JP2020010451A - Vehicle charging device - Google Patents

Abstract

To achieve both the improvement of charging efficiency and protection of a power receiving unit.SOLUTION: A charging device includes: a power receiving unit 25 mounted at a lower part of a vehicle 1 to enable wireless charging with a power transmission unit 31 embedded in a road surface 30 side; an adjustment mechanism 26 for adjusting a vertical position of the power receiving unit 25; acquisition devices 21, 22, 10A for acquiring road surface information within a prescribed distance in front of the vehicle 1; and a control device 10 for controlling the adjustment mechanism 26 so as to make a distance Du between units being an interval between the power receiving unit 25 and the power transmission unit 31 a preset predetermined value D1 in the case of executing wireless charging. The control device 10 controls the adjustment mechanism 26 so as to make the distance Du between units longer than the predetermined value D1 to raise the power receiving unit 25 in the case that an avoidance condition of the power receiving unit 25 is established on the basis of the acquired road surface information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle charging apparatus including a power receiving unit capable of wireless charging with a power transmitting unit embedded on a road surface when the vehicle is running.

  BACKGROUND ART Conventionally, it has been proposed to apply a technology (a so-called wireless charging system) for transmitting power in a state where a power transmission side and a power reception side are not in contact with each other, to a vehicle. That is, this is a technique in which a power receiving unit capable of wireless charging is provided in a vehicle, the power receiving unit receives electric power from a power transmitting unit outside the vehicle in a non-contact manner, and charges the electric power to a vehicle-mounted battery. For example, Patent Literature 1 discloses a power transmission device in which a power reception unit that receives power from a power transmission unit provided on a runway includes a receiving train and a support mechanism. The receiving train is connected to the vehicle, and is provided so as to be relatively movable in each of the runway width direction and the runway height direction.

JP 2010-22183 A

  However, in the case of a configuration in which the power receiving unit on the vehicle travels close to the road surface as in Patent Document 1 described above, an obstacle such as a stone or a tree branch falling on the road surface collides with the power receiving unit, The power receiving unit may be damaged. On the other hand, an increase in the distance between the power receiving unit and the power transmitting unit is not preferable because it causes a reduction in charging efficiency.

  The vehicle charging device of the present invention has been devised in view of such a problem, and an object thereof is to achieve both improvement of charging efficiency and protection of a power receiving unit. It is to be noted that the present invention is not limited to this object, and it is another effect of the present invention that it is an operation effect derived from each configuration shown in the embodiment for carrying out the invention described later, and that it has an operation effect that cannot be obtained by the conventional technology. is there.

  (1) The vehicle charging apparatus disclosed herein adjusts the vertical position of the power receiving unit mounted on the lower part of the vehicle and capable of wireless charging between the power transmitting unit and the power transmitting unit buried on the road surface side. An adjustment mechanism, an acquisition device that acquires road surface information within a predetermined distance in front of the vehicle, and when performing the wireless charging, an inter-unit distance that is an interval between the power reception unit and the power transmission unit is set in advance. A control device that controls the adjusting mechanism so that the predetermined value is obtained, the control device, when the avoidance condition of the power receiving unit is satisfied based on the road surface information acquired by the acquisition device, The adjusting mechanism is controlled so that the inter-unit distance is longer than the predetermined value, and the power receiving unit is raised.

(2) It is preferable that the predetermined value is set to a value obtained by adding a margin to a vibration width of a suspension of the vehicle.
(3) It is preferable that the control device sets the predetermined distance based on a vehicle speed of the vehicle.
(4) Preferably, the acquisition device includes a camera that captures an image of the front of the vehicle.

(5) When the avoidance condition is not satisfied after raising the power receiving unit due to the satisfaction of the avoidance condition, the control device sets the charging rate of the vehicle-mounted battery charged by the power receiving unit to a predetermined upper limit value. In this case, it is preferable to maintain the position of the power receiving unit.
(6) When the avoidance condition is not satisfied after raising the power receiving unit due to the satisfaction of the avoidance condition, the control device may determine that the straight road continues based on the road surface information acquired by the acquisition device. It is preferable that when the determination is made, the adjustment mechanism is controlled to lower the power receiving unit.

