WO2017083848A1

WO2017083848A1 - Electric vehicle charging device positioning and method of use

Info

Publication number: WO2017083848A1
Application number: PCT/US2016/061889
Authority: WO
Inventors: Christopher P. Ricci
Original assignee: NextEv USA, Inc.
Priority date: 2015-11-13
Filing date: 2016-11-14
Publication date: 2017-05-18
Also published as: WO2017083851A1; WO2017083847A1

Abstract

Techniques for electric vehicle systems, and in particular for positioning a charging panel of an electrical vehicle to receive a charge, are provided. In one embodiment, a system for positioning a charging panel of an electrical vehicle to receive a charge comprises an armature disposed on an electrical vehicle; a charging panel interconnected to the armature; and an actuator configured to maneuver the armature and position the charging panel relative to an external surface, the external surface in communication with a power source configured to provide a charge to the charging panel, wherein the charging panel is configured to receive the charge from the power source.

Description

ELECTRIC VEHICLE CHARGING DEVICE POSITIONING AND METHOD OF USE

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefits of and priority, under 35 U.S.C. § 119(e), to U.S. Provisional Application Serial Nos. 62/255,214, filed on November 13, 2015, entitled "Electric Vehicle Systems and Operation"; 62/259,536, filed November 24, 2015, entitled "Charging Transmission Line Under Roadway for Moving Electric

Vehicle"; 62/266,452, filed December 11, 2015, entitled "Charging Transmission Line Under Roadway for Moving Electric Vehicle"; 62/269,764, filed December 18, 2015, entitled "Conditional Progressive Degradation of Electric Vehicle Power Supply System"; 62/300,606, filed February 26, 2016, entitled "Charging Transmission Line Under Roadway for Moving Electric Vehicle"; 62/310,387, filed March 18, 2016, entitled "Distributed Processing Network for Rechargeable Electric Vehicle Tracking and

Routing"; 62/359,563, filed July 7, 2016, entitled "Next Generation Vehicle"; and 62/378,348, filed August 23, 2016, entitled "Next Generation Vehicle." The entire disclosures of the applications listed above are hereby incorporated by reference, in their entirety, for all that they teach and for all purposes.

FIELD

[0002] The present disclosure is generally directed to vehicle systems, in particular, toward electric vehicle charging system and associated methods of use.

BACKGROUND

[0003] In recent years, transportation methods have changed substantially. This change is due in part to a concern over the limited availability of natural resources, a proliferation in personal technology, and a societal shift to adopt more environmentally friendly transportation solutions. These considerations have encouraged the development of a number of new flexible-fuel vehicles, hybrid-electric vehicles, and electric vehicles.

[0004] While these vehicles appear to be new they are generally implemented as a number of traditional subsystems that are merely tied to an alternative power source. In fact, the design and construction of the vehicles is limited to standard frame sizes, shapes, materials, and transportation concepts. Among other things, these limitations fail to take advantage of the benefits of new technology, power sources, and support infrastructure. [0005] Existing devices and methods to charge electric vehicles are typically limited to fixed locations and of are of limited utility. Therefore, there is a need for an adaptable charging system that may operate remotely or while the charging vehicle is moving. This disclosure solves those needs.

[0006] By way of providing additional background, context, and to further satisfy the written description requirements of 35 U.S.C. § 112, the following references are hereby incorporated by reference in their entireties for all purposes and all that is disclosed: U.S. Patent Nos. 5,311,973, issued May 17, 1994; 5,821,728 issued October 13, 1998;

6,421,600, issued July 16, 2002; 6,879,889 issued April 12, 2005; and 8,544,622 issued October 1, 2013; and U.S. Pat. Publ. Nos. 2012/0055751 published March 8, 2012;

2012/0203410 published August 9, 2012; 2012/0217112, published August 30, 2012; 2013/0248311; and 2015/0137801 published May 21, 2015; and PCT Application No. WO2010/000495 published January 7, 2010.

BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Fig. 1 A shows a vehicle in a charging environment in accordance with embodiments of the present disclosure;

[0008] Fig. IB shows charging areas associated with an environment in accordance with embodiments of the present disclosure;

[0009] Fig. 2A shows a detail view of a vehicle charging panel in a charge receiving position adjacent to a power source in accordance with embodiments of the present disclosure;

[0010] Fig. 2B shows a detail view of a vehicle charging panel in protected positions in accordance with embodiments of the present disclosure;

[0011] Fig. 2C shows a detail view of a vehicle charging panel in a charge receiving position adjacent to a power source in accordance with embodiments of the present disclosure;

[0012] Fig. 3 is a diagram of an embodiment of a data structure for storing information about a charging panel configuration for given roadway types;

[0013] Fig. 4 is a flow or process diagram of a method of charging an electric vehicle;

[0014] Fig. 5 is a flow or process diagram of a method of positioning a charging panel of an electrical vehicle to receive a charge;

[0015] Fig. 6 is a block diagram of a charging panel control system; [0016] Fig. 7 A shows a first state of a graphical user interface used in aligning a charging panel of an electrical vehicle to receive a charge;

[0017] Fig. 7B shows a second state of the graphical user interface of Fig. 7A;

[0018] Fig. 8 is a flow or process diagram of a method of aligning a charging panel of an electrical vehicle to receive a charge;

[0019] Fig. 9 shows a vehicle in a roadway obstacle environment in accordance with embodiments of the present disclosure;

[0020] Fig. 10 is a diagram of an embodiment of a data structure for storing information about sensor configurations for given obstacle risk profile;

[0021] Fig. 11 is a flow or process diagram of a method of obstacle warning and avoidance;

[0022] Fig. 12 shows a vehicle in an emergency charging environment in accordance with embodiments of the present disclosure;

[0023] Fig. 13 is a diagram of an embodiment of a data structure for storing information about a charging panel configuration for given emergency charging environments;

[0024] Fig. 14 is a flow or process diagram of a method of emergency charging from a roadway vehicle;

[0025] Fig. 15 shows a vehicle in an aerial vehicle charging environment in accordance with another embodiment of the present disclosure;

[0026] Fig. 16 is a diagram of an embodiment of a data structure for storing information about a charging panel configuration for a given aerial vehicle charging environment;

[0027] Fig. 17 is a flow or process diagram of a method of charging from an aerial vehicle;

[0028] Fig. 18 shows a vehicle in an overhead charging environment in accordance with another embodiment of the present disclosure;

[0029] Fig. 19 is a diagram of an embodiment of a data structure for storing information about a charging configuration for a given overhead charging environment;

[0030] Fig. 20 is a flow or process diagram of a method of charging from an overhead charging system;

[0031] Fig. 21 shows a vehicle in a charging station environment in accordance with another embodiment of the present disclosure;

[0032] Fig. 22 is a diagram of an embodiment of a data structure for storing information about a charging configuration for a given charging station environment; [0033] Fig. 23 shows vehicle instalment panel for use in a charging station environment in accordance with another embodiment of the present disclosure; and

[0034] Fig. 24 is a flow or process diagram of a method of charging from a charging station system.

[0035] It should be understood that the drawings are not necessarily to scale. In certain instances, details that are not necessary for an understanding of the invention or that render other details difficult to perceive may have been omitted. It should be understood, of course, that the invention is not necessarily limited to the particular embodiments illustrated herein.

[0036] To assist in the understanding of the present invention the following list of components and associated numbering found in the drawings is provided herein:

# Component

10 System

100 Vehicle

102 Travel Environment

104 Roadway (Street or Other Travel Path)

108 Charging Panel (retracted)

108' Charging Panel (deployed)

108A Charging Panel Airfoil Flap (extended)

110 Charging Panel Controller

112 Energy Storage Unit

113 Vehicle Database

114 Data Structures

115A-N Data Structure Fields

116 (Charging) Power Source

120 Charging Area/Plate

120A-C Various Charging Areas within Travel Environment

122 Charge Provider Controller

124 Transmission Line

126 Vehicle Sensors

127 Separation Distance Sensor

132 Direction or Path

140 A Parking Space

140B Traffic Controlled Space # Component

204 Armature

208 Separation Distance

212 Position for Receiving a Charge

214 Direction

214A First Direction (axis)

214B Second Direction (axis)

214C Third Direction (axis)

215A-C Roll, Pitch, Yaw Direction (axis)

220 Shield position one

220' Shield position two

226 Protective device

700 Graphical user interface

704 Display device

708 Feedback adjustment image one

708' Feedback adjustment image two

712 (Charging) Power Source centerline icon

716 (Charging) Power Source icon

720 Charging Panel centerline icon

724 Alignment instruction

914 Sensor Data Structure

915A-N Sensor Data Structure Fields

928 Obstacle

1200 Emergency Charging Vehicle

1240 Charging Cable

1250 Connector

1314 Emergency Charging Data Structure

1315A-M Emergency Charging Data Structure Fields

1500 Aerial Vehicle

1510 Tether

1514 Aerial Vehicle Charging Data Structure

1515A-M Aerial Vehicle Charging Data Structure Fie

1800 Overhead Charging System

1810 Tower

1814 First Wire # Component

1818 Second Wire

1820 Pantograph

1824 Overhead Contact

1834 Overhead Charging Data Structure

1835A-L Overhead Charging Data Structure Fields

2100 Robotic Unit

2104 Robotic Unit Arm

2113 Rob oti c Unit D atab ase

2134 Robotic Unit Charging Data Structure

2135 A-M Robotic Unit Charging Data Structure Fields

2300 Instrument Panel

2310 Steering Wheel

2320 Vehicle Operational Display

2324 Auxiliary Display

2328 Power Management Display

2332 Charging Manual Controller

DETAILED DESCRIPTION

[0037] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the disclosed techniques. However, it will be understood by those skilled in the art that the present embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present disclosure.

[0038] Although embodiments are not limited in this regard, discussions utilizing terms such as, for example, "processing," "computing," "calculating," "determining,"

"establishing", "analyzing", "checking", or the like, may refer to operation(s) and/or process(es) of a computer, a computing platform, a computing system, a communication system or subsystem, or other electronic computing device, that manipulate and/or transform data represented as physical (e.g., electronic) quantities within the computer's registers and/or memories into other data similarly represented as physical quantities within the computer's registers and/or memories or other information storage medium that may store instructions to perform operations and/or processes. [0039] Although embodiments are not limited in this regard, the terms "plurality" and "a plurality" as used herein may include, for example, "multiple" or "two or more". The terms "plurality" or "a plurality" may be used throughout the specification to describe two or more components, devices, elements, units, parameters, circuits, or the like.

[0040] The term "armature" means a moveable portion of an electromagnetic system or device.

[0041] The term "inductive charging" means the use of an EM field to transfer energy between two objects.

[0042] The term "display" refers to a portion of a screen used to display the output of a computer to a user.

[0043] The term "displayed image" or "displayed object" refers to an image produced on the display. A typical displayed image is a window or desktop or portion thereof, such as an icon. The displayed image may occupy all or a portion of the display.

[0044] The terms "communication device," "smartphone," and "mobile device," and variations thereof, as used herein, are used interchangeably and include any type of device capable of communicating with one or more of another device and/or across a

communications network, via a communications protocol, and the like. Exemplary communication devices may include but are not limited to smartphones, handheld computers, laptops, netbooks, notebook computers, subnotebooks, tablet computers, scanners, portable gaming devices, phones, pagers, GPS modules, portable music players, and other Internet-enabled and/or network-connected devices.

[0045] The term "screen," "touch screen," or "touchscreen" refers to a physical structure that enables the user to interact with the computer by touching areas on the screen and provides information to a user through a display. The touch screen may sense user contact in a number of different ways, such as by a change in an electrical parameter (e.g., resistance or capacitance), acoustic wave variations, infrared radiation proximity detection, light variation detection, and the like. In a resistive touch screen, for example, normally separated conductive and resistive metallic layers in the screen pass an electrical current. When a user touches the screen, the two layers make contact in the contacted location, whereby a change in electrical field is noted and the coordinates of the contacted location calculated. In a capacitive touch screen, a capacitive layer stores electrical charge, which is discharged to the user upon contact with the touch screen, causing a decrease in the charge of the capacitive layer. The decrease is measured, and the contacted location coordinates determined. In a surface acoustic wave touch screen, an acoustic wave is transmitted through the screen, and the acoustic wave is disturbed by user contact. A receiving transducer detects the user contact instance and determines the contacted location coordinates. The touch screen may or may not include a proximity sensor to sense a nearness of object, such as a user digit, to the screen.

[0046] Before undertaking the description of embodiments below, it may be

advantageous to set forth definitions of certain words and phrases used throughout this document: the terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation; the term "or," is inclusive, meaning and/or; the phrases "associated with" and "associated therewith," as well as derivatives thereof, may mean to include, be included within, interconnect with, interconnected with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have, or the like; and the term "controller" means any device, system or part thereof that controls at least one operation, such a device may be implemented in hardware, circuitry, firmware or software, or combination of at least two of the same. It should be noted that the functionality associated with any particular controller may be centralized or distributed, whether locally or remotely. Definitions for certain words and phrases are provided throughout this document and those of ordinary skill in the art should understand that in many, if not most instances, such definitions apply to prior, as well as future uses of such defined words and phrases.

[0047] For purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the present techniques. It should be appreciated however that the present disclosure may be practiced in a variety of ways beyond the specific details set forth herein. Furthermore, while the exemplary embodiments illustrated herein show various components of the system collocated, it is to be appreciated that the various components of the system can be located at distant portions of a distributed network, such as a communications network, node, and/or the Internet, or within a dedicated secured, unsecured, and/or encrypted system and/or within a network operation or management device that is located inside or outside the network. As an example, a wireless device can also be used to refer to any device, system or module that manages and/or configures or communicates with any one or more aspects of the network or communications environment and/or transceiver(s) and/or stations and/or access point(s) described herein.

[0048] Thus, it should be appreciated that the components of the system can be combined into one or more devices, or split between devices. [0049] Furthermore, it should be appreciated that the various links, including the communications channel(s) connecting the elements can be wired or wireless links or any combination thereof, or any other known or later developed element(s) capable of supplying and/or communicating data to and from the connected elements. The term module as used herein can refer to any known or later developed hardware, circuit, circuitry, software, firmware, or combination thereof, that is capable of performing the functionality associated with that element. The terms determine, calculate, and compute and variations thereof, as used herein are used interchangeable and include any type of methodology, process, technique, mathematical operational or protocol.

[0050] With attention to Figs. 1-24, embodiments of the electric vehicle charging system 10 and method of use are depicted.

[0051] In one embodiment, methods and systems are described that determine whether a charging panel associated with an electric vehicle should be deployed to charge an energy storage unit of the vehicle. In some embodiments, an in-roadway (such as a parking space) charging area is employed. The automobile may require, e.g., a charge, in a proper location for charging, sufficient time to receive a charge, etc. Conditions are analyzed by the vehicle and/or the charging system, wherein a charge may be authorized. In some embodiments, a charging panel or circuit may be distally disposed on an armature that may hover over a charging circuit in a roadway. The armature may move in three dimensions and/or in three axes to maintain an optimal distance from the charging circuit but still keep the panel from impacting the roadway or other road hazards. A suite of sensors may monitor the roadway ahead to allow the armature to adjust to sensed hazards.

