elements on the vehicle is reduced, and the structure of the vehicle is simplified.

It is to be noted that different embodiments may produce different advantages, and in different embodiments, any one or combination of the above advantages may be produced, or any other advantages may be obtained.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be considered merely illustrative and not restrictive of the broad application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present application and thus fall within the spirit and scope of the exemplary embodiments of the present application.

Also, this application uses specific language to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this application are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.

Moreover, those skilled in the art will appreciate that aspects of the present application may be illustrated and described in terms of several patentable species or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereon. Accordingly, various aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.

The computer storage medium may comprise a propagated data signal with the computer program code embodied therewith, for example, on baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer storage medium may be any computer-readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer storage medium may be propagated over any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or any combination of the preceding.

Computer program code required for the operation of various portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C + +, C #, VB.NET, Python, and the like, a conventional programming language such as C, Visualbasic, Fortran2003, Perl, COBOL2002, PHP, ABAP, a dynamic programming language such as Python, Ruby, and Groovy, or other programming languages, and the like. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any network format, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service, such as a software as a service (SaaS).

Additionally, the order in which elements and sequences of the processes described herein are processed, the use of alphanumeric characters, or the use of other designations, is not intended to limit the order of the processes and methods described herein, unless explicitly claimed. While various presently contemplated embodiments have been discussed in the foregoing disclosure by way of example, it should be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein disclosed. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.

Similarly, it should be noted that in the preceding description of embodiments of the present application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.

The entire contents of each patent, patent application publication, and other material cited in this application, such as articles, books, specifications, publications, documents, and the like, are hereby incorporated by reference into this application. Except where the application is filed in a manner inconsistent or contrary to the present disclosure, and except where the claim is filed in its broadest scope (whether present or later appended to the application) as well. It is noted that the descriptions, definitions and/or use of terms in this application shall control if they are inconsistent or contrary to the statements and/or uses of the present application in the material attached to this application.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present application. Other variations are also possible within the scope of the present application. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the present application can be viewed as being consistent with the teachings of the present application. Accordingly, the embodiments of the present application are not limited to only those embodiments explicitly described and depicted herein.

Claims

1. A vehicle with an automatic driving function, characterized in that the vehicle comprises an on-board control module and an on-board charging module; the vehicle-mounted charging module comprises a positioning transmitter;

the vehicle-mounted control module is used for controlling the positioning emitter to emit a positioning signal; the positioning signal is used for determining the position of a charging interface on the vehicle;

and the vehicle-mounted charging module is used for matching with the charging pile to charge after the charging interface position of the vehicle is determined.

2. The vehicle of claim 1, characterized in that the onboard charging module is disposed at a bottom of the vehicle.

3. The vehicle of claim 2, wherein the charging interface is disposed on the vehicle-mounted charging module, and the positioning transmitter is disposed around the charging interface.

4. The vehicle of claim 1, characterized in that the positioning transmitter is a laser transmitter.

5. The vehicle of claim 1, wherein the onboard control module is further configured to:

acquiring battery state information of the vehicle;

and sending the battery state information to a vehicle management platform so as to update the battery state of the vehicle.

6. A charging pile is characterized by comprising a charging control module, a charging device module and a charging gun, wherein the charging device module comprises a positioning receiver;

the charging control module is used for determining the position of a charging interface on the vehicle based on the positioning signal received by the positioning receiver;

and the charging device module is used for being matched with a vehicle-mounted charging module of the vehicle for charging after the charging interface position of the vehicle is determined.

7. The charging pole according to claim 6, further comprising a mobile device,

the mobile device is used for controlling the movement of the charging gun based on the position of the charging interface so as to enable the charging gun to be matched with the charging interface.

8. The charging pile according to claim 6, wherein the positioning signal is a five-point laser signal emitted by a laser emitter, and the determining the position of the charging interface on the vehicle based on the positioning signal received by the positioning receiver comprises:

and determining the position area of the charging interface based on four-point laser signals in the five-point laser signals, and determining the central position of the charging interface based on one-point laser signals except the four-point laser signals.

9. The charging pile of claim 6, wherein the charging gun further comprises a locking structure for locking the connection of the charging gun to the charging interface; the charging control module is further configured to:

after the charging interface is matched with the charging gun, handshake communication is carried out between the charging interface and the vehicle, so that the locking structure is controlled to lock the connection between the charging gun and the charging interface after the handshake communication is finished; and

and after the vehicle is charged, controlling the locking structure to unlock the connection between the charging gun and the charging interface.

10. The charging pole of claim 6, wherein the charging control module is further configured to:

acquiring current battery state information and historical battery state information of the vehicle in a charging process;

comparing the current battery state information with the historical battery state information to determine battery state change information; and when the battery state change information is larger than a change threshold value, controlling the charging device module to be disconnected with the vehicle-mounted charging module so as to interrupt charging.