(7) The control device, when the avoidance condition is not satisfied after raising the power receiving unit due to the satisfaction of the avoidance condition, when the vehicle speed of the vehicle is higher than a predetermined threshold when traveling at high speed. Preferably, the position of the power receiving unit is maintained.
(8) When not performing the wireless charging, the control device preferably sets the power receiving unit at the highest position.

  According to the disclosed vehicle charging apparatus, it is possible to achieve both improvement in charging efficiency of wireless charging and protection of the power receiving unit.

FIG. 1 is a schematic view illustrating a vehicle including a charging device according to an embodiment. FIG. 2 is a block diagram illustrating a hardware configuration of a control device included in the charging device of FIG. 1. 3 is an example of a map that defines a relationship between a vehicle speed and a forward distance Df stored in the control device of FIG. 2. 3 is a flowchart illustrating control contents performed by the control device in FIG. 1.

  A vehicle charging device as an embodiment will be described with reference to the drawings. The embodiments described below are merely examples, and there is no intention to exclude various modifications and application of techniques not explicitly described in the following embodiments. Each configuration of the present embodiment can be variously modified and implemented without departing from the spirit thereof. Further, they can be selected as needed, or can be appropriately combined.

[1. Device configuration]
FIG. 1 illustrates a vehicle 1 to which the charging device of the present embodiment is applied. The vehicle 1 is an electric vehicle (electric vehicle or plug-in hybrid vehicle) equipped with at least a driving motor (not shown) and an externally chargeable driving battery 2. The motor is a motor generator having both a function as a motor and a function as a generator.

  A motor control unit (not shown) is interposed between the motor and the battery 2. The motor control unit is an electronic control device having a built-in inverter, which is a converter for mutually converting DC power on the battery 2 side and AC power on the motor side. For example, during power running of the motor, AC driving power is supplied from the battery 2 side to the motor side. On the other hand, during the regeneration of the motor, DC regenerative power is supplied from the motor side to the battery 2 side.

  The battery 2 is a high-voltage power supply configured to be able to charge regenerative electric power by a motor and external charging by a power supply outside the vehicle. The battery 2 can be charged with a household AC power supply (normal charging) or with a high-voltage DC power supply (rapid charging). In the case of a plug-in hybrid vehicle, charging of electric power generated by an engine-driven generator is also possible. A charging port (not shown) for connecting the vehicle 1 to external power supply equipment is provided on a side surface of the vehicle 1.

  Further, the battery 2 of the present embodiment is capable of wireless charging (contactless charging, noncontact charging) with a power transmission unit 31 embedded on the road surface 30 side. The battery 2 is mounted on the lower part of the vehicle body of the vehicle 1 (for example, below the floor panel), and is charged by the power receiving unit 25 also mounted on the lower part of the vehicle body. The power receiving unit 25 has a power receiving coil (not shown) connected to the battery 2 so as to be able to supply power, and performs wireless charging with the power transmitting unit 31.

  The power transmission unit 31 is a contactless charging facility having a ground side coil (not shown), and extends, for example, along the direction in which the road extends. The state of energization of the ground side coil of the power transmission unit 31 is controlled by a control system owned by, for example, a road manager or a traffic manager in an area where the power transmission unit 31 is located. When the ground-side coil is energized, the vehicle 1 travels on a road (road surface 30) in which the power transmission unit 31 is buried, whereby the battery 2 is wirelessly charged via the power reception unit 25.

  By the way, in wireless charging, the smaller the distance between the unit on the power transmission side and the unit on the power reception side, the more efficient the charging. On the other hand, if the power-receiving-side unit is too close to the power-transmitting-side unit buried on the ground, the power-receiving-side unit may come into contact with the road surface and be damaged. In particular, if the power receiving unit comes into contact with the road surface while the vehicle is running, there is a high possibility that the power receiving unit will fail.

