KR102587072B1 - Autonomous electric vehicle charging system using V2X based heterogeneous networking and operating method thereof - Google Patents

Abstract

The present invention provides a plurality of charging robots arranged in at least one charging station, at least one electric vehicle charging a battery by the plurality of charging robots, a user terminal carried by a vehicle user using the at least one electric vehicle, and the at least one and an edge server that collects information related to the plurality of charging robots, the at least one electric vehicle, and the user terminal disposed in a charging station, and the charging procedure between the plurality of charging robots and the at least one electric vehicle is in accordance with the V2G standard procedure. Disclosed is an electric vehicle charging system and a method of operating the same, wherein signaling between a plurality of charging robots present in the charging station and signaling between the at least one electric vehicle are set to perform V2X standard-based signaling.

Description

Autonomous electric vehicle charging system using V2X based heterogeneous networking and operating method thereof}

The present invention relates to electric vehicle charging, and more specifically, to an autonomous electric vehicle charging system and operating method through V2X-based heterogeneous networking that supports charging electric vehicles based on various communication protocols.

Recently, as the development and distribution of electric vehicle technology has expanded, research on establishing electric vehicle (EV-charging station) infrastructure and services is being actively conducted both domestically and internationally, but the lack of charging stations and charging time problems are becoming major obstacles to the spread of electric vehicles.

To solve these problems, the government and companies are supporting expansion of infrastructure construction and research and development in terms of grid technology. In addition, real-time and non-real-time information about widely scattered charging stations is provided through web or mobile-based applications.

However, the currently available electric vehicle charging system is a model that provides only basic information necessary for users to directly charge their electric vehicles. Accordingly, it is difficult to apply an electric vehicle charging system using an autonomous charging robot, which requires a high level of interface and protocol.

The present invention solves the above-described conventional problems. For example, the present invention can provide an electric vehicle charging service using an autonomous charging robot based on the V2X (Vehicle to Everything) communication protocol and the V2G (Vehicle to Grid) communication protocol provided as international standards. The goal is to provide an autonomous electric vehicle charging system and its operation method through V2X-based heterogeneous networking.

An electric vehicle charging system according to an embodiment of the present invention includes a plurality of charging robots disposed in at least one charging station, at least one electric vehicle whose battery is charged by the plurality of charging robots, and a vehicle user using the at least one electric vehicle. One user terminal, the plurality of charging robots disposed in the at least one charging station, the at least one electric vehicle, and an edge server that collects information related to the user terminal, and the plurality of charging robots and the at least one electric vehicle The charging procedure is performed according to the V2G standard procedure, and the signaling between the plurality of charging robots present in the charging station and the signaling between the at least one electric vehicle are set to perform V2X standard-based signaling.

Here, when the edge server receives a charging request message requesting charging of the electric vehicle from the user terminal, it is characterized in that it is set to check the status of the plurality of charging robots and determine a charging robot for charging the electric vehicle. .

Meanwhile, if the electric vehicle is capable of autonomous driving, the edge server controls the electric car to move through autonomous driving to a charging station where the determined charging robot is placed.

Alternatively, if the electric vehicle is a non-autonomous driving vehicle, the edge server controls to transmit location information of the charging station where the determined charging robot is placed to the user terminal.

Additionally, the charging robot determined to charge the electric vehicle connects the connector for charging the electric vehicle to the socket of the electric vehicle, supplies power for charging the battery of the electric vehicle, and provides information related to charging the electric vehicle. It is characterized in that it is set to be delivered to the user terminal and the edge server.

The electric vehicle charging method according to an embodiment of the present invention includes an edge server initializing V2X and V2G callset-up between the user terminal of a vehicle user using an electric vehicle, a plurality of charging robots for charging the electric vehicle, and the plurality of charging robots and the electric vehicle. Performing, the edge server determining a charging robot for charging the electric vehicle among the plurality of charging robots based on the V2X session, the edge server determining the determined charging robot based on the V2G session It is characterized in that it includes the step of controlling to perform charging of the electric vehicle using.