[0052] Referring to Fig. 1 A, a vehicle 100 is shown in a charging environment in accordance with embodiments of the present disclosure. The system 10 comprises a vehicle 100, an electrical storage unit 112, an external power source 116 able to provide a charge to the vehicle 100, a charging panel 108 mounted on the vehicle 100 and in electrical communication with the electrical storage unit 112, and a vehicle charging panel controller 112. The charging panel controller 112 may determine if the electrical storage unit requires charging and if conditions allow for deployment of a charging panel. The vehicle charging panel 108 may operate in at least a retracted state and a deployed state (108 and 108' as shown is Fig. 1 A), and is movable by way of an armature 204.

[0053] The charging panel controller 112 may receive signals from vehicle sensors 126 to determine, for example, if a hazard is present in the path of the vehicle 100 such that deployment of the vehicle charging oanel 108 is inadvisable. The charging panel controller 112 may also query a vehicle database 113 comprising data structures 114 to establish other required conditions for deployment. For example, the database may provide that a particular roadway does not provide a charging service or the charging service is inactive, wherein the charging panel 108 would not be deployed.

[0054] The power source 116 may include at least one electrical transmission line 124 and at least one power transmitter or charging area 120. During a charge, the charging panel 108 may serve to transfer energy from the power source 116 to at least one energy storage unit 112 (e.g., battery, capacitor, power cell, etc.) of the electric vehicle 100.

[0055] In some embodiments, the power source 116 may be associated with a particular charging area of a travel environment 102. Referring to Fig. IB, various charging areas 120A-C are shown in a vehicle travel environment 102 in accordance with embodiments of the present disclosure. The charging areas 120 A, 120B may be positioned a static area such as a designated spot, pad, parking space 140 A, 140B, traffic controlled space (e.g., an area adjacent to a stop sign, traffic light, gate, etc.), portion of a building, portion of a structure, etc., and/or combinations thereof. Some static charging areas may require that the electric vehicle 100 is stationary before a charge, or electrical energy transfer, is initiated. In some cases, the charging panel 108 may make a physical connection with the power source 116. As can be appreciated, the charging panel 108 may include a plug or other protruding feature and the power source 116 may include a receptacle or other receiving feature, and/or vice versa.

[0056] Another example of a static charging area may include a portion of a roadway 104, street, or other travel path that is configured to provide electrical charging energy to a charging panel 108 of a vehicle 100. The charging area may be in the roadway 104, on the roadway 104, or otherwise adjacent to the roadway 104, and/or combinations thereof. This static charging area 120B may allow a charge to be transferred even while the electrical vehicle 100 is moving. For example, the static charging area 120B may include a charging transmitter (e.g., conductor, etc.) that provides a transfer of energy when in a suitable range of a receiving unit (e.g., an inductor pick up, etc.). In this example, the receiving unit may be a part of the charging panel 108 associated with the electrical vehicle 100.

[0057] The charging area may be a moving charging area 120C. Moving charging areas 120C may include charging areas associated with one or more portions of a vehicle, a robotic charging device, a tracked charging device, a rail charging device, etc., and/or combinations thereof. In a moving charging area 120C, the electrical vehicle 100 may be configured to receive a charge, via the charging oanel 108, while the vehicle 100 is moving and/or while the vehicle 100 is stationary. In some embodiments, the electrical vehicle 100 may synchronize to move at the same speed, acceleration, and/or path as the moving charging area 120C. In one embodiment, the moving charging area 120C may synchronize to move at the same speed, acceleration, and/or path as the electrical vehicle 100. In any event, the synchronization may be based on an exchange of information communicated across a communications channel between the electric vehicle 100 and the charging area 120C. Additionally or alternatively, the synchronization may be based on information associated with a movement of the electric vehicle 100 and/or the moving charging area 120C. In some embodiments, the moving charging area 120C may be configured to move along a direction or path 132 from an origin position to a destination position 120C

[0058] In some embodiments, a transformer 136A, 136B may be included to convert a power setting associated with a main power supply to a power supply used by the charging areas 120A-C. For example, the transformer 136A, 136B may increase or decrease a voltage associated with power supplied via one or more power transmission lines.

[0059] As can be appreciated, when the electrical vehicle 100 determines that a charge is required, a deployment or charging panel controller 110 controller (e.g., a hardware device comprising a processor configured to control an actuation of the charging panel 108, etc.) may determine whether to deploy the charging panel 108 of the electric vehicle 100.

Factors, or conditions, contributing to this determination may include, but is in no way limited to, charge level of the vehicle 100, location of the vehicle 100, location of a charging area 120, a capability of the charging area 120 (e.g., energy transfer rating, compatibility with the charging panel 108 and/or vehicle 100, static charging capability, moving charging capability, etc.), obstacles between the charging panel 108 and the charging area 120, anticipated travel path of the vehicle 100, time required to charge, travel time, stopping time, etc., and/or combinations thereof. Among other things, these factors may be analyzed to determine whether the electric vehicle 100 is capable of receiving a charge (e.g., enough time to receive a charge, etc.). Once these conditions are analyzed by at least one of the deployment controller, another controller of the vehicle, the charging system and/or combinations thereof, a charge may be authorized. The

authorization of a charge may include receiving a charge initiation key (e.g., from an authentication server, one or more components associated with the charging area, etc.). In any event, the authorization of the charge causes the charging panel 108 of the vehicle 100 to deploy. [0060] In some embodiments, mechanism, devices, and systems are described that selectively position the charging panel into position for receiving a charge 212 (e.g., the charge-receiving position). Fig. 2 A shows a detail view of a vehicle charging panel 108 in a charge receiving position adjacent to a power source 120 in accordance with

embodiments of the present disclosure. As provided herein, the charging panel 108 of a vehicle 100 may need to be deployed or moved into a position for receiving a charge 212. This position may be based on specific power transfer requirements, on a specific distance of the charging panel 108 relative to the charging area 120, safety requirements, and/or a designated distance of operation for effecting an electrical energy transfer, or charge 212, operation. While the charging panel 108 may be actuated from a retracted or concealed position into a deployed, or charge-receiving, position as described above, the charging panel 108 may need to be moved, at any time, in response to a detected condition. One example of the detected condition may be an obstacle, obstruction, object, natural condition, chemical, etc., and/or combination thereof that can potentially damage or otherwise contact the charging panel 108. By way of example, a charging panel 108 may be disposed on an exposed side of a vehicle 100 (e.g., the underside of the vehicle 100, etc.). When the charging panel 108 is actuated into a deployed position, the charging panel 108 may be vulnerable to damage from variations in a roadway or some other condition. Continuing this example, as a moving vehicle is receiving a charge, via a deployed charging panel 108, an object on the road 104 may contact and/or damage the charging panel 108. The embodiments described herein may account for variations in terrain, objects, and/or other conditions and selectively move the charging panel 108 from a deployed position to a concealed or at least partially concealed position. In some embodiments, and as shown in Fig. 2B, a shield 220 may be inserted or positioned between the object/hazard and the charging panel 108 to, among other things, prevent damage to the charging panel 108.

[0061] In one embodiment, the charging panel 108 and/or circuit may be distally disposed on an armature that is configured to hover over a charging circuit 116 in a roadway 104. Typically this distance 208 may be predetermined or preset for energy transfer requirements and/or safety (e.g. via query by controller 110 to database 113), however embodiments disclosed herein should not be so limited. In any event, the armature 204 may move in one or more dimensions and/or axes to maintain an optimal or preset distance 208 from the charging circuit 120 while preventing the charging panel 108 from impacting the roadway 104, environmental, and/or other hazards. In one embodiment, one or more sensors 126 may monitor the roadway 104 around a vehicle 100 (e.g., an area or volume of space ahead of or in proximity to a vehicle 100, etc.) at least at a detection distance from the armature 204. This sensor monitoring can allow the armature 204 to timely adjust position in response to at least one condition and/or hazard detected by the one or more sensors 126. Height or separation distance between a point on the charging panel 108 and the roadway surface 104 and/or charging panel 120 is provided by one or more separation sensors 127.

[0062] Rather than retract, or at least partially retract, the charging panel 108, a minor positional adjustment may be all that is required to avoid contact with an object or to avoid a hazard. In this embodiment, a movement controller (as contained in controller 110 - see e.g., Fig. 6) may determine to move the charging panel 108 and/or armature 204 along a direction 214 parallel to the surface of the roadway. For instance, as a vehicle 100 is travelling along a path in a first direction 214B, a hazard may be detected in the path via the one or more sensors 126 described herein. Continuing this example, the sensor information may be used by a controller of the vehicle 100 to move the charging panel in a direction different 214A, 214C from the first direction 214B. The direction different 214A, 214C from the first direction 214B may be orthogonal to the first direction 214B.

Additionally or alternatively, the direction different 214C (shown going into and coming out of the page in Fig. 2A) from the first direction may be along a plane that is parallel to the surface of, or hypothetical plane established by, the roadway 104. In any event, the minor positional adjustment to the charging panel 108 may be enough to avoid a collision, impact, and/or other contact with the hazard.

[0063] The charging panel 108 may be attached to at least one suspension component of the vehicle 100. In one embodiment, the charging panel 108 may be moved via a mechanical connection and based on a movement of at least one suspension element of the vehicle 100. In some embodiments, the movement may be driven by a mechanical and/or electrical component, actuator, linkage, solenoid, or other mechanism/device. In any event, the movement may be effected in response to detecting a mechanical movement of the suspension, the vehicle 100, and/or the roadway 104 relative to the charging panel 108, etc.

[0064] In some cases, a movement of the charging panel 108 may not be feasible or even possible. For instance, when a moving obstacle is detected as approaching the vehicle 100 at speed or an object comes dislodged from a portion of the vehicle 100, the charging panel 108 may not be capable of moving auick enough (e.g., from an exposed position to a completely, or at least partially, concealed position, etc.) to prevent impact. In any event, a shield 220 or protective panel may be actuated, deployed, inserted, or otherwise positioned into a position 220' between the obstacle/object and the charging panel 108. When in this position, the shield 220 may serve to absorb, deflect, or otherwise minimize the effect of an impact or shock. Positioning of the shield 220 may include a spring-loaded actuation, mechanical actuation, electrical actuation, gas actuation, fluid actuation, an explosive deployment (e.g., similar to an airbag or safety restraint system initiation and deployment, sodium azide, potassium nitrate, etc.), etc., and/or combinations thereof. The shield 220 positioning may be performed in a fraction of the time it takes the charging panel 108 to deploy and/or retract.

[0065] In one embodiment, one or more sensors 126 may be used to detect an obstacle, object, or other hazard. The one or more sensors 126 may include, but are in no way limited to, image sensors, radio frequency sensors, laser radar or ladar sensors, infrared sensors, mechanical sensors (e.g., strain gauges, pressure sensors, brush sensors, leaf spring sensors, cantilevered motion sensors, etc.), electrical energy sensors, etc., and/or combinations thereof. In some embodiments, an array of sensors 126 may be used to detect an object and determine, or extrapolate, a position of the object at a particular time. For instance, a rock may have been set into motion via making contact with a moving vehicle 100 travelling along a roadway 104. Continuing this example, the rock may be bouncing toward the side 216 of the electrical vehicle 100 having the deployed, or at least partially deployed, charging panel 108. The array of sensors 126 in this example may determine a trajectory of the rock. Using sensor provided information a controller of the vehicle may initiate a command to one or more of the movable armature 204, shield 220, charging panel deployment mechanism, retracting device, and/or other device to protect the charging panel from damage. As provided above, the protection of the charging panel 108 may include moving the charging panel 108 to an at least partially concealed position and/or moving a shield 220 into a position 220' that at least partially conceals the charging panel 108. The shield may be a brush, such as a wired cylindrical brush, to clear or receive debris such as roadway debris.

[0066] Fig. 2C shows a detail view of a vehicle charging panel 108 in a charge receiving position adjacent to a power source wherein the charging panel is an airfoil shape. In this embodiment, the charging panel 108 may comprise an airfoil flap 108 A. The airfoil shape in some situations may provide improved control and/or positioning and/or structural stability to the charging panel 108 with resoect to maintaining charging distance to charging panel 120 (as embedded in a roadway or flush with a roadway surface). More specifically, when the vehicle 100 is moving at sufficient speed, aerodynamic forces or loads will be generated and imposed on any structures fitted between the bottom of the vehicle and the roadway. Furthermore, such nominal aerodynamic loads may be exasperated due to the relatively small distance between the lowered or deployed charging panel and the roadway causing the aerodynamic flow to be in ground effect (causing ever higher aerodynamic loads). As such, an airfoil shape will enable improved control on the aerodynamic loading on the charging panel and likely improved positioning stability. The movement or positioning of the charging panel 108, comprising 3-d translation (214A-C) and 3-d rotation (roll, pitch, yaw, combinations thereof, etc.) may be controlled via controller 110 as enabled by one or more separation sensors 127. A loading sensor may further be configured to obtain loading at one or points on the charging panel. Fig. 6 details the operation of such a feedback control system for positioning of the charging panel 108. Note that sensor 127 would be disposed on armature 204 and/or charging panel 108 in a manner so as not to disturb the airfoil shape. Also, the flap 108 A affords additional control. Furthermore, the manner in which charging panel 108 is mounted in Fig. 2C may produce a downward lifting force on the panel 108 given the airfoils chamber relative to the roadway. The airfoil shape may also be mounted so as to produce an upward listing force. In other embodiments, alternative aerodynamic shapes are positioned upstream and/or downstream of the charging panel to improve airflow (e.g., straighten incoming airflow) or for other reasons as known to those skilled in the art.

[0067] Fig. 3 is a diagram of an embodiment of a data structure 114 for storing information about a charging panel configuration for given roadway types. The data structures are stored in vehicle database 113 and accessible by vehicle controller 110. The data contained in data structure 114 enables, among other things, for the vehicle controller 110 to initially position and to control the position of a deployed charging panel 108. Data may comprise panel type 115A meaning type of charging panel configured to vehicle comprising a flat panel (e.g., of Figs. 2A-B and an airfoil e.g. of Fig. 2C); roadway type 115B e.g. an interstate (Colorado Interstate 25) or state highway e.g. Colorado Highway 36; a recommended separation distance 115C between a set datum e.g. the lower surface of the panel and the roadway, e.g. 8 inches; a pitch angle 115D for the panel, a flap setting 115E (as appropriate), maximum vertical load 115F allowed to the charging panel;

obstacle risk level 115G (this may allow tuning or adjustment of the sensitivity of obstacle sensor 126, e.g. signal/noise ratio of a radar sensor, or trio thresholds as to a forward obstacle detection); roadway power type 115H; and other 1151 which may comprises if roadway is currently operational, costs of charging, etc. Further data fields 115N, 115M are possible.