  Therefore, the charging device of the present embodiment is provided with an adjusting mechanism 26 for adjusting the vertical position of the power receiving unit 25. The adjustment mechanism 26 has an actuator, a guide, and a stopper (not shown). When the actuator is operated in response to a command from the control device 10 described later, the power receiving unit 25 is moved upward or downward to be fixed at a predetermined position. I do. Note that the “vertical position” here is the vertical direction with respect to the vehicle 1. For example, when the vehicle 1 is on a horizontal plane, the vertical direction matches the vertical direction, and when the vehicle 1 is on an inclined surface. Does not coincide with the vertical direction.

  When the vertical position of the power receiving unit 25 changes, the distance between the power receiving unit 25 and the power transmitting unit 31 (hereinafter, referred to as “inter-unit distance Du”) changes. The unit distance Du corresponds to the shortest distance between the power receiving unit 25 and the power transmitting unit 31, and the shorter the distance Du, the higher the charging efficiency. The battery 2 is provided with a voltage sensor 2A and a current sensor 2B, and a charge rate (SOC, State of Charge) of the battery 2 is estimated (calculated) based on information detected by the sensors 2A and 2B.

  Further, the vehicle 1 is provided with a camera 21, a radar device 22, and a vehicle speed sensor 23. The camera 21 is an imaging device that captures an image (a video such as a still image or a moving image) in front of the vehicle 1, and includes, for example, an imaging device [CCD (Charge-Coupled Device), CMOS (Complementary Metal-Oxide-Semiconductor), etc.]. Is a built-in video camera. The radar device 22 emits electromagnetic waves or sound waves toward the front of the vehicle 1, and detects an object ahead using the reflected waves.

  The camera 21 and the radar device 22 of the present embodiment are arranged on the front of the vehicle 1 and function as an acquisition device for acquiring road surface information within a predetermined distance in front of the vehicle 1 (hereinafter, referred to as “forward distance Df”). The road surface information acquired here includes, for example, the presence or absence of stones, tree branches, and dust (empty cans, plastic bottles, and the like) on the road surface 30, and the undulations (irregularities) of the road surface 30 itself. These are objects (hereinafter referred to as “obstacles”) that may come into contact with the power receiving unit 25 mounted on the lower part of the vehicle body while the vehicle 1 is traveling.

  The control device 10 is an electronic control unit (Electronic Control Unit) mounted on the vehicle 1 and has a function of controlling the vertical position of the power receiving unit 25 (position control function) so that the inter-unit distance Du becomes a predetermined distance. Have. When performing wireless charging, the control device 10 of the present embodiment controls the adjustment mechanism 26 so that the inter-unit distance Du becomes a predetermined value D1, and receives power based on the acquired road surface information. It is determined whether or not the unit 25 should be avoided upward, and the adjusting mechanism 26 is controlled based on the determination result. Hereinafter, this control is referred to as “position control”, and the condition for determining whether or not to avoid is referred to as “avoidance condition”.

  Here, the hardware configuration of the control device 10 is illustrated in FIG. The control device 10 includes a processor 11 (Central Processor Unit, central processing unit), a memory 12 (main memory, main storage device), an auxiliary storage device 13, an interface device 14, a recording medium drive 15, and the like. Are communicably connected to each other. These components 11 to 15 operate by receiving power supply from a power source (not shown) (for example, a vehicle battery or a button battery).

  The processor 11 is a central processing unit including a control unit (control circuit), an arithmetic unit (arithmetic circuit), a cache memory (register group), and the like. The memory 12 is a storage device for storing programs and data during work, and includes, for example, a ROM and a RAM. On the other hand, the auxiliary storage device 13 is a memory device that stores data and firmware that are held for a longer time than the memory 12, and includes, for example, a flash memory and a nonvolatile memory.

