WO2023063200A1 - Zone de stationnement/arrêt, dispositif de remplacement et véhicule à déplacement autonome - Google Patents

Zone de stationnement/arrêt, dispositif de remplacement et véhicule à déplacement autonome Download PDF

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Publication number
WO2023063200A1
WO2023063200A1 PCT/JP2022/037385 JP2022037385W WO2023063200A1 WO 2023063200 A1 WO2023063200 A1 WO 2023063200A1 JP 2022037385 W JP2022037385 W JP 2022037385W WO 2023063200 A1 WO2023063200 A1 WO 2023063200A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking zone
travel path
power storage
battery
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Application number
PCT/JP2022/037385
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English (en)
Japanese (ja)
Inventor
博史 小山
和也 三輪
Original Assignee
本田技研工業株式会社
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Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Publication of WO2023063200A1 publication Critical patent/WO2023063200A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00—Economic sectors
    • G16Y10/40—Transportation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y20/00—Information sensed or collected by the things
    • G16Y20/20—Information sensed or collected by the things relating to the thing itself
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/10—Detection; Monitoring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

Definitions

  • the present invention relates to parking lanes, exchange devices, and autonomous vehicles.
  • One aspect of the present invention is a parking zone that is provided contiguously with a vehicle travel path, is arranged along the vehicle travel path, and is detached from an electric drive unit of an electric vehicle that travels on the vehicle travel path. Between the vehicle travel path and the exchange device that receives the power storage device unloaded from the vehicle or the power storage device unloaded from the vehicle traveling on the vehicle travel path and provides another stored power storage device It is provided in a manner that is visually distinguishable from the running path.
  • An exchange device which is another aspect of the present invention, is a power storage device that is disposed along a vehicle travel path, is removed from an electric drive unit of an electric vehicle that travels on the vehicle travel path, and is unloaded from the electric vehicle, or the vehicle travel path. and to provide other storage devices in storage.
  • the exchange device is provided between a plurality of storage units each capable of storing a plurality of power storage devices, and the plurality of storage units when providing other power storage devices, the vehicle travel path, and the switch device. Based on the distance between the parking zone or the electric vehicle or the vehicle parked in the parking zone, the storage unit for provision in which the other power storage device to be provided is stored is selected from among the plurality of storage units. and a determining unit for determining.
  • Still another aspect of the present invention is an electric vehicle or an autonomous vehicle comprising a vehicle, which is disposed along a vehicle travel path and is detached from an electric drive unit of the autonomous vehicle traveling on the vehicle travel path to autonomously travel. It moves toward an exchange device that is provided to receive storage devices unloaded from a vehicle or unloaded from an autonomous vehicle traveling on a vehicle roadway and to provide other stored storage devices.
  • the vehicle is provided to stop and park in a parking zone provided between the exchange device and the vehicle travel path.
  • the exchange device extends along the vehicle travel path and has an interface unit for the user of the exchange device. It is provided so as to move to the vicinity of the interface and park.
  • FIG. 1 schematically illustrates an example of a battery exchange facility including a parking lane according to an embodiment of the present invention
  • FIG. BRIEF DESCRIPTION OF THE DRAWINGS The perspective view of the principal part of the vehicle stopped at the parking zone which concerns on embodiment of this invention.
  • the top view of the storage battery exchange facility which shows the structure of the parking zone which concerns on 1st Embodiment of this invention.
  • FIG. 2 is a block diagram showing an example of a control configuration of an exchange device included in the storage battery exchange facility of FIG. 1;
  • FIG. 2 is a block diagram showing the main configuration of an autonomous driving system in an autonomous vehicle according to a second embodiment of the present invention;
  • FIG. A parking zone according to the first embodiment of the present invention is intended for a vehicle having a detachably mounted storage battery (secondary battery) such as a battery.
  • the battery of the vehicle is replaced while the vehicle is parked in the parking zone.
  • the parking zone is included in the storage battery exchange facility installed along the side of the travel road.
  • a parking lane means a parking lane or a parking lane.
  • a parking zone may simply be called a parking zone.
  • the parking lane includes parking lanes used for parking, ie, parking where the vehicle is stopped for a long time and the driver leaves the vehicle.
  • FIG. 1 is a diagram schematically showing an example of a storage battery exchange facility 100 including parking lanes according to an embodiment of the present invention.
  • the storage battery exchange facility 100 has a stop 10 , an exchange device 20 and a management server 30 .
  • a vehicle 50 whose battery is to be replaced is parked in the stop zone 10 .
  • Vehicle 50 is, for example, an electric vehicle having a traction motor driven by electric power from a battery.
  • the vehicle 50 is a three-wheeled electric vehicle having one front wheel 50a and two rear wheels 50b, and has a driver's seat and a rear seat.
  • the vehicle 50 is a manually operated vehicle that is driven by an occupant in the driver's seat.
  • the vehicle 50 is not limited to a three-wheeled vehicle, and may be a two-wheeled or four-wheeled electric vehicle, or may be an autonomously driven vehicle (automatically driven vehicle) capable of autonomously traveling.
  • FIG. 2 is a perspective view of the essential parts of the vehicle 50 as seen obliquely from behind.