[0068] With reference to Figs. 1-3, Fig. 4 provides a flow chart illustrating a method of use of charging an electric vehicle 100 by way of the system 10. Generally, the method 400 starts at step 404 and ends at step 428.

[0069] After starting at step 404, at step 408 the method 400 queries as to whether charging is required by the electric vehicle 100. If charging is required, the method proceeds to step 412. If charging is not required, the method 400 proceeds to step 428 and the method 400 ends. At step 412, a query is made as to if a power source is available. That is, is the energy source (such as provided in a various charging area 120A-C) able to provide a charging service to electric vehicle 100. The query may be facilitated and/or determined by way of controller 110 and database 113. If NO (that is, no charging available), the method proceeds to step 428 and ends. If the result of the query of step 412 is YES, the method proceeds to step 416.

[0070] At step 416 a query is made as to whether the vehicle 100 and/or charge panel 108 is configured to receive the charging from power source. Such a query may be facilitated by communications between vehicle "smart" control systems (e.g., controller 110) of one or both of vehicle 100 and charging area 120A-C. The query may be facilitated and/or determined by way of controller 110 and database 113. Note that incompatibilities may include min/max energy transfer thresholds (e.g., voltages). If NO (i.e., the vehicle is incompatible with the power source) the method proceeds to step 428 and ends. If the result of the query of step 516 is YES, the method proceeds to step 420.

[0071] At step 420, a query is made to determine if conditions allow charging panel to be deployed. Here, database 113 may be queried to determine if power is available from a particular roadway. Additionally or alternatively, one or more sensors 126 may determine that an obstacle presents undue risk of damage to the charging panel so as to determine that conditions do not allow charging panel deployment. If the answer to query of step 420 is YES, the charging panel is deployed and the method continues to step 424. If NO the method proceeds to step 428 and ends. At step 424 the deployed charge panel 108 receives a charge and the method proceeds to step 528 wherein the method ends.

[0072] With reference to Figs. 1-4, Fig. 5 provides a flow chart illustrating a method of positioning a charging panel 108 of an electrical vehicle 100 to receive a charge by way of the system 10. Generally, the method 500 starts at steo 504 and ends at step 528. [0073] After starting at step 504, at step 508 the method queries as to whether charging is required by the electric vehicle 100. If charging is required, the method proceeds to step 512. If charging is not required, the method 500 proceeds to step 528 and the method 500 ends. At step 512, a query is made as to if a power source is available. That is, is the energy source (such as provided in a various charging area 120A-C) able to provide a charging service to electric vehicle 100? The query may be facilitated and/or determined by way of controller 110 and database 113. If NO (that is no charging available), the method proceeds to step 528 and ends. If the result of the query of step 512 is YES, the method proceeds to step 516.

[0074] At step 516, the controller 110 queries the database 113 to determine the nominal, initial, or baseline conditions for deployment of the charging panel 108. For example (with regards to Fig. 3), if the charging panel is of type "Airfoil A4" and vehicle 100 is traveling on CO 1-25, the charging panel is set to separation distance 8 inches and with pitch and flap at 0 degrees. The method then proceeds to step 520 wherein the charging panel 108 is positioned to the nominal, initial, or baseline set deployment conditions established in step 520. (In one embodiment, prior to step 520, a query is made, akin to step 420 of method 400, to determine if conditions allow for deployment of the charging panel.) At step 524 the deployed charge panel 108 receives a charge and the method proceeds to step 528 wherein the method ends.

[0075] Fig. 6 is a block diagram of a charging panel control system 600. Generally, the control system 600 is a feedback control system to control the separation distance between the charging panel 108 and the roadway (or more generally, the charging source). Selected separation distance is input (as determined by way of query to database 113 or manually entered by user) and compared with a measured separation distance (as from a separation distance sensor 127) to compute an error signal. The error signal is received by the controller 110 to determine control inputs to actuator of armature 204 which moves the charging panel 108. The error signal will typically be non-zero due to disturbances to the charging panel, such as aerodynamic loads generated while the vehicle is in motion. The controller 110 may employ any known types of feedback control known to those skilled in the art, comprising stochastic control, proportional, integral and/or derivative control, nonlinear control and deterministic control. In other embodiments, a plurality of sensor 127 inputs are provided and/or a plurality of separation distances and/or loading measures are controlled. For example, a pair of positional sensors may be positioned at ends of the leading edge of an airfoil type charging oanel whereby Ditch and/or roll are controlled as well as distance from the roadway. Furthermore, a loading sensor may be positioned on the armature to measure the loading imparted to the armature shaft, so as to provide an ability to, for example, determine if a threshold value for do-not-exceed loading (as stored in database 113) has been exceeded.

[0076] In one embodiment, the charging area 120A-C and/or power source 116 provides notice to the vehicle 100, controller 110, and/or vehicle user that charging service is available and/or terms and conditions thereof. The notice may comprise targeted communications, e.g., by texting to vehicles within a selectable distance. The content of the notice may comprise: the availability of charging, and terms and conditions of charging (cost, payment types, amount available, duration of charging time, etc.). The notice may comprise a physical mounted advertisement that charging is available, not unlike a taxi "off duty" or "on duty" light mounted on a taxi rooftop.

[0077] In one embodiment, the charging panel 108 is maneuvered manually, e.g. by a vehicle user, a vehicle passenger, or an attendant at a stationary charging environment.

[0078] In one embodiment, the charging panel 108, through use of the feedback controller 110 described in one embodiment as Fig. 6, maintains a "terrain following," i.e. "TF" mode, wherein the planar lower surface of the charging panel 108 maintains a constant height above (or "altitude") above the roadway surface. In the case of a truly flat or planar roadway, such a TF mode would only require vertical movement of the charging panel 108 in one variable (the separation distance 208), the one variable being a vertical distance. If the roadway is not truly planar (relative to the charging panel 108), perhaps due to a roadway crown or perhaps due to a slight roll in the vehicle posture due to non- uniformly inflated tires, then the controller 108 may maintain more than one variable. That is, perhaps a slight roll angle in addition to vertical height above the roadway. More specifically, a vehicle traveling in the USA in the right hand lane typically encounters a roadway crown that rises to the left toward the roadway centerline, thereby requiring a slight roll right configuration of the charging panel 108. As such, the controller would be maintaining both a roll position and a vertical height position. Such a multivariable feedback controller may be similar to that shown in Fig. 6 or, in some embodiments, of any design known to those skilled in the art. Note that roadway crown may, in one embodiment, be a data record maintained in database 113. Furthermore, vehicle sensors 126 may comprise one or more sensors able to measure roadway crown and/or other features of a non-planar roadway and/or a non-parallel relationship between the lower surface of the charging panel and the roadway (e.g., vertical distance sensors at each corner of the vehicle measuring distance from vehicle to the roadway).

[0079] Figs. 7A-B show representative states of a graphical user interface (GUI) used in aligning a charging panel of an electrical vehicle to receive a charge. More specifically, Figs. 7A-B depict graphical user interfaces 700 displaying feedback adjustment image one 708 and feedback adjustment image two 708' in accordance with embodiments of the present disclosure. In some embodiments, methods and systems are described that provide an electric vehicle 100 with the ability to properly align the charging panel 108 of the vehicle 100 over a charging circuit or power source 116. This system may continually and dynamically determine a position or location of the charging panel 108 relative to at least one of the charging circuit components aka power source 116. The dynamic position or location may be provided to a driver of the vehicle via at least one graphical user interface (GUI) 700 of a display device 704 to allow the driver to make any adjustments to the position of the vehicle 100 and/or the charging panel 108. For instance, the GUI 700 may show a vehicle image aka feedback adjustment image 708 relative to an alignment line, or centerline aka power source centerline icon 412, of an image representing a charging element aka power source icon 416. As the position of the charging panel 108, or vehicle 100, changes relative to the charging circuit components 116 the graphical output (e.g., showing the relative position of the components in the charging system, etc.) provided to the at least one GUI 700 changes (e.g., a changed representative image 708', of the vehicle 100 may move relative to the centerline 712 and/or image representing the charging element aka power source icon 716, or vice versa, etc.) to reflect the changed position. This continual updating of the GUI 700 and the relative charging components position can provide a driver of the vehicle 100 with a feedback loop by which the driver can adjust a position of the charging panel 108 and/or the vehicle 100 to obtain an optimal charging alignment between the charging panel 108 and the at least one charging circuit component 116. In some embodiments, a feedback recommendation aka alignment instruction 724 may be displayed to a portion of the GUI 700. For example, the feedback recommendation 724 may provide the driver with alignment instructions and/or advice for adjusting a position of the vehicle 100 relative to the charging circuit 116.

[0080] In some embodiments, alignment instructions may comprise more than horizontal separation distance adjustments, e.g., both a horizontal and a vertical alignment or position instructions, or a horizontal alignment instruction and an angular position. The angular alignment adjustment may comDrise a vaw alignment command, which may be particularly important if the vehicle is moving and the power sources are multiple sequential power sources embedded in a roadway.

[0081] The at least one charging circuit component 116 may be in communication with the vehicle, and/or a mobile device associated with a user of the vehicle 100 (e.g., the driver, etc.). In some embodiments, and as described above, where the electrical vehicle 100 can receive a charge while moving (e.g., in a moving charge area scenario, a static charging area disposed along a length of a travel path 104, etc., and/or combinations thereof) the relative position of the charging panel 108/vehicle 100 to the at least one charging circuit component 116 can be presented (e.g., via the GUI 400, etc.) to allow driving changes to be made and for the vehicle 100/charging panel 108 to be properly aligned. The orientation of the vehicle 100 and/or the charging panel 108 may be based on sensor input from one or more vehicle sensors and/or from one or more sensors exterior to the vehicle 100. In some embodiments, the alignment may be a function of an onboard application on the vehicle 100 or on a device (e.g., a mobile device of a vehicle driver, vehicle owner, etc.).

[0082] In some embodiments, the alignment feedback provided to the vehicle 100, the GUI 700, a driver of the vehicle 100, and/or other control component associated with the vehicle 100 may be used by a vehicle control system to automatically adjust the position of the vehicle 100 and/or the charging panel 108 relative to the at least one charging circuit 116. As provided herein, the position of the charging panel 108 may be required to be within an optimal charge range of the at least one charging circuit component 116. This optimal charge range may include a vertical distance between the charging panel 108 and the at least one charging circuit component 116 and/or a horizontal distance between a portion of the charging panel 108 and a portion of the at least one charging circuit 116. In some cases, the optimal charging range may include a distance 208 between a specific portion of the charging panel 108 and a specific portion of the at least one charging circuit 116. In any event, the optimal charging range may be defined as the position of the charging panel 108 relative to the at least one charging circuit component 116 that is capable of effecting an efficient transfer of energy. The optimal charging range, and similar charging parameters (e.g., separation distance between charging panel and roadway surface) may be stored in a database in or on the vehicle (e.g., vehicle database 113) or remotely, e.g., in the cloud. The efficient transfer of energy may include a percentage, an allowable loss amount, and/or other value defining the electrical energy transfer from the at least one charging circuit component 116 to the charging panel 108. As can be appreciated, this information may be displayed to the GUI 700.

[0083] With reference to Figs. 1-7, Fig. 8 provides a flow chart illustrating a method of aligning a charging panel 108 of an electrical vehicle 100 to receive a charge by way of the system 10. Generally, the method 800 starts at step 804 and ends at step 824. After starting at step 804, at step 808 a sensor measures the alignment of the vehicle-mounted charging panel 108 with respect to the charging power source 116. The alignment sensor may be mounted on the vehicle 100 and/or on the ground, to include in proximity to the power source 116. The alignment sensor measures a distance between a centerline of the power source 116 and the centerline of the charging panel 108, for example a linear separation distance.

[0084] At step 812, the sensor transmits the sensor measurement data so as to be received by an alignment controller. The transmittal may be through any means known to those skilled in the art, such as by wireless communication. The sensor may transmit in an analog and/or digital manner. The sensor may be a plurality of sensors, and may broadcast at selected frequencies and/ or power levels.

[0085] At step 816, the alignment controller receives the sensor measurement data and determines if any alignment required. For example, the sensor may provide that the linear separation distance is 0.5 meter, thereby determining that an alignment adjustment of 0.5 in a particular direction is required for optimal energy transfer between the charging panel 108 and the power source 116. The alignment controller may also determine additional data, such as the power efficiency between the charging panel 108 and the power source 116 (e.g., in Fig. 7B the power transfer efficiency is provided as 43%.) The alignment controller may provide text description as to directionality (e.g., move left or right) as provided by alignment instruction 724. The alignment controller may provide alignment data (e.g., comprising linear separation distance, power transfer level, directionality for improved alignment, etc.) by way of a graphical user interface 700 and/or may

automatically adjust the position of the vehicle and/or charging panel 108 for improved alignment. The alignment controller may provide signals to the actuator so as to minimize or eliminate the alignment error or alignment required, or to effect the movement of the charging panel via the actuator and/or armature. The alignment controller may provide signals to adjust the charging plate in more any of three translation positions and/or angular positions (as shown, e.g., in Fig. 2C.) The alignment controller may also perform signal processing to blend multiple measurements from one or more sensors. Furthermore, the alignment controller may also provide feedback control with respect to the linear separation, as described above with respect to Fig. 6. The method ends at step 824.

[0086] Figs. 9-11 describe aspects of an electric vehicle charging device obstacle avoidance system and method of use. Generally, Fig. 9 shows a vehicle in a roadway obstacle environment, Fig. 10 provides a diagram of an embodiment of a data structure for storing information about sensor configurations for a given obstacle risk profile, and Fig. 11 provides a flow or process diagram of a method of obstacle warning and avoidance.

[0087] In some embodiments, methods and systems are described that employ one or more sensors, (e.g., a sensor array, etc.) to warn of road hazards or obstacles 928. Fig. 9 shows a block diagram of a vehicle 100 and obstacle detection system in accordance with embodiments of the present disclosure. Similar, if not identical to the sensors 126 described above, the one or more sensors 126A-F may be road-focused radar, moving sensors, and/or other stationary or mounted sensors. In one embodiment, the sensors 126A-F may include one or more physically active sensors, including brush sensors, physical contact sensors, etc. These more physically active sensors may detect the obstacle and may even alter a condition associated with the obstacle 928. For instance, at least one physical component of the more active sensors may physically move obstacles 928, mitigate the effect of an impact of an obstacle 928, and/or even come into physical contact with those obstacles 928. In some cases, the physical contact with the obstacle 928 may produce the warning.