  The interface device 14 controls input / output (I / O) between the control device 10 and the outside. The above-described camera 21, radar device 22, vehicle speed sensor 23, voltage sensor 2A, and current sensor 2B are connected to the control device 10. The exchange of information with these input-side devices is performed via the interface device 14. It should be noted that, even when the control device 10 can be connected to the in-vehicle network, it may be connected via the interface device 14.

  The recording medium drive 15 is a reading device that reads information recorded and stored on a recording medium 17 (removable medium) such as an optical disk or a semiconductor memory. The program executed by the control device 10 may be recorded and stored in the memory 12, for example, or may be recorded and stored in the auxiliary storage device 13. Alternatively, the program may be recorded and stored on the recording medium 17, and the program written on the recording medium 17 may be read into the control device 10 via the recording medium drive 15.

[2. Control Overview]
As shown in FIG. 1, the control device 10 includes a communication unit 10A, a determination unit 10B, a setting unit 10C, and a control unit 10D as functional elements for performing the above-described position control. These elements show some functions of a program executed by the control device 10 and are realized by software. However, some or all of the functions may be realized by hardware (electronic circuit), or may be realized by using software and hardware together.

  The communication unit 10A communicates with devices other than the vehicle 1, vehicles, and the like to acquire information. The communication unit 10A of this embodiment includes an information terminal of a satellite positioning system, acquires information on the current position of the vehicle 1 from GPS satellites, and acquires road surface information on the road at the current position of the vehicle 1. The communication unit 10A communicates with a roadside device (an optical beacon, a wireless communication device, or the like) installed on the road in advance to acquire the presence or absence of the power transmission unit 31 and road surface information on the road on which the vehicle 1 runs. You may. The road surface information acquired by these methods is invariable information such as the undulation of the road surface 30. Further, the communication unit 10A may acquire variable road surface information (presence or absence of an obstacle) owned by another vehicle by communicating with another vehicle existing around the vehicle 1. Thus, the communication unit 10A also has a function as an acquisition device that acquires road surface information.

The determination unit 10B determines whether wireless charging of the battery 2 is possible and, if wireless charging is possible, determines whether the above avoidance condition is satisfied. Whether wireless charging is possible is determined based on the following two conditions.
Condition 1: The power transmission unit 31 that is energized exists on the road on which the vehicle 1 runs. Condition 2: The state of charge of the battery 2 is not a fully charged state.

  The determination unit 10B determines that “wireless charging is possible” if both the conditions 1 and 2 are satisfied, and determines that “wireless charging is impossible” if either one is not satisfied. Condition 1 is determined based on, for example, information acquired from the communication unit 10A. Condition 2 is determined by comparing the state of charge of battery 2 estimated based on the values detected by voltage sensor 2A and current sensor 2B with a predetermined upper limit. The upper limit is a charging rate (for example, 85 to 95%) at which the battery 2 can be considered to be fully charged.

  The charge rate of the battery 2 may be estimated by the control device 10 or may be estimated by a unit (BMU, Battery Management Unit, not shown) that monitors the state of the battery 2 (such as charge state and temperature state). Is also good. In this case, the unit may be provided so as to be communicable separately from the control device 10, and the detection signals of the voltage sensor 2A and the current sensor 2B may be transmitted to the unit.

  The avoidance conditions determined by the determination unit 10B include at least “there is an obstacle within the forward distance Df of the vehicle 1”. Note that the avoidance conditions may include conditions regarding the size of the obstacle, the amount of protrusion from the road surface 30, and the like. The determination unit 10B determines whether the avoidance condition is satisfied based on the road surface information acquired by the acquisition device such as the camera 21, the radar device 22, and the communication unit 10A. This determination is also made while the avoidance condition is satisfied.

  The setting unit 10C sets the forward distance Df and the inter-unit distance Du in accordance with the result of the determination by the determination unit 10B. That is, both the forward distance Df and the inter-unit distance Du of the present embodiment are variable values set by the setting unit 10C.