  • the front-rear direction (length direction), the left-right direction (width direction), and the up-down direction (height direction) of the vehicle 50 are defined as indicated by arrows.
  • a substantially box-shaped space SP is provided behind and below the rear seats and elongated in the left-right direction.
  • a substantially rectangular opening 51 elongated in the left-right direction is provided in the rear surface of the space SP.
  • the opening 51 is covered with a rectangular plate-like lid 52 .
  • the lid 52 is provided rotatably in the direction of arrow A (vertical direction) via a hinge portion 53 .
  • FIG. 2 indicates the state in which the lid 52 is closed, and the dotted line indicates the state in which the lid 52 is opened.
  • a plurality of (four in the drawing) batteries 1 having the same configuration are accommodated in the space SP in a state of being aligned in the left-right direction.
  • FIG. 2 also shows the configuration of the battery 1 alone.
  • the battery 1 is a portable battery with a weight of about 10 kg, for example, and has a handle 1a on its upper surface. Note that the battery 1 may be lighter than 10 kg or heavier.
  • the battery 1 is, for example, a lithium ion battery, and has a substantially rectangular parallelepiped shape as a whole.
  • the battery 1 is mounted on the vehicle 50 in an upright state with the handle 1a positioned upward, or in a state in which it is laid down and the handle 1a is positioned rearward.
  • the battery 1 is inserted into or removed from the space SP through the opening 51 with the lid 52 opened.
  • a contact is provided on the bottom surface of the battery 1 (opposite side of the handle 1a), and when the battery 1 is mounted on the vehicle 50, the contact of the battery 1 and the contact provided on the vehicle 50 are electrically connected.
  • the vehicle 50 has a travel motor and a power control unit that controls power supply from the battery 1 to the travel motor.
  • the battery 1, the travel motor, and the power control unit constitute an electric drive section.
  • the direction in which the travel path 200 extends (the direction along the lane) is the X direction
  • the direction extending perpendicular to the X direction on the horizontal plane is the Y direction
  • the direction perpendicular to the horizontal plane (XY plane).
  • the Z direction is, for example, the direction in which gravity acts (vertical direction).
  • the stop zone 10 is a portion formed in a convex shape from a boundary portion 202 (a two-dot chain line) between the travel path 200 and the side road 201 toward the side road 201 in a plan view (upper view in the vertical direction).
  • the exchange device 20 is installed on the side of the stop zone 10 (on the opposite side of the travel path 200). That is, the stop zone 10 extends in the X direction and the Y direction from the boundary portion 202 between the traveling road 200 and the side road 201 .
  • the length Lx of the stop lane 10 in the X direction is longer than the length of the vehicle 50 (length in the longitudinal direction in FIG. 2), and the length Ly of the stop lane 10 in the Y direction is equal to the width of the vehicle 50 (length in the longitudinal direction in FIG. 2). length in the horizontal direction).
  • the X-direction and Y-direction lengths Lx and Ly of the stop lane 10 may be shorter than the longitudinal and lateral lengths of the vehicle 50 (see FIGS. 3 and 4).
  • the exchange device 20 has a length extending along the X direction, a width extending along the Y direction, and a height extending along the Z direction, and is configured in a generally rectangular parallelepiped shape as a whole.
  • the overall length of the switching device 20 is longer than the length Lx of the stop lane 10. - ⁇ That is, the ratio of the length of the changing device 20 to the stop 10 is greater than one.
  • the overall height of the exchange device 20 is, for example, about 1.5m to 2m.
  • the exchange device 20 has storage units 21 for a plurality of batteries 1 in the X direction and the Z direction. More specifically, the storage units 21 are provided in multiple rows in the X direction (eight rows in the figure) and in multiple stages in the Z direction (three stages in the figure).
  • a substantially rectangular opening 21 a corresponding to the shape of the battery 1 is provided on the front surface (on the side of the running path 200 ) of the plurality of storage units 21 .
  • Each opening 21a is covered with a lid 21b that can be opened and closed. Note that the lid 21b may be omitted.
  • the battery 1 is inserted into and removed from the storage section 21 through the opening 21a.
  • Each storage unit 21 is provided with contacts that are electrically connected to the contacts of the battery 1 .
  • the insertion/removal of the battery 1 into/from the storage unit 21 is performed by, for example, a driver who attaches/removes the battery 1 to/from the vehicle 50 .
  • the administrator may attach and remove the battery 1 to and from the vehicle 50 and insert and remove the battery 1 to and from the exchange device 20 .
  • a driver who inserts and removes the battery 1 is sometimes called a user.
  • the exchange device 20 is connected to a commercial power supply. In the exchange device 20, power from the commercial power source is supplied to the battery 1 through the contact, thereby charging the battery 1. FIG. That is, the exchange device 20 has a function of charging the battery 1 .
  • the exchange device 20 may have a function of storing electric power discharged from the battery 1 stored in the storage unit 21 in the exchange device itself, that is, a discharging function.
  • the exchange device 20 may charge the battery 1 of another storage unit 21 with the power discharged from the battery 1 of the storage unit 21 .
  • the exchange device 20 is composed of a plurality of (four units in the figure) units 20A to 20D arranged side by side in the X direction. Adjacent units may be arranged in contact with each other or may be arranged apart from each other.