Here, the step of determining the charging robot includes collecting location information of the electric vehicle and the location of the charging robot, selecting a charging robot with an optimal path to move to the electric vehicle, and controlling autonomous driving of the selected charging robot. It is characterized in that it includes the step of moving to the electric vehicle.

In addition, the controlling step is performed when the determined charging robot connects the connector to the socket of the electric vehicle to supply power, the electric vehicle transmits payment information to the determined charging robot, and the determined charging robot connects to the edge server. When information about charging and payment is transmitted to the edge server, the edge server transmits a report message about charging and payment to the user terminal.

According to the autonomous electric vehicle charging system and operating method through V2X-based heterogeneous networking according to the present invention, the present invention provides various information (e.g., sensors) required for electric vehicle charging through heterogeneous networking (V2X and V2G) including an autonomous charging robot. By processing the collection, analysis, and sharing of information, it is possible to provide in-depth services related to electric vehicle charging that are improved in terms of economics, reliability, and safety compared to conventional technologies.

In addition, the present invention improves energy, cost, and time aspects by selecting the optimal charging robot (battery movement route, vehicle movement route, driving distance according to remaining battery capacity, etc.) according to the V2X-based charging request including R2R (Robot to Robot). economic feasibility can be improved.

Additionally, the present invention can improve the reliability and safety of autonomous driving due to expansion of V2X-based sensing visibility range including R2R.

The present invention can improve economic efficiency in terms of energy, cost, and time through autonomous driving based on V2X-based charging vehicle location information sharing including V2R (vehicle to robot).

The present invention can provide a hybrid integrated solution that converges, creates, and reorganizes real-time information collected through heterogeneous networking (V2X and V2G) based on edge cloud computing.

Figure 1 is a diagram showing an example of the configuration of an electric vehicle charging system using a charging robot according to an embodiment of the present invention.
Figure 2 is a diagram showing an example of signaling between each entity of an electric vehicle charging system according to an embodiment of the present invention.
Figure 3 shows integrated object modeling of an integrated hybrid autonomous charging system related to an electric vehicle charging system according to an embodiment of the present invention.
FIG. 4 is a diagram showing a description of the object modeling of FIG. 3.
Figure 5 is a diagram showing temporary modeling related to V2X/V2G callset-up initialization according to an embodiment of the present invention.
Figure 6 is a diagram showing an example of modeling related to edge server V2X session formation according to an embodiment of the present invention.
Figure 7 is a diagram showing an example of modeling related to edge server V2G session formation according to an embodiment of the present invention.

It should be noted that in the following description, only the parts necessary to understand the embodiments of the present invention will be described, and descriptions of other parts will be omitted to the extent that they do not distract from the gist of the present invention.

Terms or words used in the specification and claims described below should not be construed as limited to their ordinary or dictionary meanings, and the inventor should use the concept of terminology appropriately to explain his/her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined clearly. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, and therefore various equivalents can be substituted for them at the time of filing the present application. It should be understood that there may be variations.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings.

Figure 1 is a diagram showing an example of the configuration of an electric vehicle charging system using a charging robot according to an embodiment of the present invention, and Figure 2 shows an example of signaling between each entity of the electric vehicle charging system according to an embodiment of the present invention. It is a drawing.

First, referring to FIG. 1, in the electric vehicle charging system 10 using a charging robot according to an embodiment of the present invention, the charging procedure between the charging robot 200 and the electric vehicle 400 follows the V2G standard, and the charging procedure existing in the charging station Response to unexpected situations and optimal routes can be provided through V2X standard-based signaling between charging robots 200 and electric vehicles 400 in operation.