  The setting unit 10C sets the forward distance Df based on the vehicle speed detected by the vehicle speed sensor 23 when the determination unit 10B determines that “wireless charging is possible”. As shown in FIG. 3, the setting unit 10C of the present embodiment sets the forward distance Df using a map in which the relationship between the vehicle speed and the forward distance Df is defined in advance. Although FIG. 3 illustrates a map in which the forward distance Df is quadraticly increased as the vehicle speed increases, the relationship between the vehicle speed and the forward distance Df is not limited to this.

  The setting unit 10C sets the inter-unit distance Du to a value larger than the predetermined value D1 (hereinafter, referred to as “variable value D2”) when the determination unit 10B determines that “the avoidance condition is satisfied”. Here, the predetermined value D1 is a distance Du between units (initial value) set when wireless charging is performed and the avoidance condition is not satisfied, and is also a minimum value of the distance Du between units. The predetermined value D1 is set in advance to a value obtained by adding a margin to the vibration width of the suspension (not shown) of the vehicle 1. For example, the predetermined value D1 is a value obtained by adding a margin (a length in the vertical direction) of several percent to several tens percent with respect to the vertical vibration width during traveling of the vehicle 1. Thus, when the wireless charging is performed (when the avoidance condition is not satisfied), damage due to the power receiving unit 25 coming into contact with the road surface 30 is prevented.

On the other hand, the variable value D2 is a unit distance Du set when wireless charging is performed and the avoidance condition is satisfied, and the obstacle protrudes upward from the road surface 30 with respect to the predetermined value D1. Is set to a value obtained by adding the length (projection amount). The protrusion amount of the obstacle is acquired from the road surface information.
Note that the setting unit 10C of the present embodiment sets the power receiving unit 25 to the highest position when the determination unit 10B determines that “wireless charging is not possible”, that is, when wireless charging is not performed. The unit distance Du at this time is a value equal to or greater than the variable value D2.

  The control unit 10D controls the adjustment mechanism 26 so that the inter-unit distance Du is set by the setting unit 10C. Specifically, if the avoidance condition is not satisfied when wireless charging is possible, the control unit 10D controls the adjusting mechanism 26 so that the inter-unit distance Du becomes the predetermined value D1. If the avoidance condition is satisfied in this state, the control unit 10D controls the adjusting mechanism 26 so that the inter-unit distance Du becomes the variable value D2, and raises the power receiving unit 25. Further, when the avoidance condition is not satisfied from this state, the control unit 10D controls the adjusting mechanism 26 so that the inter-unit distance Du becomes the predetermined value D1, and lowers the power receiving unit 25. When wireless charging is not possible (when wireless charging is not performed), control unit 10D raises power receiving unit 25 to the highest position.

[3. flowchart]
FIG. 4 is a flowchart illustrating a control procedure performed by the control device 10 described above. This flowchart is repeatedly executed at a predetermined calculation cycle when the main power supply of the vehicle 1 is in the ON state. In addition, separately from this flowchart, the charging rate of the battery 2 is calculated based on the detection values of the voltage sensor 2A and the current sensor 2B.

  In step S1, various types of information from the camera 21, the radar device 22, and the like are obtained, and in step S2, it is determined whether wireless charging is possible. If wireless charging is possible, a forward distance Df is set based on the vehicle speed (step S3), and then whether the avoidance condition is satisfied is determined using the forward distance Df (step S4). If the avoidance condition is not satisfied, the inter-unit distance Du is set to a predetermined value D1 (step S5), and the adjusting mechanism 26 controls the position of the power receiving unit 25 to be the set inter-unit distance Du (= D1). After that (step S8), the flow returns.

On the other hand, if the avoidance condition is satisfied in step S4, the inter-unit distance Du is set to the variable value D2 (step S6), and the position of the power receiving unit 25 is set to the set inter-unit distance Du (= D2). Is controlled (step S8), and the flow returns.
If it is determined in step S2 that wireless charging is not possible, the position of the power receiving unit 25 is set to the highest position in step S7, and the adjusting mechanism 26 is controlled (step S8). I do.