[0088] One example of a more active, or physical contact, sensor may include a wedge component, plow-shaped component, and/or deflecting member having a strain gauge attached thereto. In any event, the more active sensor may include a mechanical portion coupled thereto that is designed to contact an object 928. The contact with the object 928 may be measured as a stress, strain, electrical signal (e.g., potential difference, capacitance change, impedance, etc.), mechanical contact switch actuation, etc., and/or combinations thereof. In any event, upon detecting the contact, the sensor may provide a signal to a controller 110. The controller 110 may interpret the signal and determine to send a retraction command signal to one or more protective devices 226 configured to move and/or protect the charging panel 108. It is anticipated that the charging panel 108 may be made adjusted or moved (e.g., retracted, concealed, deployed, etc.), by the controller 110, in response to receiving and interpreting the detection signal within fractions of a second. In one example, the time between detecting the obstacle 928, or contact, and the controller 110 initiating a movement command configured to retract the charging panel 108 may be less than 300 milliseconds. In yet another example, the time between detecting the hazard 928, or contact, and the controller 110 initiating a movement command configured to retract the charging panel 108 may be less than 100 milliseconds.

[0089] Fig. 10 is a diagram of an embodiment of a data structure 914 for storing information about sensor configurations for given obstacle risk profiles. The data structures are stored in vehicle database 113 and accessible by vehicle controller 110. The data contained in data structure 914 enables, among other things, for the vehicle controller 110 to configure, operate, initially position and/or to control the one or more sensors 126, such as the sensors 126A-F depicted in Fig. 9. Example data may comprise obstacle risk 915A, sensor type 915B, environmental conditions 915C, shield deployment 915D, and other 915E which may comprise further operational parameters of a given sensor. Further data fields 915K, 915L are possible.

[0090] Obstacle risk 915 A may provide a measure of the relative risk or likelihood of obstacles or hazards that may present themselves to a deployed charging panel 108. For example, a roadway undergoing maintenance is more likely to present hazards (e.g., fallen barricade in the roadway, foreign objects such as bolts or other construction hardware in the road, etc.) than one not undergoing such maintenance. Sensor type 915B may comprise any sensor types known to those skilled in the art to provide obstacle warning, comprising ladars, radars, and cameras of various bands such as IR and visible. Such sensors may comprise scanning sensors and fixed direction sensors, and may be controlled

automatically, semi-automatically, or manually by an occupant of the vehicle. Additional characteristics of any particular sensor type may be provided in the Other 915E data field, providing characteristics comprising signal/noise ratios which influence valid "hits" or indicators of the presence of an object, sensitivity levels (e.g., "trip thresholds") for such obstacle detection hits, sensor power or energy or emission levels, scanning and/or dwell times or durations, frequency bandwidths, pulse characteristics (if a pulsed sensor) such as wavelength shapes (e.g., square pulse, etc.), and shape of sensor emission (e.g., fan shape or pencil-beam shape). Environmental conditions 915C may comprise visibility data (e.g., daylight, nighttime), humidity data (e.g., rain or fog). Shield deployment 915D may comprise on/off or yes/no deployment of a protective shield surrounding the charging panel (such a protective shield may produce unwanted aerodynamic drag and therefore not typically be deployed). Further parameters may comprise speed of vehicle (e.g., a higher speed may correlate to a higher obstacle risk level). Data structure 914 may be accessible automatically by controller 110 and/or by a vehicle user. Data structure 914 may comprise elements and characteristics of data structure 114.

[0091] With reference to Figs. 1-10, Fig. 11 provides a flow chart illustrating a method of obstacle warning and avoidance. Generally, the methodl 100 starts at stepl 104 and ends at step 1128.

[0092] After starting at step 1104, at step 1108 the method 1100 queries as to whether the charging panel is deployed. In one embodiment, the step 420 of method 400 are followed so as to determine if conditions allow the charging panel to be deployed. In one embodiment, any deployment other than fully retracted/stowed results in a response of Yes. If the charging panel is deployed, the response to the query is a Yes and the method 1100 proceeds to step 1112. If the response to the query is a No, the method 1100 proceeds to step 1128 and the method 1100 ends.

[0093] At step 1112, the one or more obstacle sensors are operated. In one embodiment, the one or more sensors are simply turned on or activated. In other embodiments, such as depicted in Fig. 11, the method at step 1112 interacts with database 113 and associated sensor data structures 914 to configure the one or more sensors. Such interaction may occur automatically between controller 110 and database 113, or may be replaced or supplemented with vehicle occupant input. For example, a vehicle occupant, such as the driver, may input (through, for example, a dashboard graphical user interface or a mobile device such as a smartphone) his/her assessment of the obstacle risk and her requirement to activate a specific sensor in a specific manner. That is, the driver may request that MMW radar one and IR camera three be activated. The operation of the one or more sensors may involve occasional or recurring calibration operations (e.g. to provide ground truthing data so as to limit false positives and/or to truth a sensor against sensor data simply providing measurements to the roadway ahead). With the one or more sensors operating, the method 1100 proceeds to step 1116.

[0094] At step 1116, the received obstacle sensor data is analyzed. The analysis may occur by the controller 110, and may comprise any signal processing technique known to those skilled in the art, to include the types of control and/or signal processing algorithms described above in relation to Fig. 6. The received sensor data may require sensor fusion techniques, in particular in configurations where multiple measurements are provided of a particular location ahead or near the vehicle, either by a single sensor or a plurality of sensors or similar and/or different type. The method 1100 then proceeds to step 1120. [0095] At step 1120, the method 1100 queries as to whether the analysis of step 1116 determined that a hazard or obstacle in the pathway of the vehicle 100 requires action. If the response to the query of step 1120 is No, the method 1100 returns to step 1108. If an action is required (that is, the response to the query is Yes and obstacle avoidance is required), the recommended action to effect is determined. The recommended action may be a function of the warning systems and/or damage prevention capabilities of the system 10. For example, if the obstacle is determined to be just within a selectable vehicle pathway perimeter, the action may be a visual and/or audio warning to the GUI and/or mobile device of a vehicle occupant. However, if the obstacle is determined to be a more severe threat (e.g., of large size and/or in a more central location relative to the vehicle pathway), the action may comprise immediately retracting the charging panel and/or issuing a visual and/or audio warning to take evasive action (e.g., bear left.) In some embodiments, the system automatically maneuvers the vehicle to attempt to avoid the obstacle. In some embodiments, the vehicle deploys one or more physically active elements, such as a protective cage surrounding the charging panel and/or one or more protective devices 226. The method 1100 then proceeds to step 1 124.

[0096] At step 1124, the recommended action, as determined at step 1124, is executed. The method 1100 then proceeds to step 1128.

[0097] Fig. 12 shows a vehicle in an emergency charging environment in accordance with embodiments of the present disclosure. Generally, in this embodiment of the invention, a specially-designed "tow truck" or other emergency assistance vehicle provides a charge to the electric vehicle. That is, the emergency vehicle comprises a charging panel or plate that deploys or extends so as to position below the electric

(targeted) vehicle, wherein an emergency (or routine) charge is provided. The emergency vehicle can include a battery pack and a charging circuit to deliver a partial or complete charge to the vehicle. This vehicle may be the equivalent of AAA bringing a gallon of gas to a stranded motorist.

[0098] With reference to Fig. 12, an embodiment of a vehicle emergency charging system 10 comprising an emergency charging vehicle 1200 and charge receiver vehicle 100 is disclosed. The emergency charging vehicle 1200 is a road vehicle, such as a pick-up truck, as shown in Fig. 12. The emergency charging vehicle 1200 is configured to provide a charge to a charge receiver vehicle 100, such as an automobile, as shown in Fig. 12. The emergency charging vehicle 1200 comprises an energy source i.e. a charging power source 116 and a charge provider controller 122 in communication with the charging power source 116. The emergency charging vehicle 1200 provides a towed and/or articulated charger plate 120, as connected to the emergency charging vehicle 1200 by connector 1250. The connector 1250 may comprise a chain, rope, rigid or semi-rigid tow bar or any means to position charger plate 120 near the charging panel 108 of vehicle 100. Charge or power output of charging power source 116 is provided or transmitted to charger plate 120 by way of charging cable or wire 1240. In one embodiment, the charging cable 1240 is non- structural, that is, it provides little or no structural support to the connection between emergency charging vehicle 1200 and charging panel 108. Charging panel 108 (of vehicle 100) receives power from charger plate 120. Charger plate 120 and charging panel 108 may be in direct physical contact or not in direct physical contact, but must be at or below a threshold separation distance to enable charging, such as by induction. Charger plate 120 may comprise wheels or rollers so as to roll along roadway surface. Charger plate 120 may also not contact the ground surface and instead be suspended above the ground; such a configuration may be termed a "flying" configuration. In the flying configuration, charger plate may form an aerodynamic surface to, for example, facilitate stability and control of the positioning of the charging plate 120. Energy transfer or charging from the charger plate 120 to the charge receiver panel 108 is through inductive charging (i.e., use of an EM field to transfer energy between two objects). The charging panel 108 provides received power to energy storage unit 112 directly or by way of charging panel controller 110. In one embodiment, the receipt and/or control of the energy provided via the charging panel 108 is provided by charging panel controller 110.

[0099] Charging panel controller 110 may be located anywhere on charge receiver vehicle 100, to include, for example, the roof, side panel, trunk, hood, front or rear bumper and wheel hub of charge receiver 100 vehicle. In some embodiments, charging panel 108 may be deployable, i.e., may extend or deploy only when charging is needed. For example, charging panel 108 may typically stow flush with the lower plane of vehicle 100 and extend when required for charging. Similarly, charger plate 120 may, in one embodiment, not be connected to the lower rear of the emergency charging vehicle 1200 (as depicted in Fig. 12) by way of connector 1250 and may instead be mounted on the emergency charging vehicle 1200, to include, for example, the roof, side panel, trunk, hood, front or rear bumper and wheel hub of emergency charging vehicle 1200. Connector 1250 may be configured to maneuver connector plate 120 to any position on emergency charging vehicle 1200 so as to enable charging. Control of the charging and/or positioning of the charging plate may be manual, automatic or semi-automatic; said control may be performed through a GUI engaged by driver or occupant of receiving vehicle and/or driver or occupant of charging vehicle.

[0100] Fig. 13 is a diagram of an embodiment of a data structure for storing information about an emergency charging panel configuration for given emergency charging environments. The emergency charging data structures 1314 are stored in vehicle database 113 and accessible by vehicle controller 110. The data contained in data structure 1314 enables, among other things, for the vehicle controller 110 to initially position and to control the position of a deployed charging panel 108 for given emergency charging type and/or conditions.

[0101] Data may comprise emergency charging type 1315 A, meaning a "contact" or a "flyer" type of charging plate 120, as provided by emergency charging vehicle 1200. A contact charging type is a charging plate 120 that makes physical contact with the charging panel 108 of the electric vehicle 100. A flyer charging type is a charging plate 120 that does not make (intentional) physical contact with the charging panel 120 of the vehicle 100, but instead is suspended or flies above the roadway surface and below the charging panel 108. Note that one or both of charging plate 120 and charging panel 108 may be configured in various geometrical shapes, to include a flat panel and an airfoil (see, e.g., flat panel shape of Figs. 2A-B and airfoil shape of Fig. 2C). A nominal, initial, or baseline recommended separation distance is provided as 1315B between a set datum, e.g., the lower surface of the panel and the roadway, e.g. 8 inches. Charge rate 1315C may be set to numerical values or a qualitative value (e.g., low, medium, high which may correspond to a charging transmission level). A pitch angle 1315D for the charging panel 108 may be established, and roadway type 1315E (shown with characteristics comprising X, Y and Z representing roadway characteristics, e.g., X may indicate a highway, Y may indicate a roadway with some active construction, and Z may indicate a roadway with significant crown). A maximum vertical load 1315F represents a maximum allowed to the charging panel 108. An on/off toggle of shielding is data item 1315G, which references deployment (i.e., "on") or non-deployment (i.e., "off on stowed) of an EM shield cage at least partially surrounding charging panel 108. The Other data type of 1315H may comprise other data items involved in electrical charging such as voltage levels, current values, etc. as known to those skilled in the art, and operational data such as costs of charging for a given emergency charging type or charging provider. Further data fields 1315L and 1315M are possible. [0102] Fig. 14 provides a method of use 1400 of the emergency charging from a roadway vehicle system 100. The method starts at step 1404 and ends at step 1432.

[0103] After starting at step 1404, at step 1408 the method queries as to whether charging is available by emergency charging vehicle 1200. That is, a query is made as to whether the energy source (i.e., charging power source 116) is able to provide a charging service to a charging panel 108 of vehicle 100. If NO, the method proceeds to step 1432 and ends. (Alternatively, the vehicle 100 may return to a home base station or similar and recharge its energy source, i.e., recharge energy storage unit 112.) If the result of the query of step 1408 is YES, the method proceeds to step 1412 wherein notice is provided (by one or more emergency charging vehicles 1200) that charging is available. The notice may comprise targeted communications e.g. by texting to vehicles 100 within a selectable distance. The content of the notice may comprise: the availability of charging, and terms and conditions of charging (cost, payment types, amount available, duration of charging time, etc.). The notice may comprise a physical mounted advertisement (e.g., a lighted sign on emergency charging vehicle 1200) that charging is available, not unlike a taxi "off duty" or "on duty" light mounted on emergency charging vehicle 1200 rooftop.

[0104] At step 1416 a query is made as to whether vehicle 100 has requested or requires or seeks a charge. Note that charging panel controller 110 may monitor a state or status of charging (e.g., battery is charged at 32%, or battery charging level drops below a selectable threshold value, e.g., below 10%) of the energy storage unit 112 of vehicle 100 to determine if charging is recommended or required. A user, such as a driver or passenger, may also request that the vehicle be charged. If NO, the method proceeds back to step 1412. If YES, the method proceeds to step 1420.

[0105] At step 1420, a query is made as to whether the charge receiver 100 vehicle is configured to receive the charging from emergency charging vehicle 1200. Such a query may be facilitated by communications between vehicle "smart" control systems aboard one or both of emergency charging vehicle 1200 and charge receiver vehicle 100, comprising communications between charge provider controller 122 and charging panel controller 110. Note that incompatibilities may include min/max energy transfer thresholds (e.g., voltages). If the query answer is a NO, the method proceeds to step 1412. If YES, the method proceeds to step 1424 wherein the charge receiver vehicle 100 is charged by emergency charging vehicle 1200 and the method proceeds to step 1424 wherein the charging panel 108 is positioned with respect to the charging plate 120 so as to receive (or transmit) a charge. The positioning of the charging olate 108 may comprise selection of initial or nominal positioning via data contained in vehicle database 113 through emergency charging data structure 1314 and emergency charging data structure fields 1315A-M. The method 1400 then continues to step 1428 wherein a charge is provided by power source 116 via charging plate 120 to charging panel 108 so as to power or charge energy source 112 or vehicle 100. (Note that in one embodiment, the vehicle 100 may alternatively or additionally provide a charge to the emergency vehicle 1200 via electrical energy transfer from charging panel 108 to charging plate 120.) When charging is complete the method 1400 ends at step 1432.