In this regard, the electric vehicle charging system 10 using a charging robot is a charging station (e.g., where at least one entity of the user terminal 100, the electric vehicle 400, the charging robot 200, and the charging battery device 300 exists). a communication access point 600 installed in a physical space), an edge server 500 connected to the communication access point 600, an electric vehicle 400 located in the charging station, including a vehicle battery and requiring charging, and an electric vehicle 400. A user terminal 100 that drives the electric vehicle 400 and performs controls such as requests for charging the electric vehicle 400, at least one charging robot 200 that performs charging of the electric vehicle 400, and a charging device used to charge the electric vehicle 400. It may include a battery device 300, etc.

The communication access point 600 may be placed on one side of the charging station to form a communication network within the charging station. The communication access point 600 may include a Wi-Fi access point. Alternatively, the communication access point 600 may include a device capable of supporting at least one communication method among various communication methods capable of forming a short-distance communication channel. The communication access point 600 can form a communication channel with the electric vehicle 400, the charging robot 200, the rechargeable battery device 300, and the user terminal 100, and process signal transmission between each component. In addition, the communication access point 600 forms a communication channel with the edge server 500 and provides signals necessary for operating the electric vehicle 400, charging robot 200, rechargeable battery device 300, and user terminal 100. The signal may be transmitted to the edge server 500, or the signal transmitted by the edge server 500 may be transmitted to at least one of the electric vehicle 400, the charging robot 200, the rechargeable battery device 300, and the user terminal 100. . As another example, the communication access point 600 may further include communication devices capable of supporting the formation of a communication channel (e.g., a mobile communication channel) capable of supporting a long-distance communication connection. In this case, the above-described edge server ( 500), at least one of the electric vehicle 400, the charging robot 200, the rechargeable battery device 300, and the user terminal 100 may process signal transmission and reception through a mobile communication channel. As such, the electric vehicle charging system 10 using the charging robot of the present invention is not limited to a communication method, and any communication method can be used as long as it can transmit signals between each component for charging.

The electric vehicle 400 includes a riding body capable of boarding a vehicle user carrying the user terminal 100, wheels for driving the riding body, a power device necessary for driving the wheels, a steering device necessary for steering the wheels, It may include a vehicle battery that delivers power (e.g. electricity) to the power unit, and various convenience devices (e.g. air conditioning system, heating system, display device, audio device, etc.) installed on the vehicle body. In particular, the electric vehicle 400 includes a vehicle communication device capable of communicating with the user terminal 100 or the communication access point 600, and the edge server 500 connected to the user terminal 100 or the communication access point 600 Upon request, information such as current location information, vehicle battery remaining status, and vehicle type can be provided. The electric vehicle 400 stores an autonomous driving algorithm and can drive autonomously according to the operation of the autonomous driving algorithm. In this regard, the electric vehicle 400 has various sensors (e.g., camera sensor, lidar sensor, distance measurement) that collect necessary information to avoid obstacles on the driving path or accelerate and stop according to traffic light conditions or surrounding vehicle conditions. sensor) may be included. The above-mentioned electric vehicle 400 can autonomously drive and move to a charging station designated by the edge server 500 or a charging station designated by the user terminal 100, regardless of the presence or absence of passengers, and after charging is completed, the electric vehicle 400 can move to a charging station designated by the edge server 500 or a charging station designated by the user terminal 100. You can move to a location (e.g., a parking location designated by the vehicle user) and wait. As another example, the electric vehicle charging system 10 of the present invention can operate the electric vehicle 400 through the autonomous driving of the charging robot 200 when located within a charging station, even if the electric vehicle 400 does not perform separate autonomous driving. Support for charging is available. Accordingly, the electric vehicle charging system 10 of the present invention can support charging services regardless of the type of autonomous or non-autonomous electric vehicle.