[4. Action, effect]
(1) In the charging device described above, the adjusting mechanism 26 is controlled such that the unit distance Du becomes the predetermined value D1 during wireless charging, so that charging efficiency can be increased. On the other hand, when it is determined that the avoidance condition for the power receiving unit 25 is satisfied based on the road surface information, the power receiving unit 25 is raised, so that damage to the power receiving unit 25 can be prevented. Therefore, according to the charging device described above, both improvement of charging efficiency and protection of the power receiving unit 25 can be achieved.

(2) Since the predetermined value D1 is set to a value obtained by adding a margin to the vibration width of the suspension of the vehicle 1, the charging efficiency can be maximized while preventing the power receiving unit 25 from being damaged.
(3) The control device 10 sets the forward distance Df, which is a range in which an obstacle is detected, based on the vehicle speed. That is, according to the charging device described above, by setting the forward distance Df to be a variable value according to the vehicle speed, road surface information ahead of the vehicle 1 can be appropriately acquired.
(4) Further, since the camera 21 as an acquisition device is provided in the above-described charging device, the road surface information ahead can be acquired by the camera 21. Thereby, since the vertical position of the power receiving unit 25 can be controlled with high accuracy, the protection of the power receiving unit 25 can be further improved.

[5. Others]
The configuration of the charging device described above is an example, and is not limited to the configuration described above. Although the control device 10 changes the inter-unit distance Du to the predetermined value D1 and the variable value D2 depending on whether the avoidance condition is satisfied, the condition for changing the inter-unit distance Du is not limited to this. Since the power receiving unit 25 is a relatively heavy device, changing its vertical position may change the position of the center of gravity of the vehicle 1. Therefore, a configuration in which the vertical position of the power receiving unit 25 is changed is effective when the running stability is hardly affected even if the center of gravity of the vehicle 1 changes.

  For example, when the control device 10 raises the power receiving unit 25 due to the satisfaction of the avoidance condition and then the avoidance condition becomes unsatisfied, the control unit 10 controls the adjustment unit 26 when determining that the straight road continues based on the acquired road surface information. The power receiving unit 25 may be lowered by controlling. That is, by adopting a configuration in which the vertical position of the power receiving unit 25 is changed during straight running, it is possible to prevent a decrease in running stability and drivability due to a change in the position of the center of gravity of the vehicle 1.

  Further, when the avoidance condition is not satisfied after the control device 10 raises the power receiving unit 25 due to establishment of the avoidance condition, the position of the power reception unit 25 is changed if the vehicle speed is higher than a predetermined threshold during high-speed traveling. May be maintained. This threshold is set in advance based on a change in the center of gravity of the vehicle 1 and running stability. As described above, even when it is not necessary to move the power receiving unit 25 away from the obstacle, the vertical position of the power receiving unit 25 is not changed during high-speed running, thereby preventing a change in the position of the center of gravity of the vehicle 1 and driving. Stability and drivability can be improved.

  When the avoidance condition is not satisfied after the control device 10 raises the power receiving unit 25 due to the satisfaction of the avoidance condition, the charging rate of the battery 2 charged by the power receiving unit 25 is equal to or more than a predetermined upper limit value. For example, the position of the power receiving unit 25 may be maintained. This upper limit value is a threshold value for determining whether or not the state of charge of the battery 2 is a fully charged state, and may be the same as or different from the value used in the determination of the above condition 2. That is, even when the power receiving unit 25 does not need to be moved away from the obstacle, if the battery 2 does not need to be charged, the power receiving unit 25 is not moved, thereby changing the center of gravity of the vehicle 1. Can be prevented. Thereby, running stability and drivability can be improved.