[0106] Fig. 15 shows a vehicle in an aerial vehicle charging environment in accordance with another embodiment of the present disclosure. Generally, this embodiment involves an aerial vehicle ("AV"), such as an Unmanned Aerial Vehicle ("UAV"), flying over or near a vehicle to provide a charge. The UAV may also land on the car to provide an emergency (or routine) charge. Such a charging scheme may be particularly suited for operations in remote areas, in high traffic situations, and/or when the car is moving. The AV may be a specially-designed UAV, aka a remotely piloted vehicle ("RPV") or drone, with a charging panel that can extend from the AV to provide a charge. The AV may include a battery pack and a charging circuit to deliver a charge to the vehicle. The AV may be a manned aerial vehicle, such as a piloted general aviation aircraft, such as a Cessna 172.

[0107] With reference to Fig. 15, an embodiment of a vehicle charging system 10 comprising a charge provider 200 configured as an aerial vehicle 1500 , the aerial vehicle 1500 comprising a power source 116 and charge provider controller 122. The AV may be semi-autonomous or fully autonomous. The AV may have a remote pilot/operator providing control inputs. The power source 116 is configured to provide a charge to a charging panel 108 of vehicle 100. The power source 116 is in communication with the charge provider controller 122. The aerial vehicle 1500 provides a tether 1510 to deploy or extend charging plate 120 near to charging panel 108. The tether 1510 may comprise a chain, rope, rigid or semi-rigid tow bar or any means to position charging plate 120 near charging panel 108. For example, tether 1510 may be similar to a refueling probe used by airborne tanker aircraft when refueling another aircraft.

[0108] In one embodiment, the charging plate 120 is not in physical interconnection to AV 1500, that is, there is no tether 1510. In this embodiment, the charging plate 120 is positioned and controlled by AV 1500 by way of a controller on AV 1500 or in communication with AV 1500. [0109] In one embodiment, the charging plate 120 position and/or characteristics (e.g., charging power level, flying separation distance, physical engagement on/off) are controlled by vehicle 100 and/or a user in or driver of vehicle 100.

[0110] Charge or power output of power source 116 is provided or transmitted to charger plate 120 by way of a charging cable or wire, which may be integral to tether 1510. In one embodiment, the charging cable is non-structural, that is, it provides zero or little structural support to the connection between AV 1500 and charger plate 120.

[0111] Charging panel 108 of vehicle 100 receives power from charger plate 120.

Charging panel 108 and charger plate 120 may be in direct physical contact (termed a "contact" charger configuration) or not in direct physical contact (termed a "flyer" charger configuration), but must be at or below a threshold (separation) distance to enable charging, such as by induction. Energy transfer or charging from the charger plate 120 to the charging panel 108 is inductive charging (i.e. use of an EM field to transfer energy between two objects). The charging panel 108 provides received power to energy storage unit 112 by way of charging panel controller 110. Charging panel controller 110 is in communication with vehicle database 113, vehicle database 113 comprising AV charging data structure 1514 (detailed below and in Fig. 16).

[0112] Charging panel 108 may be located anywhere on vehicle 100, to include, for example, the roof, side panel, trunk, hood, front or rear bumper and wheel hub of vehicle 100. Charging panel 108 is mounted on the roof of vehicle 100 in the embodiment of Fig. 15. In some embodiments, charging panel 108 may be deployable, i.e., may extend or deploy only when charging is needed. For example, charging panel 108 may typically reside flush with the roof of vehicle 100 and extend when required for charging. Similarly, charger plate 120 may, in one embodiment, not be connected to AV 1500 by way of tether 1510 and may instead be mounted directly on the AV 1500, to include, for example, the wing, empennage, undercarriage to include landing gear, and may be deployable or extendable when required. Tether 1510 may be configured to maneuver charging plate 120 to any position on vehicle 100 so as to enable charging. In one embodiment, the AV 1500 may land on the vehicle 100 so as to enable charging through direct contact (i.e., the aforementioned contact charging configuration) between the charging plate 120 and the charging panel 108 of vehicle 100. Charging may occur while both AV 1500 and vehicle 100 are moving, while both vehicle 100 and AV 1500 are not moving (e.g., when vehicle 100 is parked and AV 1500 lands on top of vehicle 100), or while vehicle 100 is parked and AV 1500 is hovering or circling above. Control of the charging and/or positioning of the charging plate 120 may be manual, automatic or semi-automatic; said control may be performed through a GUI engaged by driver or occupant of receiving vehicle 100 and/or driver or occupant of charging AV 1500.

[0113] Fig. 16 is a diagram of an embodiment of a data structure for storing information about a charging panel configuration for a given aerial vehicle charging environment, such as provided in Fig. 15. The AV charging data structures 1514 are stored in vehicle database 113 and accessible by vehicle controller 110. The data contained in data structure 1514 enables, among other things, for the vehicle controller 110 to initially position and to control the position of a charging panel 108 for given AV charging type and/or conditions.

[0114] Data may comprise emergency charging type 1315 A, meaning a "contact" or a "flyer" type of charging plate 120, as provided by aerial vehicle 1500. A contact charging type is a charging plate 120 that makes physical contact with the charging panel 108 of the electric vehicle 100. A flyer charging type is a charging plate 120 that does not make (intentional) physical contact with the charging panel 120 of the vehicle 100, but instead is suspended or flies above the roadway surface and below the charging panel 108. Note that one or both of charging plate 120 and charging panel 108 may be configured in various geometrical shapes, to include a flat panel and an airfoil (see, e.g., flat panel shape of Figs. 2A-B and airfoil shape of Fig. 2C). An initial, or nominal, recommended separation distance is provided as 1515B between a set datum e.g. the lower surface of the panel and the roadway, e.g. 8 inches. Charge rate 1515C may be set to numerical values or a qualitative value (e.g., low, medium, high which may correspond to a charging

transmission level).

[0115] A location 1515D identifies a location for charging, such as a stretch of roadway (e.g. "1-25 Hwy" to indicate Highway Interstate-25) or a static location for charging (e.g. "Spot A" or "Spot B" to alternative latitude/longitude charging pad locations). The Stationary 1515E indicates options for moving or dynamic charging (where at least one of AV 1500 or vehicle 100 are in motion) identified as a "No" or a situation when both AV 1500 and vehicle 100 are stationary (identified as a "Yes" data element. Data items 1515F and 1515G identify weather conditions to permit AV charging. That is, Wx:VisibilityMiN 1515F provides values for weather visibility minimums required to allow a given AV to provide charging. Wx:WindsMAx 1515G similarly provide maximum wind conditions wherein AV charging may occur. Such weather minimums are similar to those required and established by the FAA for flights operated under Visual Flight Rules ("VFR"). In one embodiment no AV charging is permitted unless conditions between vehicle 100 and AV 1500 meet or exceed FAA VFR minimums.

[0116] The Other data type of 1315H may comprise other data items involved in electrical charging such as voltage levels, current values, etc. as known to those skilled in the art, and operational data such as costs of charging for a given emergency charging type or charging provider. Further data fields 1315L and 1315M are possible.

[0117] Fig. 17 provides a method of use 1700 of the charging system 10 from an aerial vehicle 1500. The method starts at step 1704 and ends at step 1732.

[0118] After starting at step 1704, at step 1708 the method queries as to whether charging is available by aerial vehicle 1500. That is, a query is made as to whether the energy source (i.e., charging power source 116 of an aerial vehicle 1500) is able to provide a charging service to a charging panel 108 of vehicle 100. If NO, the method proceeds to step 1732 and ends. (Alternatively, the vehicle 100 may return to a home base station or similar and recharge its energy source, i.e., recharge energy storage unit 112.) If the result of the query of step 1708 is YES, the method proceeds to step 1712 wherein notice is provided (by one or more aerial vehicles 1500) that charging is available. The notice may comprise targeted communications e.g. by texting to vehicles 100 within a selectable distance. The content of the notice may comprise: the availability of charging, and terms and conditions of charging (cost, payment types, amount available, duration of charging time, etc.). The notice may comprise a physical mounted advertisement (e.g., a lighted sign on AV 1500, or a towed streamer) indicating that charging is available.

[0119] At step 1716 a query is made as to whether vehicle 100 has requested or requires or seeks a charge. Note that charging panel controller 110 may monitor a state or status of charging (e.g., battery is charged at 32%, or battery charging level drops below a selectable threshold value, e.g., below 10%) of the energy storage unit 112 of vehicle 100 to determine if charging is recommended or required. A user, such as a driver or passenger, may also request that the vehicle be charged. If NO, the method proceeds back to step 1712. If YES, the method proceeds to step 1720.

[0120] At step 1720, a query is made as to whether conditions are acceptable for vehicle 100 to receive the charging from aerial vehicle 1500. Such a query may be facilitated by communications between vehicle "smart" control systems aboard one or both of aerial vehicle 1500 and charge receiver vehicle 100, comprising communications between charge provider controller 122 and charging panel controller 110. Conditions to be considered include weather conditions fas discussed above, e.g. VFR weather minimums) and also incompatibilities with respect to the AV 1500 and vehicle 100, such as min/max energy transfer thresholds e.g. voltages. If the query answer is a NO, the method proceeds to step 1712. If YES, the method proceeds to step 1724 wherein the charge receiver vehicle 100 is charged by aerial vehicle 1500 and the method proceeds to step 1724 wherein the charging panel 108 is positioned with respect to the charging plate 120 so as to receive (or transmit) a charge. Note that positioning the charging panel 108 may alternatively or additionally include positioning the vehicle 100 at a desired or selected location, such as a "spot A" location of data item 1515D of Fig. 16. The positioning of the charging plate 108 may comprise selection of initial, or nominal, positioning via data contained in vehicle database 113 through AV charging data structure 1514 and AV charging data structure fields 1515A-M. The method 1700 then continues to step 1728 wherein a charge is transferred, either by power source 116 via charging plate 120 to charging panel 108 so as to power or charge energy source 112 or vehicle 100, or vice versa. That is, in one embodiment, the vehicle 100 may alternatively or additionally provide a charge to the AV 1500 via electrical energy transfer from charging panel 108 to charging plate 120. When charging is complete the method 1700 ends at step 1732.

[0121] Fig. 18 shows a vehicle 100 in an overhead charging environment in accordance with another embodiment of the present disclosure. Generally, in this embodiment of the invention, charging occurs from an overhead towered charging system 1800, similar to existing commuter rail systems. Such an overhead towered system 1800 may be easier to build and repair compared to in-roadway systems. Generally, the invention includes a specially-designed roadway charging system 1800 comprising an overhead charging cable or first wire 1814 that is configured to engage an overhead contact 1824 which provides charge to charging panel 108 which provides charge to vehicle energy storage unit 112. The roadway charging system 1800 may further comprise second wire 1818 to provide stability and structural strength to the roadway charging system 1800. The first wire 1814 and second sire 1818 are strung between towers 1810.

[0122] The overhead charging cable or first wire 1814 is analogous to a contact wire used to provide charging to electric trains or other vehicles. An external source provides or supplies electrical power to the first wire 1814. The charge provider comprises an energy source i.e. a provider battery and a provider charge circuit or controller in communication with the provider battery. The overhead charging cable or first wire 1814 engages the overhead contact 1824 which is in electrical communication with charge receiver panel 108. The overhead contact 1824 mav comDrise any known means to connect to overhead electrical power cables, such as a pantograph 1820, a bow collector, a trolley pole or any means known to those skilled in the art. Further disclosure regarding electrical power or energy transfer via overhead systems is found in U.S. Pat. Publ. No. 2013/0105264 to Ruth entitled "Pantograph Assembly," the entire contents of which are incorporated by reference for all purposes. In one embodiment, the charging of vehicle 100 by overhead charging system 1800 via overhead contact 1824 is by any means know to those skilled in the art, to include those described in the above-referenced U.S. Pat. Publ. No.

2013/0105264 to Ruth.

[0123] The overhead contact 1824 presses against the underside of the lowest overhead wire of the overhead charging system, i.e. the overhead charging cable or first wire 1814, aka the contact wire. The overhead contact 1824 may be electrically conductive.

Alternatively or additionally, the overhead contact 1824 may be adapted to receive electrical power from overhead charging cable or first wire 1814 by inductive charging.

[0124] In one embodiment, the receipt and/or control of the energy provided via overhead contact 1824 (as connected to the energy storage unit 112) is provided by receiver charge circuit or charging panel controller 110.

[0125] Overhead contact 1824 and/or charging panel 108 may be located anywhere on vehicle 100, to include, for example, the roof, side panel, trunk, hood, front or rear bumper of the charge receiver 100 vehicle, as long as the overhead contact 1824 may engage the overhead charging cable or first wire 1814. Charging panel 108 may be stationary (e.g., disposed on the roof of vehicle 100) or may be moveable, e.g. moveable with the pantograph 1820. Pantograph 1820 may be positioned in at least two states comprising retracted and extended. In the extended state pantograph 1820 engages first wire 1814 by way of the overhead contact 1824. In the retracted state, pantograph 1820 may typically reside flush with the roof of vehicle 100 and extend only when required for charging. Control of the charging and/or positioning of the charging plate 108, pantograph 1820 and/or overhead contact 1824 may be manual, automatic or semi-automatic (such as via controller 110); said control may be performed through a GUI engaged by driver or occupant of receiving vehicle 100 and/or driver or occupant of charging vehicle.

[0126] Fig. 19 is a diagram of an embodiment of a data structure for storing information about vehicle charging operations and configurations for given overhead charging environments. The overhead charging data structures 1834 are stored in vehicle database 113 and accessible by vehicle controller 110. The data contained in data structure 1834 enables, among other things, for the vehicle controller 110 to initially position and to control the position of overhead contact 1824 and/or charging panel 108 for given overhead charging type and/or conditions.

[0127] Data may comprise overhead charging type 1835 A, meaning a "contact" or a "flyer" type of overhead contact 1824 and/or charging panel 108, as provided by overhead charging system 1800. A contact charging type is an overhead charging system 1800 that requires contact between overhead contact 1824 and first wire 1814. A flyer charging type is an overhead charging system 1800 that does not require contact between overhead contact 1824 and first wire 1814. A minimum charge line height distance and a maximum charge line height distance are provided as 1835B and 1835C, respectively. Such heights define height ranges of first wire 1814, thereby establishing constraints wherein a given vehicle 100, via pantograph, may or may not be structurally able to engage the first wire 1814 to receive charging.

[0128] Charge rate 1835D may be set to numerical values or a qualitative value (e.g., low, medium, high which may correspond to a charging transmission level). A charge distance 1835E is applicable for overhead charging types 1835 A of flyer type, wherein contact is not required between overhead contact 1824 and first wire 1814. Charge distance 1835E may provide a threshold distance wherein charging is enabled between first line 1814 and overhead contact 1824. In such operations, charging may be provided through induction. Service status 1835F provides a status of the overhead charging system 1800, i.e., "up" indicates that the overhead charging system is operational and available to provide charging to vehicle 100, and "down" indicates that the overhead charging system 1800 is not available for charging a vehicle 100, such as caused by maintenance requirements.

[0129] The Other data type of 1835G may comprise other data items involved in electrical charging such as voltage levels, current values, etc. as known to those skilled in the art, and operational data such as costs of charging for a given emergency charging type or charging provider. Further data fields 1835K and 1835L are possible.