The user terminal 100 may include a terminal carried by a vehicle user using the electric vehicle 400. A vehicle user may make a request to charge the electric vehicle 400 using the user terminal 100. In this regard, the user terminal 100 may include a terminal communication interface, terminal memory, display, and terminal processor. The user terminal 100 connects to the Internet or at least one communication access point 600 using a terminal communication interface, receives location information and information about the charging cost of at least one charging station, and outputs the received information on the display. can do. When the vehicle user indicates a specific charging station, the user terminal 100 may process a request for charging at the corresponding charging station. In this regard, the user terminal 100 communicates with the electric vehicle 400, collects the electric vehicle 400 identification information and the electric vehicle 400 location information, and then includes the information in the charging request message to the edge server 500. Can be transmitted. The charging request message includes identification information of the user terminal 100 and may include payment information related to charging the electric vehicle 400. Additionally, the charging request message may include information on where to park the electric vehicle 400 after completion of charging.

The charging robot 200 may communicate with the edge server 500 through the communication access point 600 and receive instructions regarding charging the electric vehicle 400 from the edge server 500. When the charging robot 200 receives a charging instruction, it scans the surrounding area to check whether there is an electric vehicle 400 to be charged, and when the corresponding electric vehicle 400 is found, it can perform a charging operation. Alternatively, the charging robot 200 may receive location information of the electric vehicle 400 to be charged from the edge server 500, move to the received location information, and perform a scan of the electric vehicle 400. At this time, the charging robot 200 may check the charging port of the electric vehicle 400 based on the identification information of the electric vehicle 400 and connect the charging cable to the charging port of the electric vehicle 400 to charge the electric vehicle 400. In this regard, the charging robot 200 includes an autonomous driving algorithm capable of autonomously driving to the point where the electric vehicle 400 is located, a moving means capable of moving to the location of the electric vehicle 400 according to the autonomous driving, at least one sensor, and an electric vehicle. (400) A charging cable for charging (or a robot arm to which the charging cable is connected), a robot battery storing power to be injected into the electric vehicle 400, and the above-mentioned components are controlled to charge the electric vehicle 400 with as much power as requested. It may include a robot processor. If the power of the robot battery is lower than the specified size, the charging robot 200 may move to the charging battery device 300 to obtain an additional robot battery or replace the robot battery.

The rechargeable battery device 300 may support robot battery management of the charging robot 200. As an example, the rechargeable battery device 300 charges a plurality of robot batteries by receiving power from a constant power source or a permanent power source, and supplies the fully charged robot batteries to the charging robot 200 at the request of the charging robot 200. It can be delivered. The rechargeable battery device 300 may be designed to be movable or may be fixed to a power source. The rechargeable battery device 300 may deliver a robot battery to the charging robot 200 that is charging the electric vehicle 400 at a specific location at the request of the charging robot 200. If the charging robot 200 is designed to perform autonomous driving to a charging point (e.g., a power source) to charge the robot battery and, after charging is completed, charge the electric vehicle 400 according to a charging request, the charging battery device (300) may be omitted.

The edge server 500 can be an integrated hybrid center that manages V2X and V2G-based autonomous charging services. The edge server 500 forms a communication channel with at least one charging station through the communication access point 600, generates and transmits control signals necessary for operating the charging station, and controls each component placed at the charging station (e.g., electric vehicle ( 400), collection of information related to at least one of the charging robot 200, the charging battery device 300, and the user terminal 100), design of the movement line required for charging based on the collected information, processing of costs according to charging, etc. It can be done. In this regard, the edge server 500 includes a server communication interface capable of forming a communication channel with the communication access point 600, information on the electric vehicle 400 and user terminals 100 entering and exiting the charging station, and information placed at the charging station. Server memory (or server database) capable of storing information on at least one charging robot 200, information on the rechargeable battery device 300, etc., autonomous driving control of the electric vehicle 400 to the charging station according to the request of the user terminal 100 , It may include a server processor that performs charging control of the electric vehicle 400 through control of the charging robot 200 according to the charging station situation, and movement and charging control of the rechargeable battery device 300.