  • Each unit 20A to 20D is provided with a plurality of storage sections 21 arranged in the same manner. Specifically, two rows and three stages of storage units 21 are provided.
  • the unit 20B is provided with an interface section 22 for the user above the uppermost storage section 21 . Since the other units 20A, 20C, and 20D do not need to be provided with the interface section 22, the cost of the exchange device 20 can be suppressed.
  • the interface unit 22 is used when performing user authentication. More specifically, the interface unit 22 has a card reader that reads user information from the user's authentication card.
  • the authentication card for example, a driver's license (IC card license) in which an integrated circuit (IC) is incorporated and user's personal information is stored can be used.
  • Information (vehicle information) of the vehicle 50 in which the user rides is also stored in the authentication card in association with the user information.
  • the vehicle information includes information such as the number, shape, type, etc. of the batteries 1 mounted on the vehicle 50 and information on the mounting locations of the batteries 1 .
  • the interface unit 22 has various switches and buttons, a microphone, a speaker, a monitor, etc. that can be operated by the user.
  • the monitor is configured to display information regarding battery replacement, thereby providing information to the user.
  • Biometric information such as the user's face and voice may be registered in advance so that the user can be authenticated by biometric authentication.
  • the unit 20B having the interface section 22 is called an authentication unit in order to distinguish it from the other units 20A, 20C, and 20D (non-authentication units).
  • Non-authentication units 20A, 20C, and 20D are communicably connected to the authentication unit 20B, and signals are transmitted and received between the authentication unit 20B and the non-authentication units 20A, 20C, and 20D.
  • the authentication unit 20B further has a communication unit 23 and a control unit 24 unlike the non-authentication units 20A, 20C and 20D.
  • the communication unit 23 is connected to a communication network such as a wireless communication network, Internet network, telephone line network, etc., and is configured to be able to communicate with the management server 30 via the communication network.
  • FIG. 1 shows one exchange device 20 and one management server 30 for convenience, a plurality of exchange devices 20 may be communicably connected to the management server 30 .
  • User information input via the interface unit 22 is transmitted to the management server 30 via the communication unit 23, and the management server 30 authenticates the user.
  • the management server 30 completes user authentication, the management server 30 transmits an authentication completion signal to the switching device 20 .
  • the control unit 24 includes arithmetic processing units such as CPU, ROM, and RAM.
  • the exchange device 20 has a battery sensor that detects the remaining capacity (charging rate) of each battery 1 stored in the storage unit 21 .
  • a plurality of storage units 21 are provided with a lock mechanism that locks the lid 21b of the opening 21a.
  • the control unit 24 controls the power supply to the battery 1 based on the signal from the battery sensor, and controls the lock mechanism to permit or prohibit the opening and closing of the lid 21b.
  • the control unit 24 can open the lid 22b of the storage unit 21 storing the replacement battery 1 having a charging rate equal to or higher than a predetermined value.
  • the lock mechanism is controlled so that
  • Battery replacement via the replacement device 20 is performed when the driver recognizes through the monitor of the vehicle 50 that the remaining capacity (charging rate) of the battery 1 mounted on the vehicle 50 has fallen below a predetermined value. It is done according to the will of the person.
  • a user for example, a driver
  • the replacement battery 1 (referred to as a charged battery) that has already been charged and has a charging rate equal to or higher than a predetermined value is removed from the storage unit 21 and mounted on the vehicle 50 .
  • the used battery 1 is inserted into the storage section 21 in which the charged battery 1 was stored, and charging of the used battery 1 is started. By performing such battery replacement, the driver does not have to wait in the stop zone 10 until charging of the used battery 1 is completed, and can quickly start running the vehicle 50 using the charged battery 1. .
  • the stop zone 10 is comprised as follows.
  • FIG. 3 is a plan view (XY plan view) of the storage battery exchange facility 100 showing the configuration of the stop zone 10 according to the first embodiment.
  • the exchange device 20 is composed of five units 20A to 20E arranged side by side in the X direction. Further, the hatched center unit 20C is configured as an authentication unit, and the remaining units 20A, 20B, 20D, and 20E are configured as non-authentication units.
  • the direction of arrow B in FIG. 3 corresponds to the traveling direction of vehicle 50 along running path 200 (vehicle front-rear direction).
  • the overall length L1 of the exchange device 20 is significantly longer than the length L2 of the vehicle 50, and L1 is two times or more (for example, about three to five times longer) than L2.
  • the stop zone 10 is in the vicinity of the authentication unit 20C, more specifically, diagonally in front of the authentication unit 20C, that is, in the traveling direction (arrow B direction) of the vehicle 50 from the authentication unit 20C. It is provided at a shifted position in a convex shape in a plan view from a boundary portion 202 between the travel path 200 and the path 201 toward the path 201 .
  • a boundary portion 203 between the stop lane 10 and the roadside 201 is composed of a boundary portion 203a extending in the X direction and a pair of boundary portions 203b extending obliquely from both ends of the boundary portion 203a toward the travel path 200. .
  • the length of the boundary portion 203a is shorter than the length of the boundary portion 202 (dashed-dotted line) that is the boundary with the road 200 at the entrance of the stop lane 10, and the stop lane 10 has a substantially trapezoidal shape in plan view.