[0130] Fig. 20 is a flow or process diagram of a method of charging from an overhead environment. The method starts at step 2004 and ends at step 2032.

[0131] After starting at step 2004, at step 2008 the method queries as to whether charging is available by overhead charging system 1800. That is, a query is made as to whether the overhead charging system 1800 is able to provide a charging service to a charging panel 108 of vehicle 100. If NO, the method proceeds to step 2032 and ends.

(Alternatively, the vehicle 100 may return to a home base station or similar and recharge its energy source i.e. recharge energy storage unit 112.) If the result of the query of step 2008 is YES, the method proceeds to step 2012 wherein notice is provided (by the overhead charging system 1800, e.g.) that charging is available. The notice may comprise targeted communications e.g. by texting to vehicles 100 within a selectable distance. The content of the notice may comprise: the availability of charging, and terms and conditions of charging (cost, payment types, amount available, duration of charging time, etc.). The notice may comprise a physical mounted advertisement (e.g., a lighted sign on overhead charging system 1800 such as on one or more towers 1810) that charging is available, not unlike a taxi "off duty" or "on duty" light.

[0132] At step 2016 a query is made as to whether vehicle 100 has requested or requires or seeks a charge. Note that charging panel controller 110 may monitor a state or status of charging (e.g., battery is charged at 32%, or battery charging level drops below a selectable threshold value, e.g., below 10%) of the energy storage unit 112 of vehicle 100 to determine if charging is recommended or required. A user, such as a driver or passenger, may also request that the vehicle be charged. If NO, the method proceeds back to step 2012. If YES, the method proceeds to step 2020.

[0133] At step 2020, a query is made as to whether the charge receiver 100 vehicle is configured to receive the charging from overhead charging system 1800. Such a query may be facilitated by communications between vehicle "smart" control systems aboard one or both of overhead charging system 1800 and charge receiver vehicle 100, comprising communications between charge provider controller 122 and charging panel controller 110. Note that incompatibilities may include min/max energy transfer thresholds (e.g., voltages), electrical or mechanical incompatibilities between overhead contact 1824 and first wire 1814, and physical incompatibilities between pantograph 1820 and overhead charging system 1800 (e.g., such as exceeding range thresholds of charge line height minimums 1835B and/or maximums 1835C). If the query answer is a NO, the method proceeds to step 2012. If YES, the method proceeds to step 2024 wherein the charge receiver vehicle 100 is charged by overhead charging system 1800 and the method proceeds to step 2024 wherein the charging panel 108 and/or overhead contact 1824 is positioned with respect to the first wire 1814 so as to receive (or transmit) a charge. The positioning of the charging plate 108 and/or overhead contact 1824may comprise selection of initial, or nominal, positioning via data contained in vehicle database 113 through overhead charging data structure 1834 and overhead charging data structure fields 1834A- L. The method 2000 then continues to steo 2028 wherein a charge is provided by first wire 1814 of overhead charging system 1800 via overhead contact 1824 to charging panel 108 so as to power or charge energy source 112 or vehicle 100. When charging is complete the method 2000 ends at step 2032.

[0134] In some embodiments, the user of vehicle 100 and/or the control system of vehicle accesses vehicle database, or more broadly an external database via wireless communication for available charging sources. From the one or more available charging sources, the user and/or control system of vehicle may negotiate terms and conditions of the charging, comprising pricing, speed, rate and/or duration for the charging, physical interconnection requirements (e.g., a physical connection between vehicle charging panel 108 and charging source charging plate 120 may be required or a set separation distance may be required between the charging panel 108 and the charging source charging plate 120), electrical interconnection requirements (e.g., current or voltage requirements), and environmental setting for the charging (e.g., an established latitude/longitude location for the charging, or a set corridor on a highway, may be required).

[0135] Fig. 21 shows a vehicle 100 in a charging station environment in accordance with another embodiment of the present disclosure. Generally, in this embodiment of the invention, charging occurs from a robotic unit 2100.

[0136] Robotic charging unit 2100 comprises one or more robotic unit arms 2104, at least one robotic unit arm 2104 interconnected with charging plate 120. The one or more robotic unit arms 210 maneuver charging plate 120 relative to charging panel 108 of vehicle 100. Charging plate 120 is positioned to a desired or selectable separation distance 208, as assisted by separation distance sensor 127 disposed on charging plate 120.

Charging plate 120 may remain at a finite separation distance 208 from charging panel 108, or may directly contact charging panel (i.e., such that separation distance 208 is zero). Charging may be by induction. In alternative embodiments, separation distance sensor 127 is alternatively or additionally disposed on robotic arm 2104. Vehicle 100 receives charging via charging panel 108 which in turn charges energy storage unit 112. Charging panel controller 110 is in communication with energy storage unit 112, charging panel 108, vehicle database 113, charge provider controller 122, and/or any one of elements of instrument panel 2300 (comprising power management display 2328 and charging manual controller 2332; see Fig. 23 and associated description below).

[0137] Robotic unit further comprises, is in communication with, and/or is

interconnected with charge provider controller 122, power source 116 and robotic unit database 2113. Power source 116 suDDlies Dower, such as electrical power, to charge plate 120 to enable charging of vehicle 100 via charging panel 108. Controller 122 maneuvers or operates robotic unit 2104, either directly and/or completely or with assistance from a remote user, such as a driver or passenger in vehicle 100 by way of, in one embodiment, charging manual controller 2332 (see Fig. 23 and additional description below).

[0138] Charging panel 108 of vehicle 100 may be located anywhere on vehicle 100, to include, for example, the roof, side panel, trunk, hood, front or rear bumper and wheel hub of vehicle 100. In some embodiments, charging panel 108 may be deployable, i.e., may extend or deploy only when charging is needed. For example, charging panel 108 may typically reside flush with the roof of vehicle 100 and extend when required for charging. Similarly, charger plate 120 may, in one embodiment, not be connected to robotic unit 2100 and/or robotic unit arm 2104, but instead, for example, may be mounted on the base of the robotic unit 2100. Robotic unit arm 2104 may be configured to maneuver charger plate 120 to any position on charging panel 108 of vehicle 100 so as to enable charging. Control of the charging and/or positioning of the charger plate 120 may be manual, automatic or semi-automatic; said control may be performed through a GUI power management display 2328 engaged by driver or occupant of receiving vehicle and/or a charging operator associated with power source 116 and/or robotic unit 2100.

[0139] In some embodiments, the robotic unit 2100 is configured to perform additional services beyond battery charging. More specifically, the robotic unit 2100 may perform any vehicle maintenance services traditionally performed at vehicle service stations, such as inspection, repair and/or replacement of parts (e.g., electric or magnetic induction coils, entire battery units or components thereof), upgrading of parts and/or software, and other services known to those skilled in the art.

[0140] Fig. 22 is a diagram of an embodiment of a data structure for storing information about a charging configuration for a given charging station environment. The charging station data structures 1314 are stored in vehicle database 113 and accessible by vehicle controller 110. The data contained in data structure 1834 enables, among other things, for the vehicle controller 110 to assess charging unit specifications of the robotic unit 2100, assess compatibility of receiving a charge from the robotic unit 2100, and assessing terms and conditions of such charging (as described in more detail with regard to Fig. 24).

[0141] Data may comprise robotic unit types 2135 A, each associated with operational characteristics. For example, as depicted in Fig. 22, robotic unit type 2135 J may be associated with charging by way of roof or side panel mounted charging panels 108, as provided in compatible vehicle charging oanel tvoes 2135B of "roof, side." Similarly, robotic unit type 2135K may be associated with charging by way of roof, side panel or lower (meaning charging from below the vehicle 100) mounted charging panels 108, as provided in compatible vehicle charging panel types 2135B of "roof, side, lower." Data field 2135C provides compatibility with vehicle storage unit data, i.e. data so as to provide types of vehicle 100 energy storage units 112 that are able or configured to receive energy or power or charging for a given robotic unit type of data field 2135 A. A desired panel- plate separation distance range is provided as data field 2135D. Such a separation distance between the charging panel 108 of vehicle 100 and the charging plate 120 is enabled or facilitated by separation distance sensor 127. Note that a separation distance 208 of 0 indicates that charging panel 108 of vehicle 100 and the charging plate 120 of robotic unit 2100 are in physical contact.

[0142] Charge rate 2135E may be set to numerical values or a qualitative value (e.g. low, medium, high which may correspond to a charging transmission level). A charge cost 2135F may be to fully charge a vehicle 100 at charge rate 2135E. The available automation level 2135G provides associated automation levels for given data parameters (e.g. for a given charge rate 2135E). An automation level of "low" may indicate that a user (either associated with vehicle 100 as e.g. a driver or passenger) or charging provider operator (e.g. robotic unit operator) must manually maneuver the charging plate 120 via robotic unit arm 2104 to a desired panel-plate separation distance 2135D. A "high" level of automation may indicate that once the vehicle 100 is positioned relative to the robotic unit 2100 and charging is indicated as desired (e.g. by vehicle user), charging is performed automatically with aid of one or both of charging panel controller 110 and charge provider controller 122.

[0143] The Other data type of 2135H may comprise other data items involved in electrical charging such as voltage levels, current values, etc. as known to those skilled in the art, and further operational data such as status of the charging station system 2100, i.e., indications as to the charging system is operational and available to provide charging to vehicle 100, or indications that the overhead charging system 2100 is not available for charging a vehicle 100, such as caused by maintenance demands. Further data fields 2135L and 2135M are possible.

[0144] Fig. 23 shows vehicle instrument panel 2300 for use in a charging station environment in accordance with another embodiment of the present disclosure. Instrument panel 2300 of vehicle 100 comprises steering wheel 2310, vehicle operational display 2320 (which would provide basis driving data such as soeed), one or more auxiliary displays 2324 (which may display, e.g. entertainment applications such as music or radio selections), head-up display 2334 (which may provide, e.g., guidance information such as route to destination, or obstacle warning information to warn of a potential collision, or some or all primary vehicle operational data such as speed), power management display 2328 (which may provide data as to electric power levels of vehicle 100, as well as one or more data items of Fig. 22), and charging manual controller 2332 (which provides a physical input, e.g., a joystick, to manual maneuver charging plate 120 via robotic unit arm 2104 to desired separation distance 208). One or more of displays of instrument panel 2300 may be touch-screen displays. One or more displays of instrument panel 2300 may be mobile devices and/or applications residing on a mobile device such as a smart phone.

[0145] Fig. 24 is a flow or process diagram of a method of charging from a charging station system. The method starts at step 2404 and ends at step 2436.

[0146] After starting at step 2004, at step 2008 the method queries as to whether charging specifications are available. That is, a query is made to one or both of vehicle database 113 and robotic unit database 2113 to determine if specification aka requirements for charging from robotic unit 2100 to vehicle 100 are available. Such charging specifications may comprise data elements of Fig. 22. The query may be performed by way of one or more of controller 110, instrument panel 2300 to include power

management display 2328, and mobile device of user of vehicle 100 such as vehicle driver or vehicle passenger. If NO, the method proceeds to step 2436 and ends. If the result of the query of step 2408 is YES, the method proceeds to step 2412. Note that in some embodiments, a query is made as to whether vehicle 100 requires charging, as described in step 508 of method 500 of Fig. 5.

[0147] At step 2412, a query is made as to determine if the vehicle 100 and robotic unit 2100 are compatible. That is, a query is made as to whether the robotic unit 2100, with associated power source 116 and charging plate 120 as positioned by robotic unit arm 2104, is able to provide charging to vehicle 100, with associated charging panel 108 and energy storage unit 112. The query is facilitated or enabled by data contained in one or both of vehicle database 113 and robotic unit database 2113. Incompatibility between the vehicle 100 and the robotic unit 2100 may be traced to one of several areas, such as electrical incompatibilities (e.g. voltage, current, etc. mismatches) and physical incompatibilities (e.g., the charging plate 120 cannot be maneuvered high enough to achieve a required separation distance 208 to the charging panel 108). If the result of the query of step 2412 is NO, the method proceeds to step 2436 and ends. If the result of the query of step 2412 is YES, the method proceeds to step 2416.

[0148] At step 2416, a query is made as to determine if terms and conditions of charging of vehicle 100 by robotic unit 2100 are acceptable. The query is facilitated or enabled by data contained in one or both of vehicle database 113 and robotic unit database 2113. That is, the query of step 2416 considers terms (e.g., pricing of data item 2135G, charge rate of data item 2135E) and conditions (e.g., panel-plate separation ranges as provided by data item 2135D) to determine if charging should occur. The query may involve interaction with one or more of a user (passenger or driver) of vehicle 100 and/or robotic unit 2100 operator. The interaction with the vehicle user may employ elements of the instrument panel 2300 such as power management display 2328. If the result of the query of step 2416 is NO, the method proceeds to step 2436 and ends. If the result of the query of step 2416 is YES, the method proceeds to step 2420.

[0149] At step 2420, selectable charging parameters are set. For example, panel-plate separation distance 208 may be selected as compatible with required panel-plate separation ranges of data item 2135D. The method 2400 then proceeds to step 2424.

[0150] At step 2424, the charging plate 120 interconnected to robotic unit 2100 via robotic unit arm 2104 is maneuvered or positioned relative to the charging panel 108 of vehicle 100. The positioning is accomplished by way of at least one of robotic unit charge provider controller 122, vehicle charging panel controller 110, power management display 2328 and charging manual controller 2332. The positioning may be performed through use of automatic control as described with respect to Figs. 5, 6 and/or 8. The positioning may be performed and/or assisted through use of a display on power management display 2328 similar to that described with respect to Fig. 7A-B.

[0151] The method 2400 then proceeds to step 2428 wherein charging is received. That is, power provided by power source 116 is provided to charging plate 120 which in turn provides power to charging panel 108 of vehicle 100, the power received providing charging to energy storage unit 112 of vehicle 100. The method 2400 then proceeds to step 2432 wherein the charging plate 120 is moved or cleared or detached from charging panel 108. This step may be automatic (e.g., the robotic arm automatically disengages when charging is complete), semi-automatic (e.g., a signal is provided to driver or occupant of vehicle 100 that charging is complete, and asking if charger may be removed, wherein if the reply is YES the robotic arm is withdrawn) or manual (e.g., a service attendant operates the robotic arm to withdraw the robotic arm and associated charger plate 120). The method 2400 ends at step 2436.

[0152] In some embodiments, the vehicle 100 simply is positioned at a designated spot wherein the vehicle is maneuvered to receive charging from robotic unit 2700 (similar to a car driven into a car wash station, wherein the car is slowly automatically advanced through a car wash). If required, the charge receiver panel 108 is deployed or extended.

[0153] In alternative embodiments, the method 2400 may comprise notice that the charging station, i.e., charge provider 2100 is available. The notice may comprise targeted communications, e.g., by texting to vehicles within a selectable distance. The content of the notice may comprise: the availability of charging, and terms and conditions of charging (cost, payment types, amount available, duration of charging time, etc.). The notice may comprise a physical mounted advertisement (e.g., a lighted sign on or near robotic unit 2100) that charging is available, not unlike a taxi "off duty" or "on duty" light mounted on robotic charger.