As an example, the edge server 500 may form a communication channel with at least one entity placed at a charging station and perform scheduling necessary for charging the electric vehicle 400 based on messages provided by each entity. For example, the edge server 500 checks the charging status of the electric vehicle 400 at a plurality of charging stations, and upon receiving a charging request message for the electric vehicle 400 from the user terminal 100, provides location information of the electric vehicle 400. Based on this, you can design charging schedule at the nearest charging station. At this time, when electric vehicles 400 are being charged at a charging station, the edge server 500 may schedule the electric vehicles 400 in need of charging to visit the charging station at the time the charging of the corresponding electric vehicles 400 is completed. Alternatively, the edge server 500 checks the charging completion request time of the electric vehicle 400, searches for a charging station that can charge the electric vehicle 400 the fastest based on the point where the electric vehicle 400 is located, and performs charging at the charging station. Charging of the electric vehicle 400 can be scheduled. In this process, if the electric vehicle 400 is capable of autonomous driving, the edge server 500 autonomously operates the electric vehicle 400 from the location where the electric vehicle 400 is parked or when the charging request message is transmitted to a charging station where charging is possible. You can request a ride. If the electric vehicle 400 cannot drive autonomously, the edge server 500 provides the user terminal 100 with location information of a charging station where the electric vehicle 400 can be charged, so that the vehicle user can bring the electric vehicle 400 that needs charging to the charging station. We can assist you in driving.

Meanwhile, referring to FIG. 2, in the above-described electric vehicle charging system 10, each entity present in the charging station (e.g., electric vehicle 400, user terminal 100, charging robot 200, and charging battery device 300) ) can share information about each entity in real time by sending and receiving signaling in the form of a descriptor. At this time, each descriptor refers to all real-time data information that can be collected within the corresponding entity. For example, in the case of MD (mobile descriptor), real-time location information based on GPS (global positioning system), charging level according to user request, etc. In the case of ED (EV descriptor), it can be GPS-based real-time location information, EV model, EV charging capacity, EV charging connector location, current EV battery level, and AVM (around view monitoring). In the case of RD (robot descriptor), it can be GPS-based real-time location information, current charging-robot charging level, real-time AV (audio/video), etc. In the case of BD (battery descriptor), it can be the current battery charging level, charging capacity, charging time, etc. Lastly, the IP address and port number information assigned to each entity can be applied equally to all entities. At this time, the remaining entities within a single charging-station entity can be configured as follows. The number of mobile entities can be 0 to N. The EV entity can be composed of 0 to N items, just like the mobile entity. The charging-robot entity can consist of 0 to M entities. The battery entity can consist of 0 to K entities. At this time, N ≥ M, N ≥ K and K ≥ M are defined. Additionally, the configuration within the single charging-station entity may consist of 0 to J items. Additionally, the number of edge server entities that manage the maximum J charging-station entities may be 0 to L.

FIG. 3 illustrates integrated object modeling of an integrated hybrid autonomous charging system related to an electric vehicle charging system according to an embodiment of the present invention, and FIG. 4 illustrates an explanation of the object modeling of FIG. 3 .

Referring to Figure 3, as seen in integrated object modeling, all modules are objectified. Therefore, each entity defined in the present invention can configure an application to suit the characteristics of the entity by activating and using necessary objects in an on/off manner and deactivating unnecessary objects. there is. A callset-up manager can support initial connection of entities. The callset-up manager object can be modeled according to the V2G international standards for autonomous EV chagrining and V2X for autonomous driving. The session excludes the callset-up manager and has aspects such as memory or data. You can control additional objects. The session object supports the charging robot entity to create and manage multiple sessions by thread. The encoder can encode real-time data generated from each entity, such as text, audio, video, and sensing data. The decoder can decode real-time data received from each entity, such as text, audio, video, and sensing data. A packetizer can packetize encoded real-time data for transmission to other entities. A de-packetizer can integrate packed data. The sender can transmit packed data to other entities for real-time information sharing. The sender object may use, for example, TCP or UDP/IP protocols. The receiver can receive packed data from other entities for real-time information sharing. The receiver object may use, for example, TCP or UDP/IP protocols. The renderer can render integrated packed and decoded AV streams for real-time monitoring. The QoS manager can schedule real-time data streaming such as AV or sensing data among entities for QoS/QoE according to QoS parameters (latency, bandwidth, packet loss rate, etc.). QoS manager can be defined as CLI (Cross Layer Interface).