  • the shape of the stop lane 10 in a plan view is not limited to a trapezoid, and may be any other shape such as a polygonal shape or an arc shape.
  • the entrance of the stop zone is wider than the back side in FIG. 3, the entrance may be equal to the back side, or the entrance may be narrower than the back side.
  • the stop zone 10 extends on the same plane as the travel path 200 without steps in the vertical direction from the travel path 200 .
  • the stop zone 10 can be clearly distinguished from the travel path 200 .
  • a division line may be drawn on the road surface for distinguishing between the travel path 200 and the stop zone 10. - ⁇ For example, a demarcation line may be drawn along the border 202 (two-dot chain line).
  • a pattern indicating the stop zone 10 may be drawn on the road surface of the stop zone 10 .
  • the road surface properties of the stop zone 10 may be different from those of the travel path 200 and the side road 201 so that the driver can identify the stop zone 10 .
  • a boundary 202 between the travel path 200 and the road 201 and a boundary 203 between the stop 10 and the road 201 have steps. It extends substantially horizontally above the road surface.
  • the roadside 201, the travel path 200, and the stop 10 may extend on the same horizontal plane.
  • the wayside 201, the travel path 200, and the stop zone 10 may extend along planes of different heights.
  • the wayside 201 and the stop zone 10, or the wayside 201 and the traveling road 200 may extend on the same horizontal plane.
  • a curbstone, pole, guardrail, or the like projecting upward may be provided at the boundary 203 between the stop 10 and the roadside 201 .
  • a boundary portion 202 between the travel path 200 and the side road 201 may be provided with a protrusion that protrudes upward.
  • a recess may be provided in the boundary 202 or 203 so that the stop lane 10 can be identified by the driver. That is, the stepped portion may have any configuration as long as it is provided in a concave or convex shape in the vertical direction with respect to the reference plane of the vehicle travel path.
  • the stop zone 10 is provided in the vicinity of the authentication unit 20C, so that the driver can quickly move to the interface unit 22 after getting off the vehicle and efficiently perform authentication. It can be carried out. Further, in a state where the vehicle 50 is stopped in the stop lane 10 , the rear end portion of the vehicle 50 on which the used battery 1 is mounted is positioned near the interface portion 22 . Therefore, the user can easily replace the charged battery 1 in the storage section of the replacement device 20 with the used battery 1 mounted on the vehicle 50 .
  • the stop zone 10 is provided so that the distance from the interface unit 22 to the vehicle 50 is shortened. Therefore, the battery 1 can be quickly removed from the vehicle 50 after the authentication is completed, and the efficiency of the replacement work is improved.
  • FIG. 4 is a diagram showing a modification of FIG.
  • the stop lane 10 is provided on the side of the authentication unit 20C. Therefore, the vehicle 50 stopped at the stop zone 10 is positioned facing the authentication unit 20C.
  • the vehicle 50 is parked with its rear end facing the authentication unit 20C in the Y direction.
  • the vehicle 50 is stopped at the stop zone 10 after turning 90 degrees while traveling backward from the travel path 200 .
  • the vehicle 50 stops with the rear end approaching the interface unit 22, so that the used battery 1 can be quickly removed after authentication, and the battery can be efficiently replaced.
  • the length of the stop zone 10 in the X direction may be shorter than the length of the vehicle 50 in the front-rear direction.
  • the control unit 24 (FIG. 1) has a function as a determination section that determines the replacement battery 1 to be provided to the user (driver) when the user is authenticated via the interface section 22 .
  • the determining unit determines, among the plurality of batteries 1 stored in the plurality of storage units 21, a charged battery 1 having a remaining capacity equal to or greater than a predetermined value as a replacement battery.
  • a replacement battery is determined based on the positional relationship between the stop lane 10 and the plurality of storage units 21.
  • FIG. For example, the distance from a reference point (point P in FIG. 3) to each of the plurality of storage units 21 is stored in advance in a memory, and the charged battery 1 with the smallest distance from the reference point P among the plurality of charged batteries 1 is charged.
  • the used battery 1 is determined as the replacement battery.
  • the reference point P is set by estimating the position of the rear end of the vehicle 50 when the vehicle 50 stops on the stop zone 10 . That is, in the present embodiment, the stop lane 10 is configured so that a single vehicle 50 can stop, and the vehicle 50 stops at a substantially constant position in the stop lane 10 when the battery is replaced. Therefore, in a state where the vehicle 50 stops at the stop zone 10, the position of the rear end of the vehicle where the battery 1 is mounted is also substantially constant, and the reference point P is set at this position.
  • the position of the reference point P is not limited to this.
  • the end of the stop zone 10 (for example, the intersection of the boundary portion 203a and the boundary portion 203b) where the distance from the interface portion 22 is the shortest may be used as the reference point P. .
  • the control unit 24 as a determination unit does not determine the charged battery 1 with the smallest distance from the reference point P as the replacement battery, but the charged battery 1 with the distance from the reference point P equal to or less than a predetermined value. You may select a replacement battery from among.
  • the control unit 24 unlocks the lock mechanism of the storage section 21 (referred to as the supply storage section) in which the replacement battery is stored, thereby enabling opening and closing of the lid 21b.