  If the avoidance condition is satisfied when the inter-unit distance Du is set to the predetermined value D1 due to the lack of the avoidance condition (that is, when an obstacle starts to be detected within the forward distance Df), the type of the traveling road ( Irrespective of the straight road or the curved road) and the vehicle speed, it is preferable to raise the power receiving unit 25 to prevent damage.

  In addition, the above three determinations, namely, determination as to whether the vehicle is on a straight road, determination as to whether the vehicle speed is high, and determination as to whether or not the vehicle is fully charged, are one of the above-described embodiments. May be combined, or a plurality or all of them may be combined.

  In the above-described embodiment, the case where the predetermined value D1 is set to a value obtained by adding the allowance to the vibration width of the suspension is exemplified, but the predetermined value D1 is not limited to this. For example, the predetermined value D1 may be set to the vibration width of the suspension, or may be set to a value not related to the running vibration of the vehicle 1. Further, in the above-described embodiment, the case where the forward distance Df is set based on the vehicle speed is exemplified. However, the forward distance Df may be a fixed value independent of the vehicle speed, or a parameter other than the vehicle speed (for example, the type of the traveling road or the like). ) May be set as a variable value. Further, the above-described plurality of acquisition devices are merely examples, and any one or a plurality of acquisition devices may be provided, or an acquisition device other than the above-described devices may be provided.

Reference Signs List 1 vehicle 2 battery 2A voltage sensor 2B current sensor 10 control device 10A communication unit (acquisition device)
10B determination unit 10C setting unit 10D control unit 11 processor 12 memory 13 auxiliary storage device 14 interface device 15 recording medium drive 16 internal bus 17 recording medium 21 camera (acquisition device)
22 radar equipment (acquisition equipment)
23 Vehicle speed sensor 25 Power receiving unit 26 Adjustment mechanism 30 Road surface 31 Power transmission unit

Claims (8)

A power receiving unit mounted on the lower part of the vehicle and capable of wireless charging with a power transmitting unit buried on the road surface side,
An adjusting mechanism for adjusting the vertical position of the power receiving unit,
An acquisition device for acquiring road surface information within a predetermined distance in front of the vehicle,
When performing the wireless charging, a control device that controls the adjustment mechanism so that the unit distance that is the interval between the power receiving unit and the power transmission unit is a predetermined value set in advance,
The control device controls the adjustment mechanism such that the inter-unit distance is longer than the predetermined value when an avoidance condition for the power receiving unit is satisfied based on the road surface information acquired by the acquisition device. And charging the power receiving unit. The vehicle charging apparatus according to claim 1, wherein the predetermined value is set to a value obtained by adding a margin to a vibration width of a suspension of the vehicle. The vehicle charging device according to claim 1, wherein the control device sets the predetermined distance based on a vehicle speed of the vehicle. The vehicle charging device according to any one of claims 1 to 3, wherein the acquisition device includes a camera that captures an image of the front of the vehicle. The control device may be configured such that when the avoidance condition is not satisfied after raising the power receiving unit due to establishment of the avoidance condition, the charging rate of the vehicle-mounted battery charged by the power receiving unit is equal to or more than a predetermined upper limit value. The charging device for a vehicle according to any one of claims 1 to 4, wherein a position of the power receiving unit is maintained, for example. When the control device raises the power receiving unit due to the satisfaction of the avoidance condition, and determines that the avoidance condition is not satisfied, and determines that the straight road continues based on the road surface information acquired by the acquisition device. The vehicle charging apparatus according to any one of claims 1 to 5, wherein the power receiving unit is lowered by controlling the adjusting mechanism. The control device may be configured such that, when the avoidance condition is not satisfied after raising the power receiving unit due to establishment of the avoidance condition, the power receiving unit is provided if the vehicle speed of the vehicle is high-speed traveling higher than a predetermined threshold. The vehicle charging device according to any one of claims 1 to 6, wherein the position is maintained. The vehicle charging device according to any one of claims 1 to 7, wherein the control device sets the power receiving unit to a highest position when the wireless charging is not performed.

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