5 to 7 are diagrams showing an example of temporary modeling between entities of an integrated hybrid autonomous charging system for an electric vehicle charging system according to an embodiment of the present invention. First, Figure 5 is a diagram showing temporary modeling related to V2X/V2G callset-up initialization according to an embodiment of the present invention.

Referring to FIG. 5, the user terminal 100 may transmit a charging request message (request+MD) including its own identification message (MD) to the charging robot 200. The charging robot 200 may transmit a first response message (response+RD) corresponding to the charging request message (request+MD) received from the user terminal 100. To this end, the user terminal 100 may perform a surrounding search to form a communication channel with the charging robot 200 capable of charging, or may output a charging request message (request+MD) in a broadcasting manner. Among at least one charging robot 200, the charging robot 200 that has received the charging request message output by the user terminal 100 may transmit a first response message (response+MD) to the user terminal 100. In this regard, the charging robots 200 may be in a standby state in which they can receive a charging request message (request+MD) from the user terminal 100 while not charging the electric vehicle 400 .

The charging robot 200, which has received the charging request message (request+MD), may transmit a charging request confirmation message (request+RD) to the electric vehicle 400. The electric vehicle 400 receiving the charging request confirmation message (request1+RD) may transmit the second response message (response+ED) to the charging robot 200. In this regard, the charging request message (request+MD) transmitted by the user terminal 100 may include connection information for communication with the electric vehicle 400. The charging robot 200 may scan the electric vehicle 400 using the connection information and transmit the charging request confirmation message (request1+RD) to the scanned electric vehicle 400. The second response message (response+ED) may include location information of the electric vehicle 400, remaining battery capacity of the electric vehicle 400, type information of the electric vehicle 400, etc.

The charging robot 200, which has received the second response message (response+ED) from the electric vehicle 400, may transmit a charging allocation request message (request2+RD) to the rechargeable battery device 300. The charging allocation request message (request2+RD) may include power information of the size required to charge the electric vehicle 400. When the power requested by the charging robot 200 is completed, the rechargeable battery device 300 may transmit a third response message (response+BD) to the charging robot 200. At this time, if the rechargeable battery device 300 is capable of autonomous driving, the charging robot 200 may transmit location information of the electric vehicle 400 or its own location information to the rechargeable battery device 300.

The charging robot 200, which has received the third response message (response+BD), transmits an electric vehicle charging-related message (request3+RD) to the edge server 500, and the edge server 500 sends a fourth response thereto. A message (response+CD) can be transmitted to the charging robot 200. Here, the baby electric vehicle charging related message (request3+RD) may include information indicating which user terminal 100 requested charging of which electric vehicle 400 and which rechargeable battery device 300 was assigned for charging. there is.

Meanwhile, the user terminal 100 transmits a charging request message (request+MD) to the charging robot 200, then transmits charging request-related information (request+MD) to the edge server 500, and the edge server 500 ) can receive a response message (response_CD) from. In this process, the edge server 500 can collect information about the user terminal 100 and compare it with the information provided by the charging robot 200.

Meanwhile, in the above-described callset-up initialization process, only allocation messages are transmitted and received between the user terminal 100, charging robot 200, electric vehicle 400, rechargeable battery device 300, and edge server 500, It is possible to determine which electric vehicle 400 needs charging and which charging robot 200 and charging battery device 300 are allocated for this purpose.