  • control unit 24 notifies the user of the provision storage unit.
  • the notification is made via the interface section (monitor) 22 .
  • the user can easily recognize the storage unit 21 in which the replacement battery 1 is stored from among the plurality of storage units 21 .
  • a lamp that can be turned on and off may be provided in each of the plurality of storage units 21, and the provision storage unit may be notified to the user by turning on the lamp of the supply storage unit.
  • the user may be notified of all the storage units 21 in which the charged batteries 1 are stored among the plurality of storage units 21 .
  • the user removes the battery 1 from the storage section 21 notified as the provision storage section and mounts it in the vehicle 50 .
  • the storage battery exchange facility 100 is provided, for example, facing a public road.
  • the battery exchange facility 100 may be provided in an off-street parking lot such as a large indoor parking lot. Therefore, the travel path 200 may be provided from the entrance to the exit of the off-street parking lot.
  • a stop zone (parking zone) 10 is provided so as to be continuous with a travel path (vehicle travel path) 200 .
  • the replacement device 20 that is, the battery 1 (used battery) disposed on the side 201 of the travel path 200 and removed from the electric drive unit of the vehicle 50 traveling on the travel path 200 and unloaded from the vehicle 50. , and provides another stored battery 1 (charged battery) and the travel path 200 in a convex shape from the travel path 200 (FIGS. 3 and 4).
  • the driver can visually identify the stop zone 10 from the traveling road 200, and can notify the driver of the optimum stop position for battery replacement with a simple configuration at reduced cost. .
  • a boundary portion 203 between the stop zone 10 and the side road 201 is provided in a convex shape toward the exchange device 20 (FIGS. 3 and 4).
  • the vehicle 50 can be brought closer to the predetermined position (the interface section 22) of the exchange device 20 and stopped, and the battery can be exchanged efficiently.
  • the stop zone 10 has a stepped portion that protrudes in the vertical direction with respect to the road surface (reference plane) of the travel path 200 at the boundary portion 203 with the side road 201 . That is, the stop zone 10 is provided below the road surface of the side road 201 via a stepped portion (boundary portion 203) (FIG. 1). As a result, the boundary between the stop 10 and the roadside 201 becomes clear.
  • the road surface of the travel path 200 and the road surface of the stop zone 10 are provided on the same plane. good.
  • the stop zone 10 may have a base shape. As a result, the boundary between the stop zone 10 and the travel path 200 becomes clear. That is, the stepped portion may be a protruding portion provided only at the boundary portion, a stepped portion at the boundary when the entire stop zone is raised, or the like.
  • the exchange device 20 extends in the X direction along the travel path 200 and has an interface section 22 for the user of the exchange device 20 (FIG. 1).
  • the stop 10 is provided at a position close to the interface section 22 (Fig. 3). Accordingly, the user can quickly move to the interface section 22 after stopping the vehicle 50 in the stop zone 10 . As a result, authentication and the like for battery replacement can be immediately performed, and efficient battery replacement is possible.
  • the stop zone 10 can also be provided at a position overlapping the interface section 22 in the X direction in which the exchanging device 20 extends (FIG. 4). As a result, the distance from the vehicle 50 to the interface unit 22 can be minimized, and battery replacement can be performed more efficiently.
  • the determination unit (control unit 24) of the exchange device 20 determines the distance between the plurality of storage units 21 and the stop zone 10. Based on the distance, the storage unit 21 having the shortest distance to the stop zone 10 is determined as the storage unit for provision from among the plurality of storage units 21.
  • the storage section 21 (first storage section) of the unit 20D in FIG. 3 and the storage section 21 (second storage section) of the unit 20E in FIG. The distance (first distance) to 20D is shorter than the distance (second distance) from reference point P to unit 20E. Therefore, the storage section 21 of the unit 20D is determined as the provision storage section. As a result, the distance traveled by the user from the vehicle 50 to the provision storage unit is shortened, and battery replacement can be performed efficiently.
  • the determination unit does not always determine the first storage unit (for example, the storage unit 21 of the unit 20D in FIG. 3) as the provision storage unit.
  • a section (for example, the storage section 21 of the unit 20E in FIG. 3) may be determined as the provision storage section.
  • the second storage section may be determined as the provision storage section.
  • the used battery 1 When replacing the battery, instead of inserting the used battery 1 into the storage unit 21 from which the charged battery 1 has been removed and starting charging of the used battery 1, the used battery 1 is stored in another empty storage unit 21. Charging of the used battery 1 may be started by inserting the battery 1 .
  • the exchange device 20 may receive the used battery 1 and then provide the charged battery 1 in storage. The exchange device 20 may receive the used battery 1 after providing the stored charged battery 1 .
  • the administrator may manually change the mutual positions of the plurality of charged batteries 1 before battery replacement is performed.
  • the positions of the charged battery 1 in the first storage section and the charged battery 1 in the second storage section may be manually exchanged by the administrator.
  • the charged battery 1 originally in the second storage section can be easily used as a replacement battery.