[0154] Examples of the processors as described herein may include, but are not limited to, at least one of Qualcomm^® Snapdragon^® 800 and 801, Qualcomm^® Snapdragon^® 620 and 615 with 4G LTE Integration and 64-bit computing, Apple^® A7 processor with 64-bit architecture, Apple^® M7 motion coprocessors, Samsung^® Exynos^® series, the Intel^® Core™ family of processors, the Intel^® Xeon^® family of processors, the Intel^® Atom™ family of processors, the Intel Itanium^® family of processors, Intel^® Core^® Ϊ5-4670Κ and Ϊ7-4770Κ 22nm Haswell, Intel^® Core^® Ϊ5-3570Κ 22nm Ivy Bridge, the AMD^® FX™ family of processors, AMD^® FX-4300, FX-6300, and FX-8350 32nm Vishera, AMD^® Kaveri processors, Texas Instruments^® Jacinto C6000™ automotive infotainment processors, Texas Instruments^® OMAP™ automotive-grade mobile processors, ARM^® Cortex™-M processors, ARM^® Cortex-A and ARM926EJ-S™ processors, other industry- equivalent processors, and may perform computational functions using any known or future-developed standard, instruction set, libraries, and/or architecture.

[0155] Any of the steps, functions, and operations discussed herein can be performed continuously and automatically.

[0156] The exemplary systems and methods of this disclosure have been described in relation to vehicle systems and electric vehicles. However, to avoid unnecessarily obscuring the present disclosure, the preceding description omits a number of known structures and devices. This omission is not to be construed as a limitation of the scope of the claimed disclosure. Specific details are set forth to provide an understanding of the present disclosure. It should, however, be appreciated that the present disclosure may be practiced in a variety of ways beyond the specific detail set forth herein.

[0157] Moreover, while some of the exemplary embodiments described herein are directed toward a transmitter portion of a transceiver performing certain functions, or a receiver portion of a transceiver performing certain functions, this disclosure is intended to include corresponding and complementary transmitter-side or receiver-side functionality, respectively, in both the same transceiver and/or another transceiver(s), and vice versa.

[0158] Furthermore, while the exemplary embodiments illustrated herein show the various components of the system collocated, certain components of the system can be located remotely, at distant portions of a distributed network, such as a LAN and/or the Internet, or within a dedicated system. Thus, it should be appreciated, that the components of the system can be combined into one or more devices, such as a server, communication device, or collocated on a particular node of a distributed network, such as an analog and/or digital telecommunications network, a packet-switched network, or a circuit- switched network. It will be appreciated from the preceding description, and for reasons of computational efficiency, that the components of the system can be arranged at any location within a distributed network of components without affecting the operation of the system.

[0159] Furthermore, it should be appreciated that the various links connecting the elements can be wired or wireless links, or any combination thereof, or any other known or later developed element(s) that is capable of supplying and/or communicating data to and from the connected elements. These wired or wireless links can also be secure links and may be capable of communicating encrypted information. Transmission media used as links, for example, can be any suitable carrier for electrical signals, including coaxial cables, copper wire, and fiber optics, and may take the form of acoustic or light waves, such as those generated during radio-wave and infra-red data communications.

[0160] While the flowcharts have been discussed and illustrated in relation to a particular sequence of events, it should be appreciated that changes, additions, and omissions to this sequence can occur without materially affecting the operation of the disclosed embodiments, configuration, and aspects.

[0161] A number of variations and modifications of the disclosure can be used. It would be possible to provide for some features of the disclosure without providing others.

[0162] In yet another embodiment, the systems and methods of this disclosure can be implemented in conjunction with a special ouroose computer, a programmed microprocessor or microcontroller and peripheral integrated circuit element(s), an ASIC or other integrated circuit, a digital signal processor, a hard-wired electronic or logic circuit such as discrete element circuit, a programmable logic device or gate array such as PLD, PLA, FPGA, PAL, special purpose computer, any comparable means, or the like. In general, any device(s) or means capable of implementing the methodology illustrated herein can be used to implement the various aspects of this disclosure. Exemplary hardware that can be used for the present disclosure includes computers, handheld devices, telephones (e.g., cellular, Internet enabled, digital, analog, hybrids, and others), and other hardware known in the art. Some of these devices include processors (e.g., a single or multiple microprocessors), memory, nonvolatile storage, input devices, and output devices. Furthermore, alternative software implementations including, but not limited to, distributed processing or component/object distributed processing, parallel processing, or virtual machine processing can also be constructed to implement the methods described herein.

[0163] In yet another embodiment, the disclosed methods may be readily implemented in conjunction with software using object or object-oriented software development environments that provide portable source code that can be used on a variety of computer or workstation platforms. Alternatively, the disclosed system may be implemented partially or fully in hardware using standard logic circuits or VLSI design. Whether software or hardware is used to implement the systems in accordance with this disclosure is dependent on the speed and/or efficiency requirements of the system, the particular function, and the particular software or hardware systems or microprocessor or

microcomputer systems being utilized.

[0164] In yet another embodiment, the disclosed methods may be partially implemented in software that can be stored on a storage medium, executed on programmed general- purpose computer with the cooperation of a controller and memory, a special purpose computer, a microprocessor, or the like. In these instances, the systems and methods of this disclosure can be implemented as a program embedded on a personal computer such as an applet, JAVA® or CGI script, as a resource residing on a server or computer workstation, as a routine embedded in a dedicated measurement system, system

component, or the like. The system can also be implemented by physically incorporating the system and/or method into a software and/or hardware system.

[0165] Although the present disclosure describes components and functions

implemented in the embodiments with reference to particular standards and protocols, the disclosure is not limited to such standards and protocols. Other similar standards and protocols not mentioned herein are in existence and are considered to be included in the present disclosure. Moreover, the standards and protocols mentioned herein and other similar standards and protocols not mentioned herein are periodically superseded by faster or more effective equivalents having essentially the same functions. Such replacement standards and protocols having the same functions are considered equivalents included in the present disclosure.

[0166] The present disclosure, in various embodiments, configurations, and aspects, includes components, methods, processes, systems and/or apparatus substantially as depicted and described herein, including various embodiments, subcombinations, and subsets thereof. Those of skill in the art will understand how to make and use the systems and methods disclosed herein after understanding the present disclosure. The present disclosure, in various embodiments, configurations, and aspects, includes providing devices and processes in the absence of items not depicted and/or described herein or in various embodiments, configurations, or aspects hereof, including in the absence of such items as may have been used in previous devices or processes, e.g., for improving performance, achieving ease, and/or reducing cost of implementation.

[0167] The foregoing discussion of the disclosure has been presented for purposes of illustration and description. The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description for example, various features of the disclosure are grouped together in one or more embodiments,

configurations, or aspects for the purpose of streamlining the disclosure. The features of the embodiments, configurations, or aspects of the disclosure may be combined in alternate embodiments, configurations, or aspects other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0168] Moreover, though the description of the disclosure has included description of one or more embodiments, configurations, or aspects and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights, which include alternative embodiments, configurations, or aspects to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges, or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges, or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0169] Embodiments include a system for charging an electric vehicle comprising: an electrical storage unit disposed on an electric vehicle; a power source disposed external to the electric vehicle and configured to charge the electrical storage unit; a charging panel in electrical communication with the electrical storage unit; and a vehicle controller configured to determine if the electrical storage unit requires charging and configured to determine if conditions allow for deployment of a charging panel; wherein the charging panel is configured to receive the charge from the power source and charge the electrical storage unit.

[0170] Aspects of the above system include wherein the charging panel is deployed. Aspects of the above system include wherein the charging panel is configured to operate in a plurality of states comprising a retracted state and a deployed state. Aspects of the above system include wherein the power source is disposed within a roadway or on a roadway surface. Aspects of the above system include wherein the charge is received by the electrical storage unit while the vehicle is stationary. Aspects of the above system include wherein the charge is received by the electrical storage unit while the vehicle is moving. Aspects of the above system further comprising a vehicle sensor configured to determine if at least one obstacle exists between the charger panel and the power source. Aspects of the above system include wherein if at least one obstacle exists, the charging panel is not deployed. Aspects of the above system include wherein the vehicle controller is further configured to determine if the electrical storage unit requires charging.

[0171] Embodiments include a method for charging an electric vehicle comprising: determining that an electrical storage unit of the electric vehicle requires a charge;

determining if a power source is available to charge the electrical storage unit; determining if the electrical storage unit is compatible with the power source to receive the charge from the power source; determining if conditions allow for deployment of a charging panel, the charging panel in electrical communication with the electrical storage unit; wherein the charging panel is configured to receive the charge from the power source and charge the electrical storage unit. [0172] Aspects of the above method include wherein the power source is disposed external to the electric vehicle within a roadway or on a roadway surface. Aspects of the above method include wherein the charge is received by the electrical storage unit while the vehicle is stationary. Aspects of the above method include wherein the charge is received by the electrical storage unit while the vehicle is moving. Aspects of the above method include wherein the charging panel is configured to operate in a plurality of states comprising a retracted state and a deployed state. Aspects of the above method include wherein if conditions allow for deployment of a charging panel, the charging panel is operated in the deployed state. Aspects of the above method further comprising determining if at least one obstacle exists between the charger panel and the power source. Aspects of the above method include wherein if at least one obstacle exists, the charging panel is operated in the retracted state.

[0173] Embodiments include a memory storing instructions that when executed by a processor cause to be performed a method for charging an electric vehicle comprising: determining that an electrical storage unit of the electric vehicle requires a charge;

determining if a power source is available to charge the electrical storage unit; determining if the electrical storage unit is compatible with the power source to receive the charge from the power source; determining if conditions allow for deployment of a charging panel, the charging panel in electrical communication with the electrical storage unit; wherein the charging panel is configured to receive the charge from the power source and charge the electrical storage unit.

[0174] Aspects of the above instructions include wherein the power source is disposed external to the electric vehicle on a roadway surface, wherein the charge is received by the electrical storage unit while the vehicle is stationary, wherein if conditions allow for deployment of a charging panel, the charging panel is operated a deployed state. Aspects of the above instructions further comprising determining if at least one obstacle exists between the charger panel and the power source, wherein if at least one obstacle exists the charging panel is operated in a retracted state.

[0175] Embodiments include a system for positioning a charging panel of an electrical vehicle to receive a charge, the system comprising: an armature disposed on an electrical vehicle; a charging panel interconnected to the armature; and an actuator configured to maneuver the armature and position the charging panel relative to an external surface, the external surface in communication with a power source configured to provide a charge to the charging panel; wherein the charging panel is configured to receive the charge from the power source.

[0176] Aspects of the above system include wherein the external surface is a roadway surface. Aspects of the above system include wherein a first point of the charging panel is positioned at a selectable desired first distance from the roadway surface. Aspects of the above system include wherein the selectable desired first distance is selected from a vehicle database comprising desired charging panel separation distance with respect to stored roadway types. Aspects of the above system include further comprising at least one range sensor configured to measure a first measured distance between the first point and the roadway surface. Aspects of the above system further comprising a controller, the controller receiving the first measured distance and automatically maneuvering the armature to adjust the position of the charging panel to the desired separation distance. Aspects of the above system include wherein the electrical vehicle is moving relative to the roadway surface. Aspects of the above system further comprising a load sensor configured to measure a vertical loading force imparted to the charging panel, the measured vertical loading force generated at least by aerodynamic forces, the charging panel forming an airfoil shape when viewed in a lateral cross-section. Aspects of the above system include wherein the charging panel is retracted to a fully retracted position if the measured vertical loading force exceeds a selectable threshold value. Aspects of the above system further comprising a vehicle sensor configured to determine if at least one obstacle exists in a predicted travel path of the electric vehicle. Aspects of the above system include wherein the charging panel is retraced to a fully retracted position if at least one obstacle exists.

[0177] Embodiments include a method for positioning a charging panel of an electrical vehicle to receive a charge, the method comprising: determining that the electric vehicle requires a charge; determining if a power source is available to charge the electrical vehicle, the power source disposed on or within a roadway surface; selecting a desired first distance for a charging panel of the electrical vehicle relative to the roadway surface, the desired first distance selected from a vehicle database comprising desired charging panel separation distance with respect to stored roadway types; positioning a first point of the charging panel to the desired first distance; wherein the charging panel receives a charge from the power source.

[0178] Aspects of the above method include wherein the electrical vehicle further comprises an actuator, the actuator configured to position the charging panel to the desired first distance. Aspects of the above method include wherein the electrical vehicle further comprises at least one range sensor configured to measure a first measured distance between the first point and the roadway surface. Aspects of the above method further comprising controlling the position of the charging panel to the desired separation distance by receiving the first measured distance and automatically actuating the actuator to adjust the position of the charging panel to the desired separation distance, the charging panel forming an airfoil shape when viewed in a lateral cross-section. Aspects of the above method further comprising measuring a vertical loading force imparted to the charging panel, the measured vertical loading force generated at least by aerodynamic forces.

Aspects of the above method include wherein the charging panel is retracted to a fully retracted position if the measured vertical loading force exceeds a selectable threshold value. Aspects of the above method further comprising determining if at least one obstacle exists in a predicted travel path of the electric vehicle. Aspects of the above method include wherein the charging panel is retraced to a fully retracted position if at least one obstacle exists. Aspects of the above method further comprising measuring a vertical loading force imparted to the charging panel, the measured vertical loading force generated at least by aerodynamic forces, wherein the charging panel is retracted to a fully retracted position if the measured vertical loading force exceeds a selectable threshold value.

[0179] Embodiments include a system for aligning a charging panel of an electrical vehicle with an external power source, the system comprising: a charging panel interconnected to the electrical vehicle; an actuator interconnected to the charging panel; a sensor configured to sense an alignment measurement between the charging panel and the external power source; and an alignment controller that receives the alignment

measurement and determines a required alignment adjustment, wherein the charging panel may be adjusted in alignment with the external power source.

[0180] Aspects of the above system further comprising an armature interconnected to the charging panel and the actuator, wherein the actuator moves the armature to effect the required alignment positional adjustment. Aspects of the above system include wherein the alignment measurement is a horizontal distance measurement and the required alignment adjustment is a horizontal displacement. Aspects of the above system include wherein the external power source is embedded in a roadway surface. Aspects of the above system include wherein the sensor is disposed on the electrical vehicle. Aspects of the above system include wherein the sensor is disposed external to the electrical vehicle. Aspects of the above system include wherein the required alignment adjustment is presented to a user of the electrical vehicle on a graphical user interface. Aspects of the above system include wherein the graphical user interface is disposed on a mobile device. Aspects of the above system include wherein a vertical position of the charging panel relative to the external power source is selected from a vehicle database comprising desired charging panel separation distance with respect to stored roadway types. Aspects of the above system include wherein the required alignment adjustment is automatically adjusted by the adjustment controller by way of the actuator. Aspects of the above system include wherein the electrical vehicle is moving relative to the roadway surface.