Figure 6 is a diagram showing an example of modeling related to edge server V2X session formation according to an embodiment of the present invention.

Referring to FIG. 6, the electric vehicle 400 may transmit its own location-related information (location info + ED) including its own identification information to the charging robot 200. Additionally, the electric vehicle 400 may transmit location-related information to the edge server 500.

Meanwhile, the rechargeable battery device 300 may transmit battery-related information (location info + BD) including its own status information and location information to the charging robot 200 and the edge server 500.

Once the identification information and location information of the electric vehicle 400 and the location information of the rechargeable battery device 300 are secured, the electric vehicle 400 provides ED to the charging robot 200, and the charging robot 200 provides ED to the electric vehicle 400. RD can be provided to. In this process, the charging robot 200 may provide an RD to the user terminal 100 and receive an MD in response. The charging robot 200 executes a charging robot decision process function, drives the charging robot decision process when the robot drive flag is false, and converts the determined robot drive flag to true. This operation can be performed repeatedly for a period of time until a charging robot for charging the electric vehicle 400 is determined. Meanwhile, if the charging robot driving flag is true, the charging robot 200 may transmit the corresponding RD to the edge server 500. When the edge server 500 completes determining the electric vehicle 400 and the charging robot 200, the edge server 500 may provide an Integrated Descriptor (ID) to the user terminal 100.

In summary, in relation to the above-described V2X session, the edge server 500 performs allocation of the charging robot 200 for charging the electric vehicle 400, and the electric vehicle 400 and the user terminal 100 share the resulting results. can do. Here, the electric vehicle 400 can autonomously drive to a charging station where the charging robot 200 is placed at the charging station by the vehicle user or where the edge server 500 is designated. Additionally, in allocating the charging robot, the edge server 500 collects the location information of the electric vehicle 400 and the location of the charging robot 200, and provides a charging robot with an optimal path to move to the electric vehicle. By selecting (200), the autonomous driving of the selected charging robot (200) can be controlled to move to the location of the electric vehicle (400).

Figure 7 is a diagram showing an example of modeling related to edge server V2G session formation according to an embodiment of the present invention.

Referring to FIG. 7, when a session is started, the charging robot 200 transmits a message to dock the connection part of the charging cable to the socket of the electric vehicle 400, and performs docking of the connection part for charging the electric vehicle 400. . The electric vehicle 400 may transmit a charging message (TCP request+ED) to the charging robot 200 according to the docking of the charging robot 200 (SECC discovery). The charging robot 200 can transmit a response message (response+RD) in response to receiving the charging message to the electric vehicle 400 and charge the electric vehicle 400 through the docked connection unit. The electric vehicle 400 transmits a charging payment information message (TLS based payment info) corresponding to charging of the charging robot 200 to the charging robot 200, and the charging robot 200 transmits a charging payment information message (TLS based payment info) to the charging robot 200. info) can be delivered to the edge server 500. The edge server 500, which has received a charging payment information message (TLS based payment info), may provide a corresponding report message to the user terminal 100.

Next, the charging robot 200 can supply power (transmission power) to the electric vehicle 400. The electric vehicle 400 may transmit a charging disconnection message (release_flag+ED) to the charging robot 200, which requires disconnection of the charging robot 200 upon completion of power supply. When the charging robot 200 receives the charging disconnection message (release_flag+ED), it may transmit a corresponding information message (RD) to the edge server 500.

When release of the connection is completed, the charging robot 200 transmits a release message to the electric vehicle 400, the rechargeable battery device 300, and the edge server 500, and the edge server 500 sends a release message. It can be provided to the user terminal 100.

In summary, the present invention supports charging of the electric vehicle 400, processing payment according to charging, based on the V2G session formation of the edge server described above, and performs release processing after completion of charging. We can provide modeling that can be done.