  • the exchange device 20 may be provided with an actuator capable of changing the position of the battery 1, and the position of the battery 1 in the exchange device 20 may be changed by driving the actuator. That is, the battery 1 may be movable so that the charged battery 1 moves to a position where the distance from the reference point P is the shortest. As a result, a plurality of charged batteries 1 can be sequentially used as replacement batteries.
  • FIG. 5 is a block diagram showing an example of the control configuration of the switching device 20 in that case.
  • the exchange device 20 has a camera 25 connected to a control unit 24 .
  • the camera 25 has an imaging element such as a CCD, and is attached to the upper part of the exchange device 20 so that its viewing angle includes the boundary portion 203 (for example, the entire boundary portion) of the stop lane 10 .
  • a plurality of cameras 25 may be attached to the top of the exchange device 20 .
  • the determination section 241 of the control unit 24 recognizes the position and orientation of the vehicle 50 with reference to the stop 10 based on the image signal from the camera 25. Further, the positional relationship between the plurality of storage units 21 of the exchange device 20 and the rear end of the vehicle 50 is recognized, and the storage unit 21 with the shortest distance from the vehicle rear end is specified. Then, the specified storage unit 21 is determined as the provision storage unit, and the provision storage unit is notified to the user through the monitor 221 of the interface unit 22 .
  • the exchange device 20 has a plurality of storage units 21 each capable of storing a plurality of batteries 1, and the vehicle rear end portion (dismounting portion) of the vehicle 50 stopped in the stop lane 10, which is the position where the battery 1 is unloaded. ) is acquired from the camera 25, and the provision storage unit is determined based on the distance between the plurality of storage units 21 and the rear end of the vehicle.
  • the storage unit for supply is determined in consideration of the actual stopping posture of the vehicle 50 in the stop zone 10, so that the storage unit 21 with the shortest distance is always used as the storage unit for supply, and the battery can be exchanged efficiently. It can be carried out.
  • the exchange device 20 may acquire the unloading section, which is the position at which the battery 1 is unloaded, from the vehicle 50 by wireless communication.
  • the determination unit 241 By acquiring a signal from a sensor (for example, a distance measuring sensor) different from the camera 25, the determination unit 241 recognizes the position of the rear end of the vehicle, and determines the provision storage unit based on the recognition result. can be The control unit 24 receives a signal from the camera of the vehicle 50 via the communication unit 23, and based on the signal, the determination unit 241 determines the storage unit 21 with the shortest distance as the provision storage unit. You may do so. Instead of the storage unit 21 with the shortest distance, the storage unit 21 with the distance equal to or less than a predetermined value may be determined as the provision storage unit.
  • a sensor for example, a distance measuring sensor
  • the vehicle 50 stopped at the stop zone 10 of the storage battery exchange facility 100 is configured as a manually operated vehicle, but in the second embodiment, it is configured as an autonomously operated vehicle.
  • FIG. 6 is a block diagram showing the main configuration of an autonomous driving system 60 related to autonomous driving, which is mounted on a vehicle 50 (autonomous driving vehicle).
  • the autonomous driving system 60 mainly includes a control unit 61, an external sensor group 62, an internal sensor group 63, a communication unit 64, and an actuator 65, which are communicably connected to the control unit 61, respectively. .
  • the external sensor group 62 is a general term for a plurality of sensors that detect external conditions, which are peripheral information of the vehicle 50 .
  • the external sensor group 62 includes a radar, a lidar, a camera, etc. mounted on the vehicle 50 .
  • the internal sensor group 63 is a general term for a plurality of sensors that detect the running state of the vehicle 50.
  • the internal sensor group 63 includes a vehicle speed sensor, an acceleration sensor, a battery sensor, and the like.
  • the internal sensor group 63 also includes a positioning sensor that receives positioning signals transmitted from positioning satellites. The current position of the vehicle 50 can be determined using the positioning information received by the positioning sensor.
  • the communication unit 64 communicates with the management server 30 via a network including a wireless communication network such as the Internet network and a mobile phone network, and acquires information on the storage battery exchange facility 100 (FIG. 1) from the management server 30.
  • a network including a wireless communication network such as the Internet network and a mobile phone network
  • the actuator 65 is a travel actuator for controlling travel of the vehicle 50 . If the travel drive source is a travel motor, the actuator 65 includes the travel motor. The actuator 65 also includes a brake actuator that operates the braking device of the vehicle 50 and a steering actuator that drives the steering device.
  • the control unit 61 includes a computer having peripheral circuits such as CPU, ROM, RAM and I/O interface. Map information is stored in the storage section of the control unit 61 .
  • the control unit 61 sets a target route to the destination based on the stored map information. Based on the signals from the external sensor group 62 and the internal sensor group 63, the actuator 65 is controlled to move the vehicle 50 to the destination along the target route.
  • the control unit 61 designates the storage battery exchange facility 100 as a new purpose.
  • FIG. 7 is a diagram explaining the running operation of the vehicle 50 up to the battery exchange facility 100.
  • the control unit 61 After setting the battery exchange facility 100 as the destination, the control unit 61 outputs a control signal to the actuator 65 to move the vehicle 50 along the target route R1 to the battery exchange facility 100 (position P1) as shown in FIG.