[0181] Embodiments include a method for aligning a charging panel of an electrical vehicle with an external power source, the method comprising: positioning, by a microprocessor, a charging panel relative to the external power source, the charging panel interconnected to the electrical vehicle, the charging panel positioned by an actuator; measuring, by a sensor, an alignment measurement between the charging panel and the external power source; transmitting, by the microprocessor, the alignment measurement to an alignment controller; receiving, by the alignment controller, the alignment

measurement; determining, by the microprocessor, a required alignment adjustment; and adjusting, by the microprocessor, the position of the charging panel by the required alignment adjustment.

[0182] Aspects of the above method further comprising an armature interconnected to the charging panel and the actuator, wherein the actuator maneuvers the armature to effect the required alignment positional adjustment. Aspects of the above method include wherein the alignment measurement is a horizontal distance measurement and the required alignment adjustment is a horizontal displacement. Aspects of the above method include wherein the external power source is embedded in a roadway surface. Aspects of the above method include wherein the sensor is disposed on at least one of the electrical vehicle and external to the electrical vehicle. Aspects of the above method include wherein the required alignment adjustment is presented to a user of the electrical vehicle on a graphical user interface. Aspects of the above method include wherein the graphical user interface is disposed on a mobile device. Aspects of the above method include wherein a vertical position of the charging panel relative to the external power source is selected from a vehicle database comprising desired charging panel separation distance with respect to stored roadway types. Aspects of the above method include wherein the required alignment adjustment is automatically adjusted by the adjustment controller by way of the actuator.

[0183] Embodiments include a system for obstacle avoidance of a charging panel of an electrical vehicle, the system comprising: a charging panel interconnected to the electric vehicle; an actuator interconnected to the charging panel, the actuator configured to position the charging panel; at least one sensor configured to sense an obstacle location measurement in a predicted travel path of the electric vehicle; an obstacle avoidance controller that receives the obstacle location measurement and determines if an obstacle avoidance action is recommended.

[0184] Aspects of the above system include wherein the obstacle avoidance action comprises an alert to an occupant of the electric vehicle and a repositioning of the charging panel. Aspects of the above system include wherein the alert comprises an audio warning and a visual warning. Aspects of the above system include wherein the repositioning of the charging panel occurs automatically by actuation of the actuator. Aspects of the above system include wherein the sensor configuration of the at least one sensor is selected from a sensor database comprising sensor type with respect to at least one of obstacle risk, roadway type and environmental condition. Aspects of the above system include wherein the sensor types comprise a camera and a radar. Aspects of the above system include wherein the obstacle avoidance action comprises deployment of a charging panel protective shield. Aspects of the above system include wherein the at least one sensor is at least two sensors comprising a camera and a radar. Aspects of the above system include wherein the charging panel is configured to operate in a plurality of states comprising a retracted state and a deployed state. Aspects of the above system include wherein if the charging panel is in the deployed state, the obstacle avoidance action comprises automatically repositioning the charging panel to the retracted state.

[0185] Embodiments include a method for obstacle avoidance of a charging panel of an electric vehicle, the method comprising: positioning, by a microprocessor, a charging panel interconnected to the electric vehicle; measuring, by at least one sensor, an obstacle location measurement in a predicted travel path of the electric vehicle; transmitting, by the microprocessor, the obstacle location measurement to an obstacle avoidance controller; receiving by the obstacle avoidance controller, the obstacle location measurement; and determining, by the microprocessor, an obstacle avoidance action.

[0186] Aspects of the above method further comprising executing the obstacle avoidance action, wherein the obstacle avoidance action comprises an alert to an occupant of the electric vehicle and a repositioning of the charging panel. Aspects of the above method include wherein the alert comprises an audio warning and a visual warning.

Aspects of the above method include wherein the repositioning of the charging panel occurs automatically by actuation of the actuator. Aspects of the above method further comprising selecting a sensor configuration of the at least one sensor from a sensor database comprising sensor type with respect to at least one of obstacle risk, roadway type and environmental condition. Aspects of the above method include wherein the sensor types comprise a camera and a radar. Aspects of the above method further comprising executing the obstacle avoidance action, wherein the obstacle avoidance action comprises deployment of a charging panel protective shield. Aspects of the above method include wherein the at least one sensor is at least two sensors comprising a camera and a radar. Aspects of the above method include wherein the charging panel is configured to operate in a plurality of states comprising a retracted state and a deployed state. Aspects of the above method further comprising executing the obstacle avoidance action, wherein if the charging panel is in the deployed state, the obstacle avoidance action comprises automatically repositioning the charging panel to the retracted state.

[0187] Embodiments include a system for charging an electric vehicle, the system comprising: an electrical storage unit disposed on the electric vehicle; a charging panel in electrical communication with the electrical storage unit; a robotic unit comprising an external power source, a charging plate and a robotic arm, the charging plate

interconnected to the robotic arm and configured to provide a charge to the charging panel; and a vehicle controller configured to communicate with the robotic unit and position the charging plate with respect to the charging panel; wherein the charging panel receives the charge from the external power source and charges the electrical storage unit.

[0188] Aspects of the above system include wherein the robotic arm positions the charging plate with respect to the charging panel. Aspects of the above system include wherein the vehicle controller comprises a user interface configured to receive, from a user, positioning commands to position the charging plate with respect to the charging panel. Aspects of the above system include wherein the user interface is a graphical user interface and is disposed on at least one of a vehicle instrument panel and a mobile device. Aspects of the above system include wherein the robotic unit further comprises at least one distance sensor configured to measure a first measured distance between a first point on the charging plate and a second point on the charging panel. Aspects of the above system include wherein the robotic unit further comDrises a robotic unit controller, the robotic unit controller receiving the first measured distance and configured to maneuver the robotic arm to adjust the position of the charging panel to a desired charging separation distance. Aspects of the above system include wherein the desired separation distance is selected from a vehicle database comprising a desired charging separation distance with respect to stored types of robotic units. Aspects of the above system include wherein the robotic unit controller receives the first measured distance and automatically maneuvers the robotic arm to adjust the position of the charging panel to the desired charging separation distance. Aspects of the above system include wherein the first measured distance is displayed on a user interface of the vehicle controller, the user interface configured to receive, from a user, positioning commands to position the charging plate with respect to the charging panel. Aspects of the above system include wherein the vehicle controller queries the vehicle database to determine if the external power source is compatible with the vehicle electrical storage unit. Aspects of the above system include wherein the vehicle controller queries the vehicle database to determine if the charging plate is compatible with the charging panel.

[0189] Embodiments include a method for charging an electric vehicle, the method comprising: determining, by a first microprocessor, if an external power source is compatible with a vehicle electrical storage unit of the electric vehicle, wherein the external power source is electrically interconnected to a robotic unit, the robotic unit comprising a charging plate and a robotic arm, the charging plate interconnected to the robotic arm and configured to provide a charge to a charging panel of the electric vehicle; determining, by the first microprocessor, if the charging plate of the external power source is compatible with the charging panel, the charging panel in electrical communication with the vehicle electrical storage unit; and positioning, by the first microprocessor, the charging plate to a desired charging separation distance; wherein the charging panel receives charging from the charging plate, wherein the electrical storage unit is charged.

[0190] Aspects of the above method further comprising a vehicle controller configured to communicate with the robotic unit and position the charging plate with respect to the charging panel. Aspects of the above method further comprising: measuring, by a distance sensor, a first measured distance between a first point on the charging plate and a second point on the charging panel; transmitting, by the first microprocessor, the first measured distance to a robotic unit controller; receiving, by the robotic unit controller, the first measured distance; maneuvering the robotic arm to adjust the position of the charging panel to the desired charging separation distance. Aspects of the above method include wherein the vehicle controller comprises a user interface configured to receive, from a user, positioning commands to position the charging plate with respect to the charging panel. Aspects of the above method include wherein the user interface is a graphical user interface and is disposed on at least one of a vehicle instrument panel and a mobile device. Aspects of the above method include wherein the desired separation distance is selected from a vehicle database comprising a desired charging separation distance with respect to stored types of robotic units. Aspects of the above method include wherein the robotic unit controller receives the first measured distance and automatically maneuvers the robotic arm to adjust the position of the charging panel to the desired charging separation distance. Aspects of the above method include wherein the first measured distance is displayed on a user interface of the vehicle controller, the user interface configured to receive, from a user, positioning commands to position the charging plate with respect to the charging panel. Aspects of the above method further comprising the step of identifying, by the first microprocessor, if the external power source is available for charging of the electrical storage unit.

[0191] The phrases "at least one," "one or more," "or," and "and/or" are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions "at least one of A, B and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," "A, B, and/or C," and "A, B, or C" means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together.

[0192] The term "a" or "an" entity refers to one or more of that entity. As such, the terms "a" (or "an"), "one or more," and "at least one" can be used interchangeably herein. It is also to be noted that the terms "comprising," "including," and "having" can be used interchangeably.

[0193] The term "automatic" and variations thereof, as used herein, refers to any process or operation, which is typically continuous or semi-continuous, done without material human input when the process or operation is performed. However, a process or operation can be automatic, even though performance of the process or operation uses material or immaterial human input, if the input is received before performance of the process or operation. Human input is deemed to be material if such input influences how the process or operation will be performed. Human input that consents to the performance of the process or operation is not deemed to be "material." [0194] Aspects of the present disclosure may take the form of an embodiment that is entirely hardware, an embodiment that is entirely software (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," "module," or "system." Any combination of one or more computer-readable medium(s) may be utilized. The computer- readable medium may be a computer-readable signal medium or a computer-readable storage medium.

[0195] A computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0196] A computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer- readable signal medium may be any computer-readable medium that is not a computer- readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0197] The terms "determine," "calculate," "compute," and variations thereof, as used herein, are used interchangeably and include any type of methodology, process, mathematical operation or technique.

[0198] The term "electric vehicle" (EV), also referred to herein as an electric drive vehicle, may use one or more electric motors or traction motors for propulsion. An electric vehicle may be powered through a collector system by electricity from off-vehicle sources, or may be self-contained with a battery or generator to convert fuel to electricity. An electric vehicle generally includes a rechargeable electricity storage system (RESS) (also called Full Electric Vehicles (FEV)). Power storage methods may include: chemical energy stored on the vehicle in on-board batteries (e.g., battery electric vehicle or BEV), on board kinetic energy storage (e.g., flywheels), and/or static energy (e.g., by on-board double-layer capacitors). Batteries, electric double-layer capacitors, and flywheel energy storage may be forms of rechargeable on-board electrical storage.

[0199] The term "hybrid electric vehicle" refers to a vehicle that may combine a conventional (usually fossil fuel-powered) powertrain with some form of electric propulsion. Most hybrid electric vehicles combine a conventional internal combustion engine (ICE) propulsion system with an electric propulsion system (hybrid vehicle drivetrain). In parallel hybrids, the ICE and the electric motor are both connected to the mechanical transmission and can simultaneously transmit power to drive the wheels, usually through a conventional transmission. In series hybrids, only the electric motor drives the drivetrain, and a smaller ICE works as a generator to power the electric motor or to recharge the batteries. Power-split hybrids combine series and parallel characteristics. A full hybrid, sometimes also called a strong hybrid, is a vehicle that can run on just the engine, just the batteries, or a combination of both. A mid hybrid is a vehicle that cannot be driven solely on its electric motor, because the electric motor does not have enough power to propel the vehicle on its own.

[0200] The term "rechargeable electric vehicle" or "REV" refers to a vehicle with on board rechargeable energy storage, including electric vehicles and hybrid electric vehicles.

Claims

What Is Claimed Is:

1. A system for positioning a charging panel of an electrical vehicle to receive a charge, the system comprising:

an armature disposed on an electrical vehicle;

a charging panel interconnected to the armature; and

an actuator configured to maneuver the armature and position the charging panel relative to an external surface, the external surface in communication with a power source configured to provide a charge to the charging panel;

wherein the charging panel is configured to receive the charge from the power source.

2. The system of claim 1, wherein the external surface is a roadway surface.

3. The system of claim 2, wherein a first point of the charging panel is positioned at a selectable desired first distance from the roadway surface.

4. The system of claim 3, wherein the selectable desired first distance is selected from a vehicle database comprising desired charging panel separation distance with respect to stored roadway types.

5. The system of claim 4, further comprising at least one range sensor configured to measure a first measured distance between the first point and the roadway surface.

6. The system of claim 5, further comprising a controller, the controller receiving the first measured distance and automatically maneuvering the armature to adjust the position of the charging panel to the desired separation distance.

7. The system of claim 2, wherein the electrical vehicle is moving relative to the roadway surface.

8. The system of claim 7, further comprising a load sensor configured to measure a vertical loading force imparted to the charging panel, the measured vertical loading force generated at least by aerodynamic forces, the charging panel forming an airfoil shape when viewed in a lateral cross-section.

9. The system of claim 8, wherein the charging panel is retracted to a fully retracted position if the measured vertical loading force exceeds a selectable threshold value.

10. The system of claim 6, further comprising a vehicle sensor configured to determine if at least one obstacle exists in a predicted travel path of the electric vehicle.

11. The system of claim 10, wherein the charging panel is retraced to a fully retracted position if at least one obstacle exists.

12. A method for positioning a charging panel of an electrical vehicle to receive a charge, the method comprising:

determining that the electric vehicle requires a charge;

determining if a power source is available to charge the electrical vehicle, the power source disposed on or within a roadway surface;

selecting a desired first distance for a charging panel of the electrical vehicle relative to the roadway surface, the desired first distance selected from a vehicle database comprising desired charging panel separation distance with respect to stored roadway types;

positioning a first point of the charging panel to the desired first distance;

wherein the charging panel receives a charge from the power source.

13. The method of claim 12, wherein the electrical vehicle further comprises an actuator, the actuator configured to position the charging panel to the desired first distance.

14. The method of claim 13, wherein the electrical vehicle further comprises at least one range sensor configured to measure a first measured distance between the first point and the roadway surface.

15. The method of claim 14, further comprising controlling the position of the charging panel to the desired separation distance by receiving the first measured distance and automatically actuating the actuator to adjust the position of the charging panel to the desired separation distance, the charging panel forming an airfoil shape when viewed in a lateral cross-section.

16. The method of claim 15, further comprising measuring a vertical loading force imparted to the charging panel, the measured vertical loading force generated at least by aerodynamic forces.

17. The method of claim 16, wherein the charging panel is retracted to a fully retracted position if the measured vertical loading force exceeds a selectable threshold value.

18. The method of claim 14, further comprising determining if at least one obstacle exists in a predicted travel path of the electric vehicle.

19. The method of claim 18, wherein the charging panel is retraced to a fully retracted position if at least one obstacle exists.

20. The method of claim 19, further comprising measuring a vertical loading force imparted to the charging panel, the measured vertical loading force generated at least by aerodynamic forces, wherein the charging panel is retracted to a fully retracted position if the measured vertical loading force exceeds a selectable threshold value.