As described above, the electric vehicle charging system 10 according to an embodiment of the present invention uses heterogeneous networking technology that mixes V2X (vehicle to everything) and V2G (vehicle to grid) communication protocols and autonomous charging robots (autonomous charging) in the corresponding environment. It is a level 4.0 mobility platform (Lvl.4-based mobility platform) technology to provide autonomous charging services for electric vehicles (EV) using robots, and is a highly hybrid technology with the addition of an autonomous charging robot entity. It is an electric vehicle charging system.

Meanwhile, the embodiments disclosed in the specification and drawings are merely provided as specific examples to aid understanding, and are not intended to limit the scope of the present invention. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

10: Electric vehicle charging system
100: user terminal
200: Charging robot
300: Rechargeable battery device
400: electric vehicle
500: Edge server
600: Communication access point

Claims (8)

A plurality of charging robots disposed within at least one charging station;
At least one electric vehicle whose battery is charged by the plurality of charging robots;
A user terminal carried by a vehicle user using the at least one electric vehicle;
It includes; an edge server that collects information related to the plurality of charging robots disposed within the at least one charging station, the at least one electric vehicle, and the user terminal;
The charging procedure between the plurality of charging robots and the at least one electric vehicle is performed according to V2G standard procedures,
Signaling between a plurality of charging robots present in the charging station and signaling between the at least one electric vehicle are set to perform V2X standard-based signaling,
In relation to signaling according to the V2X standard procedure, the edge server determines a charging robot related to charging a specific electric vehicle related to the user terminal, transmits the charging robot decision information to the user terminal and the specific electric vehicle, and then performs the determined charging. Controlling the robot to charge the specific electric vehicle,
In relation to signaling according to the V2G standard procedure, the edge server receives a charging payment information message from the specific electric vehicle while the determined charging robot is charging the specific electric vehicle, and sends a report message corresponding to the charging payment information message. An electric vehicle charging system configured to transmit to the user terminal and receive a release message from the determined charging robot when charging of the specific electric vehicle is completed. According to paragraph 1,
The edge server is
An electric vehicle charging system, wherein upon receiving a charging request message requesting charging of the specific electric vehicle from the user terminal, the status of the plurality of charging robots is checked and a charging robot for charging the electric vehicle is determined.
According to paragraph 1,
The edge server is
If the specific electric vehicle above is capable of autonomous driving,
An electric vehicle charging system, wherein the specific electric vehicle is controlled to move through autonomous driving to a charging station where the determined charging robot is placed.
According to paragraph 1,
The edge server is
If the specific electric vehicle is a non-autonomous vehicle,
An electric vehicle charging system, characterized in that control to transmit location information of the charging station where the determined charging robot is placed to the user terminal.
According to paragraph 1,
The charging robot determined to charge the specific electric vehicle is
Connecting the connection for charging the specific electric vehicle to the socket of the specific electric vehicle, supplying power for charging the battery of the specific electric vehicle, and transmitting information related to charging the specific electric vehicle to the user terminal and the edge server. An electric vehicle charging system characterized in that it is set to do so.
An edge server performing V2X and V2G callset-up initialization between a user terminal of a vehicle user using an electric vehicle and a plurality of charging robots for charging the electric vehicle, and between the plurality of charging robots and the electric vehicle;
The edge server determining a charging robot for charging the electric vehicle among the plurality of charging robots based on the V2X session, and transmitting the determined information to the user terminal and the electric vehicle;
Controlling the edge server to perform charging of the electric vehicle using the determined charging robot based on the V2G session, receiving a charging payment information message from the electric vehicle while the determined charging robot is charging the electric vehicle , transmitting a report message corresponding to the charging payment information message to the user terminal, and receiving a release message from the determined charging robot upon completion of charging.
According to clause 6,
The step of determining the charging robot is
collecting location information of the electric vehicle and the locations of the plurality of charging robots, determining a charging robot having an optimal path to move to the electric vehicle, and controlling autonomous driving of the determined charging robot to move it to the electric vehicle; An electric vehicle charging method comprising:

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