  • the position information of the storage battery exchange facility 100 transmitted from the management server 30 includes the position information of the stop lane 10 and the exchange device 20 . Further, based on this position information, the control unit 61 moves the vehicle 50 to the stop zone 10 (position P2) along the target route R2.
  • the vehicle 50 may be stopped at the stop lane 10 by recognizing the stop lane 10 in the storage battery exchange facility based on signals from the external sensor group 62 (for example, a camera).
  • the location information of the exchange device 20 includes the location information of the interface unit 22 .
  • the control unit 61 does not simply set the stop zone 10 as the destination, but based on the position information of the interface section 22, determines the position or distance that minimizes the distance from the rear end of the vehicle to the interface section 22. It is preferable to set a position that is equal to or less than a predetermined value as the destination. As a result, the user can quickly move to the interface unit 22 after getting off the vehicle 50, thereby increasing the efficiency of battery replacement.
  • the location information of the exchange device 20 includes the location information of the storage section 21 where the charged battery 1 is stored.
  • the control unit 61 can stop the vehicle 50 in the stop zone 10 based on the position information of the storage section 21 so that the rear end of the vehicle approaches the storage section 21 and faces the storage section 21 . .
  • the transportation distance of the battery 1 from the vehicle 50 to the exchange device 20 is shortened, and the battery can be exchanged efficiently.
  • the exchange device 20 has, for example, a camera that captures an image of the area around the stop 10, and can recognize the presence of a vehicle in the stop 10 from a signal from the camera. Based on this recognition result, the switching device 20 transmits the usage status of the switching device 20 to the management server 30 in real time, such as the existence of other vehicles that are stopped in the stop zone 10 .
  • the management server 30 transmits a stop possible signal when there is no other vehicle stopped in the stop zone 10, and transmits a stop impossible signal when there is another stopped vehicle.
  • the control unit 61 receives the stop prohibition signal via the communication unit 64, the control unit 61 sets the waiting position (position P3), which is a predetermined distance ahead of the stop 10 in the traveling direction of the vehicle 50, instead of the stop 10 as the destination. set. As a result, the vehicle 50 stops before the stop zone 10, as indicated by the dotted line in FIG.
  • control unit 61 After that, when the control unit 61 receives the stop possible signal, it sets the stop 10 as a new destination and moves the vehicle 50 to the stop 10 .
  • the vehicle 50 When the external sensor group 62 recognizes another vehicle that is stopped in the stop zone 10, the vehicle 50 is stopped before the stop zone 10, and then the external sensor group 62 detects that the vehicle is stopped in the stop zone 10.
  • the vehicle 50 may be moved to the stop 10 when it is recognized that there are no other vehicles. This eliminates the need for the exchange device 20 to recognize the presence or absence of other vehicles.
  • the control unit 61 sets the waiting area as the destination and drives the vehicle 50 to the waiting area.
  • the internal sensor group 63 for example, an in-vehicle camera
  • the stop 10 is set as a new destination, and the vehicle 50 is driven to the stop.
  • the external sensor group 62 for example, camera
  • the internal sensor group 63 for example, battery sensor
  • the vehicle 50 is configured as an autonomous vehicle. This vehicle 50 is provided so as to recognize a stop zone (parking zone) 10, move autonomously to the stop zone 10, and stop (FIG. 6). As a result, the vehicle 50 can be automatically moved to the optimum position for battery replacement, and battery replacement can be performed efficiently.
  • the vehicle 50 is configured to stop before the stop 10 when it acquires information that the stop 10 is unavailable (FIG. 7). Thus, when another vehicle is stopped in the stop zone 10, the vehicle 50 can be stopped at the optimum position.
  • the vehicle 50 can be configured to stop before the stop zone 10 (waiting area or the like) and unload the occupants while the occupants (passengers) are being transported. This allows the occupant to wait in the waiting area while the battery is being replaced, increasing the comfort of the occupant.
  • the vehicle 50 is configured to acquire the position information of the interface section 22 of the exchange device 20 via the communication unit 64, move to the vicinity of the interface section 22 based on the acquired position information, and stop. (Fig. 6). As a result, the occupant can quickly move to the interface unit 22 after the vehicle 50 stops at the stop zone 10, and the battery can be replaced efficiently.
  • the vehicle 50 acquires the position information of the provision storage unit among the plurality of storage units 21 of the exchange device 20 via the communication unit 64, and based on the acquired position information, the vehicle 50 acquires the provision storage unit. It is configured to move to the vicinity and stop. As a result, the distance from the vehicle 50 to the provision storage unit is shortened, and battery replacement after authentication can be performed easily and efficiently.
  • the stop zone 10 is provided in a convex shape from the travel path 200 toward the roadside 201 (in a concave shape when the travel road 200 is viewed from the roadside 201).
  • the stop zone 10 is provided so that the boundary portion 203 with the wayside 201 is convex toward the exchange device 20, but is concave toward the exchange device 20 (convex when viewed from the wayside 201).
  • a stop zone 10 may be provided as shown in FIG.
  • a concave or convex stepped portion may be provided at the entrance of the stop zone 10 (boundary portion 202 with the travel path 200).
  • the stepped portion may be a curb stone or a pole, and may be movably provided.
  • the stop zone 10 may take any form as long as it is provided so as to be visually identifiable from the travel path 200 .
  • the boundary 203 of the stop zone 10 is provided with a vertically convex stepped portion, but it may be provided with a concavely stepped portion.
  • the battery 1 as a power storage device is mounted at the rear end of the vehicle, but the mounting position of the battery 1 is not limited to that described above.
  • the vehicle 50 is configured as an electric vehicle and the battery 1 is removed from the electric drive section of the vehicle 50, but the vehicle 50 may be other than an electric vehicle (for example, a vehicle having an internal combustion engine). Therefore, the replacement device 20 may receive the battery (power storage device) removed from the vehicle 50 other than the electric drive unit.
  • the exchange device 20 having a substantially rectangular parallelepiped shape is arranged along the track 201 of the travel path 200.
  • a plurality of storage units 21 provided to store a plurality of batteries 1 and other batteries 1 to be provided are provided. and a determination unit for determining the provision storage unit in which the data is stored.
  • the plurality of storage units 21 store the battery 1 (power storage device) removed from the electric drive unit of the vehicle 50 traveling on the travel path 200 and unloaded from the vehicle 50, or the battery unloaded from the vehicle 50 traveling on the travel path 200. 1 and be provided to provide another battery 1 in storage.
  • the determination unit stops at a stop 10 provided between the plurality of storage units 21, the travel path 200, and the exchange device 20 or the stop 10. Based on the distance between the vehicle 50 and the provided storage unit, the storage unit for provision may be determined from among the plurality of storage units 21 .
  • the vehicle 50 is configured as an autonomously traveling vehicle. moving toward an exchange device 20 provided to receive a battery 1 (power storage device) or a battery 1 unloaded from a vehicle 50 traveling on a travel path 200 and to provide another battery 1 in storage, Provided to stop at the stop zone 10, and furthermore, the position information of the interface unit 22 for the user of the exchange device 20 or the storage unit for provision storing the other battery 1 to be provided among the plurality of storage units 21
  • the autonomous vehicle may have any configuration as long as it acquires the position information of , moves to the vicinity of the exchange device 20 based on the acquired position information, and stops.
  • the stop zone 10 may be provided between the exchange device 20 and the travel path 200 in a manner that is visually distinguishable from the travel path 200 .

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  • Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Operations Research (AREA)
  • Business, Economics & Management (AREA)
  • Accounting & Taxation (AREA)
  • Development Economics (AREA)
  • Economics (AREA)
  • General Business, Economics & Management (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente divulgation concerne une zone de stationnement/arrêt (10) disposée le long d'un trajet de déplacement de véhicule (200). Cette zone de stationnement/arrêt (10) est disposée entre un dispositif de remplacement (20) et le trajet de déplacement de véhicule (200) d'une manière pouvant être distinguée visuellement du trajet de déplacement de véhicule (200). Le dispositif de remplacement (20) est disposé dans un trajet adjacent (201) du trajet de déplacement du véhicule (200), reçoit un dispositif de stockage d'énergie retiré d'une unité d'entraînement électrique d'un véhicule électrique (50) se déplaçant sur le trajet de déplacement du véhicule (200) puis déchargé du véhicule électrique (50) ou d'un dispositif de stockage d'énergie déchargé à partir d'un véhicule se déplaçant sur le trajet de déplacement de véhicule (200), et fournit un autre dispositif de stockage d'énergie qui est conservé en stockage.
PCT/JP2022/037385 2021-10-12 2022-10-06 Zone de stationnement/arrêt, dispositif de remplacement et véhicule à déplacement autonome WO2023063200A1 (fr)

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JP2021-167302 2021-10-12
JP2021167302 2021-10-12

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000340191A (ja) * 1999-05-25 2000-12-08 Honda Motor Co Ltd 充電式バッテリ
WO2013039143A1 (fr) * 2011-09-16 2013-03-21 株式会社Ihi Système d'alimentation en courant électrique de véhicule mobile
JP2019161708A (ja) * 2018-03-07 2019-09-19 本田技研工業株式会社 管理装置、車両、及びプログラム
WO2021039778A1 (fr) * 2019-08-27 2021-03-04 パナソニックＩｐマネジメント株式会社 Module de charge de batterie, dispositif de remplacement de batterie et dispositif de batterie
KR102228640B1 (ko) * 2020-07-22 2021-03-17 주식회사 태인아이씨티 배터리 교환형 충전 스테이션 및 배터리 교환형 충전 스테이션의 운용 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000340191A (ja) * 1999-05-25 2000-12-08 Honda Motor Co Ltd 充電式バッテリ
WO2013039143A1 (fr) * 2011-09-16 2013-03-21 株式会社Ihi Système d'alimentation en courant électrique de véhicule mobile
JP2019161708A (ja) * 2018-03-07 2019-09-19 本田技研工業株式会社 管理装置、車両、及びプログラム
WO2021039778A1 (fr) * 2019-08-27 2021-03-04 パナソニックＩｐマネジメント株式会社 Module de charge de batterie, dispositif de remplacement de batterie et dispositif de batterie
KR102228640B1 (ko) * 2020-07-22 2021-03-17 주식회사 태인아이씨티 배터리 교환형 충전 스테이션 및 배터리 교환형 충전 스테이션의 운용 방법

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